Adds COM_FLT_TIME_MAX param and logic in Commander to enforce RTL when
flight time is above this value. User can only override to LAND mode,
but not proceed flight beyond that.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
If both local position and altitude were not valid, then both RC loss and
datalink loss would not trigger any failsafe at all, independently from
the configured action.
Calculating K(HP) takes less operations than (KH)P because K and H are
vectors.
Without considering the sparsity optimization:
- KH (24*24 operations) is then a 24x24 matrix an it takes
24^3 operations to multiply it with P. Total: 14400 op
- HP (24*(24+24-1) operations) is a row vector
and it takes 24 operations to left-multiply it by K. Total:1152 op
This is a combination of the originally introduced delay:
06c10f61c1
then the emergency failsafe being changed to not just land,
position control being rescheduled to not overwrite every setpoint in:
e502214429576ce68ac3fee9d2db19112f4604b9
and it being fixed by overwriting the setpoint but not removing
the long obsolete hystersis here:
114e85d260
- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
The flap settings for takeoff and landing are now specified relative to full range.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
There was a time window where if a task with higher priority than the main
logger thread would busy-loop, it would block both logging threads and the
watchdog would not trigger if the writer was in idle state.
This can happen for fast SD card writes.
when the vertical pos or vel innov ratio is above the threshold, the
other one needs to be significant too and not just positive to trigger
the failure
- on some H7 boards (cuav x7pro tested) there's an occasional hard fault when starting the mavlink shell that is no longer reproducible with the slightly expanded locking
- this is likely just changing the timing (holding the sched lock for longer), but this should be harmless for now until we can identify the root cause
Weather vane should only set a yawrate setpoint, but no yaw setpoint.
Setting it to NAN when WV is active makes sure that whatever _yaw_setpoint
is set previously (e.g. through Waypoint) is not used.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- set local home using global pos and global home
- set local home using GNSS pos and global home
- set global home using global ref of local frame and local home
Silvan Fuhrer