that prevents the vehicle from crashing with invalid setpoints or
states.
This broke with #16869 when the scheduling of the position control module
and the setpoint generation got independent. The failsafe mechanism assumed
the setpoint is overwirtten by the possibly infeasible input on every loop
iteration which is not the case anymore. As a result the failsafe reset its
histeresis based on the failsafe setpoint from the last loop iteration.
Keeping the failsafe_setpoint separate solves this issue. Note that
these setpoints to the bare minimum to keep the vehicle safely in the air
and do not suffer from sideffects ignoring the EKF reset.
If you're flying in manual position control mode and lose position the state machine will put you in altitude control mode. Extending the reliant on optical flow relaxed position validity thresholds allows you to potential get back into position control mode with flow alone.
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
Adds support for using the MAVLink command MAV_CMD_DO_SET_ACTUATOR to
update the actuator values on control group 3 aux{1, 2, 3}. A simple
deconfliction with rc_update is implemented: when a MAVLink command is
sent, RC is disabled for that channel until a major stick movement is
detected.
- in multi-EKF mode the EKF selector becomes repsonsible for sensor
selector rather than the sensors module
- this updates the sensors module to still make the initial primary IMU
selection on startup before the EKF selector (including if the
estimators never fully initialize)
The drag is based on max_acc/max_vel, which means that increasing the
maximum velocity leads to slower braking (at the same starting speed).
Especially a combination of small max_acc (slow responsiveness) with high
max_vel led to an exceedingly high braking distance.
This improves that while still being smooth.
Nicolas MARTIN