To return Exponential Values, which is helpful for reducing the
sensitivity of the stick around the centered value (0), since it's
exponential curve.
Useful for user adjustment implementations, where accidentally touching the stick
wouldn't have so much effect when using the Exponential value, compared
to using the raw position value.
This fixes an invalid memory access when exiting the module:
exit_and_cleanup destroys the object, but lock_guard is destructed after
and accesses the lock.
- limit to handling only 1 motor failure
- Log which motor failures are handled
- Remove motor from effectiveness matrix without
recomputing the scale / normalization
- this allows jumping straight to a non-SBUS RC protocol
- increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases.
- only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds
Normally _should_run for mission is only ever true if _should_run for the
normal log is. There are exceptions though:
- the log buffer fails to allocate
- there was a write failure (e.g. due to SD card removal)
In that situation, the writer would not wait anymore but busy-loop.
This replaces the propeller_torque_disabled flag to disable yaw by differential thrust
for tiltrotor and tailsitter VTOLs, as propeller_torque_disabled is not enough to set
effectiveness of an acutator in the yaw axis to 0 in case it's tilted.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in
MC), pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they
can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated
by the allocator directly.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The flight termination action on geofence violation is described as only trigger, when the corresponding circuit breaker is not disabled. However, the description of the circuit breaker states, that the geofence action is not depedning on this circuit breaker. The implementation follows the description of the circuit breaker. Hence the GF_ACTION description is adapted.
- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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.
