mathlib: add second order reference model filter with optional rate feedback (#19246)
Reference models can be used as filters which exhibit a particular, chosen (reference) dynamic behavior. This PR implements a simple second order transfer function which can be used as such a reference model, additionally with rate feedback. The system is parameterized by explicitly set natural frequency and damping ratio. Another nice externality is that the output state and rate are kinematically consistent. Forward-euler and bilinear transform discretizations for the state space integration step are available.
- introduce BAT_AVRG_CURRENT param that is used for init of average current estimate
- increase filtering of average current estimation
- only update average current filter when armed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This fixes unspecified behaviour due to evaluation order of args.
It's up to the compiler whether next_number() or next_dots() is executed
first which means that the behaviour is not properly specified.
- sensor_baro.msg use SI (pressure in Pascals)
- update all barometer drivers to publish directly and remove PX4Barometer helper
- introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
- commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
- create new sensors_status.msg to generalize sensor reporting
- new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW
- existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become
IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW
Implement an interface for protected build to access parameters.
The implementation only does IOCTL calls to the kernel, where the parameters
live.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Put all functions which are commont to flat build and protected kernel and
userspace to an own source file
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Thomas Stastny