- with the addition of the navsat plugin in PR#22638, the callback would
reassign the previous timestamp used in the calculations of the
angular_velocity causing derivative type noise in the groundtruth
measurements
This is a minimal change to make it harder to crash a
vehicle with an empty battery if the capacity was set wrong.
The disadvantage is that the state of charge estimate will
fluctuate more under load.
We need better documentation and improvements to the estimation.
The existing disarmed logic already handles disabled outputs
it makes sense to reuse it and not have lockdown handled
differently resulting in unexpeced corner cases.
This removes the duplication with unexpected differences
and allows to consistently handle the output instead of
overriding the output for some specific cases which
leads to unexpected corner cases. E.g. disabled outputs
suddenly outputing PWM in lockdown.
In HITL the actuators should not be mapped
and they are in lockdown.
We should not reconfigure disarmed, min, max PWM values
without updating the actual output values because the IO
will consider the last outputs before the FMU was rebooted
with the configuration of the new boot. This can result
in spinning motors when switching to SIH.
For Septententrino we seem to sometimes fill the buffer pretty full.
If we ask for too much, readAtLeast will fail completely and make the
GPS discovery logic fall over. Therefore, let's not ask for too much and
just read what we can given the available buffer.
Signed-off-by: Julian Oes <julian@oes.ch>
- Added an empty constructor, setPort, and validatePort functions for Serial API
- Changed GPS to not allocate Serial object dynamically
- Moved access check on serial port name into the Serial API
- Improved the Qurt platform validatePort Serial function to implement a more rigorous check. Added safety check
to the setPort Serial function to make sure it isn't called after the port has been already opened.
This matters for PWM when the last output gets disabled on either FMU or IO
it would just keep on running.
Also when rebooting with a parameters reset or new airframe with no mapped outputs
it would previously keep outputting PWM with the disarmed value of the new airframe
e.g. 1000us which is a safety hazard because servos could break the physical limit of the
model or miscalibrated ESCs spinning motors.
If the output is set to 0 then the FMU had this channel disabled/no function mapped
to it. In that case we do not want to suddenly start outputing failsafe or disarmed
signals.
- Added offset to Posix hrt time to account for synchronization with Qurt hrt time
- Added new Kconfig to configure synchronization of HRT timestamps on VOXL2
- Moved voxl2 libfc sensor library submodule from muorb module to boards directory
- Added check to make sure hrt_elapsed_time can never be negative
The duration of a unit test had to be increased because the incorrect
covariance matrix update, was making the unit test passing faster
(over-optimistic variance).
Using full 3D acceleration provides better horizontal acceleration
tracking but also creates a sometimes unwanted behavior because the tilt
is directly coupled with the vertical acceleration setpoint.
bresch