Allow enabling/disabling transmitting data from all mavlink instances
with a specific mode/type. When disabled the instance can still receive
data. The uORB message used is the vehicle_command and uses the following
parameter:
param1: Specifies the mode/type of the instances to enable/disable transmitting
param2: Boolean to indicate if transmitting should be enabled or disabled
- prior to this fix the fw attiude controller used airspeed to scale control
surfaces even though airspeed was disabled
Signed-off-by: Roman <bapstroman@gmail.com>
Since assertions lead to crashes, we need better failure handling. In all
the cases in this patch, the assert is not required.
All the ones with the task id should be replaced with the module base
class.
Ah yes, and this reduces flash space, since the ASSERT macro will expand to
a printf that contains the source file name.
* EKF: Move optical flow specific state reset to helper functions
* EKF: Ensure loss of optical flow aiding is handled correctly
If data is only source of aiding and has been rejected for too long - reset using flow data as a velocity reference.
If flow data is unavailable for too long - declare optical flow use stopped.
Use consistent time periods for all resets
* EKF: Ensure loss of external vision aiding is handled correctly
If data is only source of aiding and has been rejected for too long - reset using data as a position.
Don't reset velocity if there is another source of aiding constraining it.
If data is unavailable for too long, declare external vision use stopped.
Use consistent time periods for all resets.
* EKF: Update parameter documentation
Make the distinction between the no_gps_timeout_max and no_aid_timeout_max parameters clearer
* EKF: make class variable units consistent with documentation
* EKF: Don't reset states when optical flow use commences if using external vision
* EKF: Stop optical flow fusion when on ground if excessive movement is detected.
* EKF: fix terrain estimator vulnerabilities
Reset estimate to sensor value if rejected for 10 seconds
Protect against user motion when on ground.
Fix unnecessary duplication of terrain validity check and separate validity update and reporting.
* EKF: remove unnecessary Info console prints
Optical flow use information can be obtained from the estimator_status.control_mode_flags message
* EKF: fix inaccurate comment
* EKF: remove duplicate calculation from terrain validity accessor function
This change fragments MAVLink packets more efficiently and therefore increases the net throughput. This in turn makes the connection significantly more stable and the Crazyflie experience overall more usable.
With the new position control architercture manual mode and
potition mode run through the same logic and as a result
it had a throttle thershold for smooth takeoff also in
manual mode. This is fixed by by ignoring the threshold for
any mode which doesn't control the climb rate.
The FlightTaskManual... tasks already had their internal
setpoint member variables. I switched them to use the
architecture with setpoint member variables as it was
implemented the commit before. They simplify a lot.
I realized that instead of using the setpoint setters inline
in real world tasks everyone started to have its own setpoint
member variable and only call the setter in the end for all the
privatly generate setpoints. This makes the setter useless and
therefore I switched to member setpoints in the architecture.
They bring more felxibility which is obviously needed but also
less structure which is the price to pay.
individual commit for the indentation because otherwise
the diff gets unreadable. this indentation is made because
afterwards the entire legacy position control functionality
is in an else case.
acfloria