2fbb70d9ca94f442de1345221be18ba738cda952 made the lowest possible
throttle value commanded by stick in Stabilized mode before taking off 0.
The real world problem with this is that when takeoff is detected then
the entire throttle scaling range jumps from
[0, MPC_MANTHR_MIN]
to [MPC_MANTHR_MIN, MPC_MANTHR_MIN].
As a result whenever MPC_MANTHR_MIN is not zero there is a thrust jump
on every takeoff just at the moment takeoff is detected even when the
stick is moved continuously.
Because of this I suggest to revert to having a higher throttle value
from the beginning on because it's less complicated and there's
no obvious value in starting out with zero thrust if anyways not
possible to go back to zero for safety once takeoff is detected.
Using the control status flags isn't robust as this part of the code
runs at the EKF update rate while the in_air transition is don at the
prediction rate. It was then likely to miss the transition
I think most vehicle can safely decend with at least 1.5m/s, and having this
value too low makes Descents/Landings/RTLs unnecessary long.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly)
- these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit
- ekf2: add new helper to get roll/pitch/yaw covariances
- mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD)
- mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough)
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
fix test by reducing the distance to the new origin: the maximum size of
the local position origin is a cube of 1e6m. If the origin is moved
further than this, the state is clipped to that maximum value
Navigator sets the cruise_speed to -1 if the controller shouldn't listen to
it and instead use the default speed (for MC: MPC_XY_CRUISE). This is for
example for RTL the case, where we want to return at the default speed,
independetly of what the mission speed before was.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Add support for the basic GPS telemetry values when using the GHST protocol.
* Fix formatting in GHST GPS telemetry changes
* GHST GPS Telemetry formatting cleanup
* GHST GPS Telemetry, Last formatting change
- synthetic airspeed will only be declared valid as soon as the wind variance
has dropped below a parameterized threshold. This is useful for vehicles without
an airspeed sensor which rely on synthetic airspeed but only once the vehicle
has turned sufficiently for the wind estimates to be reliable.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- msg constant names now comply with ROS conventions:
uppercase alphanumeric characters with underscores for separating words
partially fix#19917
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
As per the discussion in #15331, fixed issue where stm32h7 chips
use hardware ECC bits in program memory that disallow overwriting
32-byte flash line that has already been written. As such,
this change allows for a variant implementation of the flashfs system
that uses more space in the flash entry header in order to
allow an entire line to be reserved for erasing an entry.
Signed-off-by: Taylor Nelms <tnelms@roboticresearch.com>
