The feedforwarding was applied in the wrong frame: the term is given in
global coordinates, but was directly applied to body coordinates. This
patch adds the missing transformation from global to body frame.
In addition, it moves the feedforwarding before the rate limitation, so
that we cannot exceed the configured rates.
It was setting the rotation value to the I2C slave address
causing it to not be successfully probe.
Changing the constructor paramters order instead of
just fix line instantiating to keep consistency with
the other lidars and sonars.
A battery is considered connected when a) V > BOARD_ADC_OPEN_CIRCUIT_V
and if BOARD_ADC_OPEN_CIRCUIT_V > BOARD_VALID_UV connected
is further qualifed by the Valid signal.
Due to higher bias, V open circuit on the ADC is high with a 1M
termination. This override the default connected threshold on
V5 HW. Revist once lowe termination is chosen.
BOARD_ADC_OPEN_CIRCUIT_V is the voltage present on an ADC due
to the bias current on the terminition resistor.
BOARD_VALID_UV is the under voltage min set by resistors on a
board's Power selector.
A battery is considered connected when the Voltage measures is
greater than BOARD_ADC_OPEN_CIRCUIT_V.
In the case where BOARD_ADC_OPEN_CIRCUIT_V is greater then
BOARD_VALID_UV we can use the HW to qualify connected.
The data sheet for the F4, F7 indicate a maximum of 36 Mhz
in the 2.4-3.3 volt Soc operating range. This change sets
the clock based on the STM32_PCLK2_FREQUENCY.
* NuttX cmake
* px4_macros:Pass the stringified predicate as second arg to static assert
CC_ASSERT mapes to the c++ static_assert or provides the same
funtionality for c via the other macros. The c++ static assert
takes 2 argumants the prdicate and a message. This fixes the
lacking second argument.
* Updated nuttx and apps submodule to upstream nuttx 7.21+==master
This is the latest uptake of upstream nuttx and apps.
* ROMFS generate with xxd instead of objcopy
* delete nuttx-patches
* NuttX update submodules to latest px4_nuttx-master
* fix nuttx apps and board dependency
* docker_run update to latest container 2017-08-29
* cmake ROMFS portable sed usage
* NuttX update submodules to latest px4_nuttx-master
For historical reasons (NuttX STM32 numbering) PX4 bus numbering is
1 based. All PX4 code, including, board code is written to assuming 1
based numbering. In the PX4 I2C driver the 1 is subtracted from the
buss number to address the freqency array. These macros are used to
allow the board config to define the bus numbers in terms of the NuttX
driver numbering. 1,2,3 for one based numbering (STM32) or 0,1,2
for zero based (Kinetis)
Beat Küng