Instead of tracking a fixed deceleration setpoint during the backtransition we added here position feedback,
such that the vehicle comes to a stop latest at the current position setpoint. This reduces the risk of
overshooting the landing point.
If no position feedback/position setpoint is present the old logic still applies.
It further moves the braking controller to the FlightTaskTransition instad of doing it in
the VTOL attitude mode.
* vtol_type: added position feedback to backward transition
* FlgithTaskTransition: refactored backtransition deceleration/pitch setpoint computation
* FlightTaskTransition: minor improvements
* FlightTaskTransition: use .dot() consistently and remove unnecessary comments
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
* uavcan: add GNSS heading from relposheading
* ekf2: new EKF2_GPS_YAW_OFF parameter to configure any offset in GNSS heading
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
The likelyhood can be really small when the innovation is suddenly
large. This can occur during a GNSS velocity glitch and shouldn't reset
the filter as it would bring it back to a really vulnerable state.
This fixes an issue where we dropped acks that we should have sent out
just because the queue was clogged with acks that have nothing to do
with us and just happen to be sent to us. We should just ignore them and
not publish them to uORB.
We should not send out acks for commands that are not targetted at us.
This can confuse other MAVLink components and MAVLink commands just
don't scale that way, and it unnecessarily fills up our ack queue.
This was likely introduced to debug when MAVLink components were
implemented incorrectly sending commands to a wrong target.
The most we should do in this case is to print/log an info.
The issue is that when the HAGL is low, the drone will usually
decelerate and then the check would run anymore. If the low HAGL
estimate is due to bad sensor readings (e.g.: reflections), it will be
stuck in that state.
Without this change the configured dialect would not get included
correctly in the simulator_mavlink module, only in the main mavlink module.
Configured using e.g. CONFIG_MAVLINK_DIALECT="development"
in e.g. boards/px4/sitl/default.px4board file.
* param: add a newline for the output of param show -q
Otherwise the output doesn't get flushed and doesn't show.
* param: remove deprecated PARAM_PRINT for QURT
We're not carrying platform defines in applications.
* SDLOG_ALGORITHM - AES option not implemented
* Update src/modules/logger/params.c
Co-authored-by: Daniel Agar <daniel@agar.ca>
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
