- use select_responder from tap_esc_common namespace (same definition)
- switch pwm output to uint16, that's what's used in send_esc_output()
- use SCHED_PRIORITY_ACTUATOR_OUTPUTS instead of SCHED_PRIORITY_MAX
* AeroFC: Update defconfig
defconfig generated using: make aerofc-v1_default oldconfig
* AeroFC: Disable UART8
It is not used but it share the same pinout in the FC connector with
other pin used as I2C2, so it needs to stay in high-z.
if vmount was enabled in mavlink mode, it was continuously sending mavlink
commmands, which lead to 'command denied during calibration: 205' messages
during calibration.
If you want to go to the limit of what the vehicle can do, you need to be
able to set it so large that it is guaranteed that it's never limited by
software.
Tests showed that it's not a problem to increase it to very high numbers.
360 is too fast if you just want to hover. Next step is to add expo(),
so that we still have fine-grained control at the center and high rates
at the edges.
Previously, the yaw weight was based on the tilt angle of the attitude
setpoint (R_sp(2, 2) == cos(tilt angle)). This makes no sense, it means
the weight is low for high tilt angles even if there is no roll-pitch error
at all.
This patch changes the weight computation to be based on the tilt angle
error: the yaw weight is 1 if there is no roll-pitch error (independent
from current tilt angle), and is reduced for higher tilt angle errors.
The weight was added in 05e9a30573f50dd271f10, without any explanation or
derivation of how and why the weight is chosen that way.
However this patch works much better in practice. The yaw control is
improved, though it can be a bit slow to converge if you do continuous &
fast roll-pitch motions (which is expected).
The feedforwarding was applied in the wrong frame: the term is given in
global coordinates, but was directly applied to body coordinates. This
patch adds the missing transformation from global to body frame.
In addition, it moves the feedforwarding before the rate limitation, so
that we cannot exceed the configured rates.
