The existing logic using the angle between velocity vectors failed to
determine a yaw failure in practice because the state velocity is often
too small compared to its uncertainty to be used. In all the failures
reported, the yaw emergency estimator converged properly and yaw reset
would have fixed the issue.
A much simpler check using the yaw difference between the main EKF
and the emergency estimator is now used to tell if the vel/pos update
failure is most likely caused by a wrong heading.
-rename FW_POSCTL_INV_ST to FW_POS_STK_CONF and make bitmask out of it:
- bit 0: alternative mapping (height rate on throttle stick, airspeed on pitch)
- bit 1: enable/disable airspeed setpoints via stick
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Take into account the actual number of roll and pitch acutators,
instead of assuming that all actuators have a roll/pitch component.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- if following line segment (fixed-wing position control) switch waypoint when in acceptance radius OR passed the second waypoint. this handles the case of being beyond the second waypoint but not within the acceptance radius without the need to fly back to the waypoint (e.g. after a loiter up to waypoint alt)
- sync navigator and fw pos ctrl waypoint acceptance altitude
- centralize logic for selecting a preferred calibration slot
- automatically use existing calibration slot if it exists, otherwise
find first available slot, with a preference for a requested index
- existing commander calibration methods rewrite all calibration slots
to match current sensor ordering
Before: in_ground_effect was always true with the default settings (LNDMC_ALT_GND =-1)
and when a distance sensor was present with valid data.
Now: default of LNDMC_ALT_GND is set to 2m by default, and if set to a negative value
then in_ground_effect is never set to true
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Since the same parameter is used to generate the trajectory and to
saturate the controller, there is no additional space for the output of
the position controller once it is filled with the feedforward, letting
the altitude grow uncontrolled.
This changes the way RC is handled for the Mantis:
- The RC values are re-written when arriving over MAVLink. They are
rescaled from 0..4095 to 1000..2000 and the channel bits added to
separate channels. This makes the downstream handling easier.
- Gimbal pitch is moved from Aux1 to Aux2 as that should be the default.
- Aux3 and Aux4 are used for the photo and video trigger.
- The speed button is used as the FLTMODE channel and set to switch
between POSCTL and ALTCTL.
From what I can see the CONFIG_BOARDCTL_POWEROFF is not really used
anywhere, however, the BOARD_HAS_POWER_CONTROL is something that is set,
e.g. for the Mantis, to allow power off.
bresch