* ekf2: range height skip "unhealthy" samples, but respect timeout
- we should never directly use an "unhealthy" range finder sample for
state corrections or resets, but we also shouldn't immediately abort
active rng_hgt until the timeout has passed
* check starting_conditions_passing once
* ekf2: conditional range aid change height ref
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
- if bad vertical acceleration is detected there's an emergency case
where rejected range finder observations are allowed to be used, but
this still can't happen if the sample itself is known to be bag
* ekf2: range height skip "unhealthy" samples, but respect timeout
- we should never directly use an "unhealthy" range finder sample for
state corrections or resets, but we also shouldn't immediately abort
active rng_hgt until the timeout has passed
* check starting_conditions_passing once
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Using the SF30/d with the legacy protocol caused a delay of the
measurements of ~1s. This is not the case with the binary protocol anymore.
The initialization sequence used for SF20/c did not work and is therefore
updated.
Tested on both SF20/c and SF30/d.
-add new NAVIGATION_STATE_ALTITUDE_VOYAGER
-this mode does require manual control to enter
-but you can disable the manual control loss failsafe to continue
flying in case of manual control loss
-for MC: in throttle and yaw are controlled like in Altitude mode,
the tilt is controlled via integrated rate input (similar to Acro,
but with tilt limit)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Acquire control until expected id s are reported
* require an updated message and allow release in case early exit of FlightTask
* FlightTask Gimbal: acquiring logic simplification suggestion
* formatting
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* Added overloaded get_log_time util for fractional seconds
* Added write_info implementation for double info types
* Save boot time to .ulg via info message key boot_time_utc
* Changed time type from double to uint64_t, formatted
* Fixing get_log_time function doc
This was apparently added 10 years ago to store metadata of UAVCAN components within the PX4 binary. The parameters in the xml are mostly early UAVCAN ESC parameters that are presumably out of date and not used. Also it does not scale to maintain metadata for all the possible UAVCAN components and it causes confusion when users read the metadata documentation because these parameters are not available in PX4. That's why I suggest to remove it.
* Add new INS driver sbgECom
Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot
Be able to parametrize the serial port, baudrate and the communicating mode
Clone sbgECom library only if sbgecom support is enabled and apply a patch
Be able to send SBG Systems INS settings in several ways when starting sbgecom driver
* Fix sensor airspeed simulator units
* Fix HIGHRES_IMU pressure unit
* Allow HIGHRES_IMU to support 4 IMUs
* sbgECom: Add documentation
* Use submodule instead of fetching sbgECom using CMake
* Remove patch strategy
* Fix dates
* Remove patch file
* Update SBG dev type ID
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
---------
Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
- The velocity constraint gets set from multiple places e.g. Position slow knob and altitude related slow down. Depending on the execution order it was overwritten with a higher value again not obeying a stricter limit.
- The slowdown used valocities as inputs instead of the ratio of available altitude.
In an effort to reduce configuration space.
I've not seen use for this option.
If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference.
Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.
Tobias Büchli