This is to make clear that the relevant part of the home position
message for navigator is the global one. Local home position isn't
required as everything is done in global coordinates.
The specific home_alt_valid is used when lat/lon are not used
- always try to set local or global home position when possible
- set global home with GNSS position if global pos from EKF isn't
available
- reset home when significantly moved from home before takeoff (checking
lpos or gpos or GNSS)
- reset home on takeoff transition
- reset home on mavlink arm command
- remove "home required accuracy" parameters, rely on validity flags
- most px4_io-v2 boards have a blue LED that breathes for status
- the pixhawk 2.1 (hex) re-used this blue LED for as an IMU heater (active low), but kept the same board id (so we have to detect at runtime)
- the new cubepilot boards (yellow, orange) inverted the polarity of this heater pin
- untangle the mess slightly so that things we know statically (eg cubepilot cubeorange LEDs and heater polarity) are handled at build time.
To pass from invalid to valid:
- time hysteresis
- some vertical velocity
- test ratio < 1
- low-passed signed test ratio < 1
To pass from valid to invalid:
- low-passed signed test ratio >= 1
At each new valid range measurement, the time derivative of the distance
to the ground is computed and compared with the estimated velocity.
The average of a normalized innovation squared statistic check is used
to detect a bias in the derivative of distance measurement,
indicating that the distance measurements are kinematically inconsistent
with the filter.
For many VTOLs/fixed-wing drones a 50m loiter radius is too tight, and
going to 80m is a better and safer default.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- In this case, no action is configured for datalink lost. Action is configured for RC lost.
- In case of no data link and no rc failsafe is enabled but reporting a "no_datalink" reason but "no_rc_and_no_datalink" seems more explicit.
- previously an invalid decode would continue to be transferred to the FMU (at 50 Hz) and published to the rest of the system as successfully decoded new RC data
- by only publishing new successful decodes we can more effectively discard invalid data in downstream consumers
PX4 supports int32 parameter types by interpreting the 32 bits in
the float field as an int32 field. To signal this behaviour, it should
set the bit which is described as PARAM_ENCODE_BYTEWISE.
PX4 had always handled parameters this way but never actually sent the
capability (which back then was called PARAM_UNION), however, it should
have. This came up recently in the MAVLink devcall when these flags were
discussed. The takeaway was to remove the flags to make it clearer and
to make sure the projects (like PX4) send them out correctly.
bresch