This changes px4_task_spawn_cmd to match the NuttX task_spawn. It adds
the task name as argv[0]. See example below:
px4_task_spawn_cmd("task_name",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1024,
(px4_main_t)&Something::start_helper,
(char *const *)argv);
with:
argv[0]: "something"
argv[1]: "start"
argv[2]: nullptr
becomes in Something::start_helper:
argv[0]: "task_name"
argv[1]: "something"
argv[2]: "start"
argv[3]: nullptr
The comment said that the horizontal accuracy needs to be scaled up
using the typical epv/eph ratio but the epv (vacc) is already available,
so no scaling is required.
- updating the global position validity should happen regardless of
being in manual position control mode with only optical flow
- condition_global_position_valid needs to be accurate to adjudicate
main state changes (eg going into AUTO MISSION)
- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com>
- the states can be initialised more accurately using an airspeed measurement
and the wind estimator uses the first measurement to initialise
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- extract motion checks performed on ground
- move all non-timing check to controlOpticalFlowFusion. This simplifies and standardirzes the setOpticalFlowData function. Furthermore, in some cases (SITL, PX4Flow), the dt is forced to 0 when the quality is 0 (which is usual on ground) so the ekf needs to ignore those values on ground to initialize properly the flow fusion.
- add filter convergence test
- move check for dt time max in setOpticalFlowData
- in the simulator, do not update dt as this is the sensor integration
period.
* Break out dshot.h from dshot.cpp and rename files to reflect the class name.
Move DShot class specific #defines from drv_pwm_output.h to dshot.h.
Replace c-style casts with static_casts, standardize method naming, single line comment styles, and formatting.
Rename update_dshot_out_state() to enable_dshot_outputs().
Julian Oes