- add new parameter `IMU_GYRO_FFT_EN` to start
- add 75% overlap in buffer to increase FFT update rate
- space out FFT calls (no more than 1 per cycle)
- increase `IMU_GYRO_FFT_MIN` default
- decrease main stack usage
This is done to prevent yawing 180 degrees when switching
to hold mode with high velocity and the overshoot causing a 180°
yaw turn.
The yaw is unlocked on waypoint updates and the yaw
setpoint generation had to be put at the end because otherwise the
first yaw calculation is with the old waypoint and immediately
locks again.
benefits:
- read & validate product name
- sensor configuration with the output we want (raw distance data)
- get signal quality
Protocol description: http://support.lightware.co.za/sf20/#/commands
Other Lightware sensors can easily be moved over to that as well.
- mavlink messages DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT move to separate stream headers and don't include if CONSTRAINED_FLASH
- mavlink receiver DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT handling excluded if CONSTRAINED_FLASH
- msg: skip debug_array.msg, debug_key_value.msg, debug_value.msg, debug_vect.msg if CONSTRAINED_FLASH
px4_add_library adds uorb dependencies, which since cf26f24387 added libm.
This in turn led to build failures for px4_io-v2 in the form of:
__aeabi_f2d' wf_sqrt.c:(.text.sqrtf+0x54): undefined reference to
__aeabi_ddiv'
To define an N way split this define the following:
#define BOARD_HAS_MTD_PARTITION_OVERRIDE {"/fs/mtd_params", "/fs/mtd_waypoints","/fs/equal_part" }
OR
To define a percentage split this define the following:
#define BOARD_HAS_MTD_PARTITION_OVERRIDE {"/fs/mtd_params", "/fs/mtd_waypoints","/fs/tiny" }
#define BOARD_MTD_PARTITION_TABLE_SIZES {50.0f, 49.0f, 1.0f}
Forwards messages on the gps_inject_data uORB topic as
uavcan::equipment::gnss::RTCMStream messages on the UAVCAN bus. This
enables differential/RTK GPS over UAVCAN to work.
Tested with CubePilot Cube Orange, Here+ base and Here3 rover.
Signed-off-by: Alex Mikhalev <alexmikhalevalex@gmail.com>
Behavior of the 'param import' command:
- if no file provided, parameters are marked as saved (differs from before)
- if a file is provided: parameters are not marked as saved
Nicolas Martin