_num_outputs is set according to the mode_pwmX call, which is required
for camera triggering.
This fixes camera triggering via PWM, as it avoids overwriting the channel.
When disable_weather_vane is true, the vehicle is aligning for the transition waypoint
(VTOL) and thus the yaw setpoint from Navigator should be used.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- track and publish validity based on hover thrust variance, innovation test ratio, and hysteresis
- only publish on actual updates or becoming inactive
- fix dt (previous timestamp wasn't being saved)
- use local position timestamp (corresponding) to accel data rather than current time to avoid unnecessary timing jitter
- check local position validity before using
- mc_hover_thrust_estimator: move from wq:lp_default -> wq:nav_and_controllers to ensure the hover thrust estimator runs after the position controller and uses the same vehicle_local_position data
- land_detector: check hover thrust estimate validity and adjust low throttle thresholds if hover thrust is available
- mc_pos_control: only use hover thrust estimate if valid
- if "landed" and "maybe_landed" states are false then both the "hit_ground" and the "low_thrust" condition need to be true in order to detect landing
- ground contact MC NAN setpoint workaround
- ground contact additionally check acceleration setpoint
- schedule with vehicle_local_position updates (most updates require valid local position)
- don't allow LNDMC_Z_VEL_MAX to exceed MPC_LAND_SPEED
- ground contact horizontal movement checks default to failed if estimates aren't available
- always check system field for validity
- reject any data outside of "servo position" valid range from Spektrum specification
- properly support XPlus channels (12+)
- debug message if channel count changes
Adds a compatible gpiosetevent interface. The helper call the
low level functions while providing a consistent API with
xxxx_ gpiosetevent(uint32_t pinset, bool risingedge,
bool fallingedge, bool event, xcpt_t func,
void *arg);
This wrapper was rjected upstream.
* added python script with ekf derivation (WIP)
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* worked on c code auto-generation
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* save before variable name change
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* changed symbol names
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* added codegeneration class
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* improve 3D mag fusion derivation
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* EKF: Extend ekf sympy derivation to include all observation types
* EKF: Add custom ecl::powf function for integer powers
* EKF: Convert ekf covariance prediction to use sympy output
* EKF: Add test program to compare sympy and matlab covariance prediction
Also tests ecl::powf(x,exp) function
* EKF: simplify ecl::powf function
* Generate code to subfolder generated/
* Add printouts for showing code generation progress
* Move generated covariance code to generated folder
* Upgrade code generation to python3
* main.py: Remove unused create_symbols function
& making code more compact
* main.py: move main part into function
* Code generation: fix passing wrong rotation matrix to yaw_observation ()
* EKF: Amend generated code filename for consistency
* Move ecl::powf function test to unit tests
* EKF: Use updated ecl:powf functionality in test program
* Move ecl::powf to utils.hpp
* Update ecl::powf test
* Update output change indication
* test: update expected output for change indicator
* test: update expected output for change indicator again
Co-authored-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: kamilritz <kritz@ethz.ch>
- log full sensor_combined by default for now
- small decrease to input_rc rate (manual_control_setpoint is no longer filtered)
- sensor_correction can be logged at full rate (low publication rate)
Beat Küng