- avoids tecs always climbing and sinking and max rates and allows to fine tune these rates
- avoid numerical calculation of feedforward velocity using derivative, this
was prone to jitter in dt
Signed-off-by: RomanBapst <bapstroman@gmail.com>
This makes sure that the vehicle_command topic is properly
initialized from the beginning.
orb_exists returns -1 or 0 and not a bool as one would expect.
- Updating PWM params on param change was interfering with VTOL
parameter settings (e.g. PWM_MIN is set by VTOL at init, and
was then overwritten here after an arbitrary param change).
Only update PWM params on initialisation.
Updating PWM params on param change was interfering with VTOL
parameter settings (e.g. PWM_MIN is set by VTOL at init, and
was then overwritten here after an arbitrary param change).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This fixes a regression introduced in
https://github.com/PX4/PX4-Autopilot/pull/16646
which meant that the acceptance radius was no longer used at all for
multicopter, and instead only the NAV_ACC_RAD param was used.
With this change we use the acceptance radius of the mission item again
if it is actually set (and not NAN) which we did not do before, and we
only do that for multicopter.
- apply sensor scaling immediately to keep things simple (FIFO vs regular)
- inline filter helpers (minor performance improvement)
- dynamic notch filtering
- reorder by axis (applied per axis)
- don't remove notch filters immediately if ESC or FFT data times out
- constrain notch filter frequency and bandwidth to safe range (minimum bandwidth for flaot precision, Nyquist, etc)
- add safe constraint on dt
- merge NotchFilterArray into regular NotchFilter (apply vs applyArray)
- only use direct form 1 to prevent reset confusion
- safe default field initialization
- update VehicleAngularVelocity usage
- use WelfordMean library to determine sensor sample rate average
- if gyro samples exceeds queue depth, instead round to nearest even integer to ease scheduling
- force update if publication latency is falling behind
- remove redundant sample interval perf counters
- status print accel & gyro interval standard deviation
-constrain range to -20..35°C
-do not use temperature readings if exactly 0 (as likley not filled by driver at all in this case)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
In airspeed-less mode, instead of the average of min/max airspeed, take the cruise
airspeed (from param) for current airspeed estimate. A diff of the airspeed setpoint
from this value results in increased enegery demand (incerase of throttle) even
in airspeed-less mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
