This enables control loops that are sensitive to vertical velocity offsets to use a vertical velocity that is kinematically consistent with the vertical position.
- when switching to range finder use the current terrain estimate as
height sensor offset, otherwise spikes in the range measurements could lead
to a wrong offset
Signed-off-by: Roman <bapstroman@gmail.com>
- do not subtract the height sensor offset variable when computing the
baro offset from the local origin. The baro height offset is calculated
when baro is not fused and so the height sensor offset used in that case
is associated to another sensor and has nothing to do with the baro.
Signed-off-by: Roman <bapstroman@gmail.com>
the primary height source
- moved height control into single function in order to decide which sensor
should be used for estimating height
- under certain conditions allow to use the range finder to estimate height
even if it's not the primary height source
- fixed a bug where the delta time for the baro offset calculation was always
zero
- use methods to set height control flags to reduce code duplication and
to prevent bugs
Signed-off-by: Roman <bapstroman@gmail.com>
A recent change removed the command forwarding required for VTOL transitions. This change brings this back.
Partially reverts https://github.com/PX4/Firmware/pull/7249
Problem: _mag_device_id is used to get the correct rotation matrix for each
mag. But on POSIX, _mag_device_id was always 0, leading to invalid rotation
matrices.
This resulted in stale mag error messages (rot matrix=0 ==> mag data=0).
_mag_device_id was 0 because there are no /dev/magX devices (eg. on RPi),
thus the mag driver could not be opened.
This patch does: get the device id from the uorb topic instead. We still
need the device handle on certain platforms to apply the calibration params
and to check if the mag is internal or external.
Problem left: on POSIX, the check for external mag does not work.
Add CMake target for strip since these changes break adb_upload_to_bebop.
GCC users should add the cross compiler bin path to PATH (location of arm-linux-gnueabihf-g++).
Clang user should do the following:
* set CMAKE_CXX_COMPILER to clang++ by providing -DCMAKE_CXX_COMPILER=clang++ to cmake
* get GCC cross compiler - needed because Clang does not ship a CRT
* create a symlink for clang and clang++ in GCC cross compiler bin dir.
* add GCC bin dir to PATH
Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
Paul Riseborough