PositionControl: update comment about the order of thrust and position
mc_pos_control: reset setpoints to NAN if required
MulticopterLandDetector: consider to be landed if vehicle is not armed
mc_pos_control: initialize landing struct with landed
mc-pos-ctrl: adjust thrust-setpoint and yaw during ground-contact/maybe-landed without capturing
that information within vehicle-local-position-setpoint topic because that information
does not belong to user intention
PositionControl: set local position/velocity setpoint to NAN if not used in the control pipeline
mc-pos-ctrl: Fill vehicle_local_position_setpoint_s structure as follow:
The message contains setpoints where each type of setpoint is either the input to the PositionController
or was generated by the PositionController and therefore corresponds to the PositioControl internal states (states that were generated by P-PID).
Example:
If the desired setpoint is position-setpoint, _local_pos_sp will contain
position-, velocity- and thrust-setpoint where the velocity- and thrust-setpoint were generated by the PositionControlller.
If the desired setpoint has a velocity-setpoint only, then _local_pos_sp will contain valid velocity- and thrust-setpoint, but the position-setpoint
will remain NAN. Given that the PositionController cannot generate a position-setpoint, this type of setpoint is always equal to the input to the
PositionController.
mc_pos_control: switch to designated initializer for landed
It's less error prone because it produces an error on every discrepancy.
It turns out that `sendto` does not work for TCP on Cygwin-Windows,
instead we need to use `send`. This required some refactoring since we
need to have the internet protocol and the port stored as a member
variable.
This should fix that lockstep SITL simulation was not working on
Windows.
- the flash-backend is selected by specifying nullptr as file or -1 as fd
- the default file is nullptr, and thus the FLASH
- 'param select' has no effect, FLASH is always the default
Thus there should be no functional change to existing setups.
It turns out the noise of the airspeed depends on the least significant
bit of time which is now always 0 because time is quite regular with
lockstep. Therefore, we need a better source for the randomness. I chose
to use the sign of the y-gyro and it seems to work.
Jake Dahl