The ramtron driver already calls SPI_LOCK when accessing the
FRAM.
Removed the interrupt lockout and anabled the SPI_LOCK
in the ms5611 driver on any HW where the
PX4_SPI_BUS_BARO == PX4_SPI_BUS_RAMTRON
because we need a workaround for the broken auto takeoff logic which can start the vehicle with a loiter setpoint
in this case the very first moment is still a jump but then it gets taken over by the fix gradient ramp
this can basically be reverted after the auto takeoff logic is fixed
currently when the vehicle is landed again (not after bootup) the core position controller does not run anymore
therefore the velocity limit ramp in some cases did not get reset correctly
speed limiting in auto takeoff mode only needs to be limited when the user did not take over
adresses:
there were setpoint twitches at the beginning and end of my smooth takeoff routine
it was to slow and not configurable
it was only available for automatic takeoff
auto takeoff was pretty chaotic and bypassed the velocity controller until some magic condition
the goal of this approach is to make the behaviour and smoothness more predictable and reuse the exact same logic for manual takeoff
sched_note_{suspend|resume} were calling hrt_absolute_time before
it hrt_init is called. This can lead to register access before
clocking is enabled. The result is a hardfault.
because there is no sense to have different angle scalings into different directions
it would lead to unintuitive piloting experience
acceleration is directly coupled to the tilt angle regardless of possible assymetric multicopter vehicles
because in altitude mode we have a baro available and can therefore check vertical movement
we can not check horizontal movement but I consider the checks for landing still pretty safe
unlike in manual mode we are not allowed to disarm before land detection in altitude mode
This will avoid file system corruptions in cases where px4_shutdown_request
is used. However it will not help obviously when the battery is pulled
directly.
Previously load stats were stored outside of the printloop, but
with the refactoring to save memory state was reset and used in
the first loop before the actual load calculations were valid.
Fixed by moving the summary info to the bottom of the top printout
after everything is computed. Also restructured the callback to
not depend on a line counter and fixed astyle glitches.
David Sidrane