Merge commit '292b87fe2cfa2a5a00616c5ed13516bd60199f5a'

src/modules/attitude_estimator_q/attitude_estimator_q_params.c

@@ -47,6 +47,7 @@
  * @group Attitude Q estimator
  * @min 0
  * @max 1
+ * @decimal 2
  */
 PARAM_DEFINE_FLOAT(ATT_W_ACC, 0.2f);
 
@@ -56,6 +57,7 @@ PARAM_DEFINE_FLOAT(ATT_W_ACC, 0.2f);
  * @group Attitude Q estimator
  * @min 0
  * @max 1
+ * @decimal 2
  */
 PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f);
 
@@ -65,6 +67,7 @@ PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f);
  * @group Attitude Q estimator
  * @min 0
  * @max 1
+ * @decimal 2
  */
 PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f);
 
@@ -77,6 +80,7 @@ PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f);
  *
  * @group Attitude Q estimator
  * @unit degrees
+ * @decimal 2
  */
 PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
 
@@ -106,6 +110,7 @@ PARAM_DEFINE_INT32(ATT_ACC_COMP, 2);
  * @min 0
  * @max 2
  * @unit rad/s
+ * @decimal 3
  */
 PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f);
 
@@ -113,7 +118,8 @@ PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f);
  * Threshold (of RMS) to warn about high vibration levels
  *
  * @group Attitude Q estimator
- * @min 0.001
- * @max 100
+ * @min 0.01
+ * @max 10
+ * @decimal 2
  */
 PARAM_DEFINE_FLOAT(ATT_VIBE_THRESH, 0.2f);

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -1122,7 +1122,7 @@ int AttitudePositionEstimatorEKF::start()
 	_estimator_task = px4_task_spawn_cmd("ekf_att_pos_estimator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 20,
-					 3900,
+					 4600,
 					 (px4_main_t)&AttitudePositionEstimatorEKF::task_main_trampoline,
 					 nullptr);
 
@@ -1245,9 +1245,9 @@ void AttitudePositionEstimatorEKF::pollData()
 			_ekf->dAngIMU.y = _sensor_combined.gyro_integral_rad[_gyro_main * 3 + 1];
 			_ekf->dAngIMU.z = _sensor_combined.gyro_integral_rad[_gyro_main * 3 + 2];
 		} else {
-			_ekf->dAngIMU.x = 0.5f * (_ekf->angRate.x + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0]);
-			_ekf->dAngIMU.y = 0.5f * (_ekf->angRate.y + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 1]);
-			_ekf->dAngIMU.z = 0.5f * (_ekf->angRate.z + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 2]);
+			_ekf->dAngIMU.x = 0.5f * (_ekf->angRate.x + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0]) * _ekf->dtIMU;
+			_ekf->dAngIMU.y = 0.5f * (_ekf->angRate.y + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 1]) * _ekf->dtIMU;
+			_ekf->dAngIMU.z = 0.5f * (_ekf->angRate.z + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 2]) * _ekf->dtIMU;
 		}
 
 		_ekf->angRate.x = _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0];
@@ -1265,9 +1265,9 @@ void AttitudePositionEstimatorEKF::pollData()
 			_ekf->dVelIMU.y = _sensor_combined.accelerometer_integral_m_s[_accel_main * 3 + 1];
 			_ekf->dVelIMU.z = _sensor_combined.accelerometer_integral_m_s[_accel_main * 3 + 2];
 		} else {
-			_ekf->dVelIMU.x = 0.5f * (_ekf->accel.x + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0]);
-			_ekf->dVelIMU.y = 0.5f * (_ekf->accel.y + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 1]);
-			_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]);
+			_ekf->dVelIMU.x = 0.5f * (_ekf->accel.x + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0]) * _ekf->dtIMU;
+			_ekf->dVelIMU.y = 0.5f * (_ekf->accel.y + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 1]) * _ekf->dtIMU;
+			_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]) * _ekf->dtIMU;
 		}
 
 		_ekf->accel.x = _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0];

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -179,7 +179,7 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
  * @max 150.0
  * @group L1 Control
  */
-PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
+PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 10.0f);
 
 /**
  * Maximum climb rate

src/modules/mavlink/mavlink_main.cpp

@@ -1676,7 +1676,6 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("GPS_RAW_INT", 1.0f);
 		configure_stream("GLOBAL_POSITION_INT", 3.0f);
 		configure_stream("LOCAL_POSITION_NED", 3.0f);
-		configure_stream("NAMED_VALUE_FLOAT", 2.0f);
 		configure_stream("RC_CHANNELS", 1.0f);
 		configure_stream("SERVO_OUTPUT_RAW_0", 1.0f);
 		configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);

src/platforms/posix/main.cpp

@@ -66,6 +66,13 @@ extern "C" {
 		cout.flush();
 		_exit(0);
 	}
+	void _SigFpeHandler(int sig_num);
+	void _SigFpeHandler(int sig_num)
+	{
+		cout.flush();
+		cout << endl << "floating point exception" << endl;
+		cout.flush();
+	}
 }
 
 static void print_prompt()
@@ -137,6 +144,7 @@ int main(int argc, char **argv)
 {
 	bool daemon_mode = false;
 	signal(SIGINT, _SigIntHandler);
+	signal(SIGFPE, _SigFpeHandler);
 
 	int index = 1;
 	bool error_detected = false;

src/platforms/px4_defines.h

@@ -234,14 +234,6 @@ __END_DECLS
 // Missing math.h defines
 #define PX4_ISFINITE(x) __builtin_isfinite(x)
 
-// FIXME - these are missing for clang++ but not for clang
-#if defined(__cplusplus)
-#define isfinite(x) true
-#define isnan(x) false
-#define isinf(x) false
-#define fminf(x, y) ((x) > (y) ? y : x)
-#endif
-
 #endif
 
 /*