- 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>
- move systick.c under chip specific sources
- move do_jump into chip specific main.c as arch_do_jump
- wrap flash writes to "arch_flash_write" and implement in chip specific main.c
- add bootloader TOC check
- sync image_toc.h with the version currently in use with old bootloader
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- this fixes a minor edge case when you only have a single accelerometer and haven't made any parameter changes, the sensor sample rate (used for filtering) might not have been updated from default
- this error is primarily useful when significant gaps in magnetometer are present, otherwise the occasional gaps at startup, etc are distracting in regular usage
- ecl in PX4/Firmware (17da6293aa8e32a0e41c8fe10b8ffbf4e3e922b3): e57af44d71
- ecl current upstream: 71fc1b8161
- Changes: e57af44d71...71fc1b8161
71fc1b8 2021-05-20 bresch - airspeed fusion: use yaw from 312 sequence when pitch is close to 90deg
- when the mpu9250 mag is active it disrupts IMU sampling
- this change modifies the simple mpu9250 FIFO integrity checks (comparing duplicate accel samples) to tolerate these samples that don't match if the mag is active
- fixes#17615
- libcanard in PX4/Firmware (e2ba4858a3285fe7ff0f2888d8b1ce5dbda589a1): 38796831f9
- libcanard current upstream: 2a11617028
- Changes: 38796831f9...2a11617028
2a11617 2021-05-20 Pavel Kirienko - Update the changelog
a1efa3a 2021-05-20 Peter van der Perk - Expose CanardRxSubscription fields for read-only use (#167)
- ecl in PX4/Firmware (2a18b8feeb24dcb07c2dd141e6097e211f83e6bd): 85f5a935fe
- ecl current upstream: e57af44d71
- Changes: 85f5a935fe...e57af44d71
e57af44 2021-05-18 Bazooka Joe - set parameters that doesn't change with const attribute, for clearification
This includes the following:
- Remove warning/throw_error flag as it is always !home_alt_valid.
- Remove impossible code path when home_alt_valid = false and
throw_error = false.
- Add home_alt_valid check in second check before using home_alt.
- Only use warning for the second check to allow waypoints below home.
- Don't return early when only warning.
This adds support to handle INT32_MAX for COMMAND_INT.x/y by converting
it to NAN internally.
It also adds paranoid checks to prevent:
- NAN being used sent by a COMMAND_INT by mistake.
- INT32_MAX being used sent by a COMMAND_LONG by mistake.
- disable noise suppression filter
- select more appropriate dynamic range
- carefully set and clear all ODR, DR, and OSRCNTL bits
- retry in probe multiple times
- increase SPI stall time slightly
- tolerate mag self test failure (could be due to local magnetic field)
- register configuration compatible with older ADIS16448AMLZ
- don't publish duplicate accel/gyro
- only allocate CRC perf counter if using CRC
