Next step is to only evaluate when there's a topic update
which is a behavioural change that has to carefully be checked.
I have the suspicion the logic assumes certain states to be
reset on every loop iteration by the triplet evaluation.
This fixes the SITL tests that fail in CI because we catch NAN as non
zero after cast to int. To fix this I've added the check whether they
are finite at all.
The checks for param5 and param6 would be a bit trickier because they
can be int or float, so I have omitted them for now.
* Use target camera in image capture start/stop messages
* Add support for MAV_CMD_SET_CAMERA_SOURCE
* Add target ID for NAV_CMD_SET_CAMERA_MODE
* Run make format
This happens when BAT_CRIT_THR allows arming with a critical battery level. With this change it still fails the checks but only warns instead of doing the failsafe action because that would immediately land the vehicle before it has taken off.
Airspeed sensor failures are crucial to catch early during catapult/hand launches,
as otherwise the large airspeed error can lead to the vehicle diving. Thus the
_in_takeoff_situation flag, which tells the validator when to enable the checks,
is already set to false when !landed and launched.
For runway takeoffs the logic in unchanged.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- in the special case of bad vertical acceleration detected
(bad_acc_vertical) only allow overriding rejected GNSS 3D velocity
if horizontal innovations are accepted
- replace hardcoded 1000 m/s velocity state constraint with new EKF2_VEL_LIM parameter (default 100 m/s)
- new velocity limit also used for GPS checks and external vision velocity
- iq-module-communication-cpp in PX4/Firmware (6c9c62f70c4c1b8e5b9703efc96919856465e65e): a9b700d50b
- iq-module-communication-cpp current upstream: c488af4e88
- Changes: a9b700d50b...c488af4e88
c488af4 2024-08-13 Ben Quan - Merged in development (pull request #22)
0e9f7cd 2024-08-06 Fred Kummer - Merged in feature/add-led-support (pull request #21)
acf5be0 2024-08-05 Fred Kummer - Fix indent
c5ef8d9 2024-08-05 Fred Kummer - Fix green blue order
64d0654 2024-08-05 Fred Kummer - Fix indentation
833cef7 2024-08-05 Fred Kummer - Add led support headers
It looks like vertical velocity as well as velocity accuracy are not
available using NMEA, so we extract all velocities from the Unicore
ACRICA message instead.
* Added retries if uxrce_dds_client fails during setup
* Break timesync endless loop in case of agent reset
* ORB unsubscribe, to avoid too many open fails with multiple reconnects & format
* Added review feedback
* brought in the Vertiq Cpp API as a submodule. updated the serial rx handling so that we can parse out IQUART data packets
---------
Co-authored-by: Luca Scheuer <scheuer.luca@gmail.com>
Range does not provide a direct terrain observation but a measurement
relative to the height state. Correlation between height and terrain
must be set properly.
