When switching modes, navigator resets the position setpoint triplet to
idle. In the case of entering RTL, it is not replaced immediately by the
correct triplet, but published once and only corrected a split second
later. This causes zero thrust to come from control_idle in
FixedWingModeManager
Fix by calling run(true) on the appropriate sub-mode at the end of
RTL::on_activation(), same as in the on_active just below.
The submode is in inactive at that point, but run(true) triggers:
- on_activation of the submode
- set_rtl_item, which calls:
- mission_item_to_position_setpoint
- _navigator->set_position_setpoint_triplet_updated
and therefore the navigator publishes the position setpoint triplet
immediately (which was already being correctly set).
Navigator: RTL: also update subs on actiavation
Navigator: RTL: also disable mission RTL if direct RTL
matching the logic in on_active exactly
* Remove `MPC_USE_HTE` and always use hover thrust for altitude control
Note the separate module can still be not run but I have not seen a case where the hover thrust estimate is not useful for altitude control hence I don't expect anyone to have the parameter disabled or planning on not running the module.
This parameter was used to experimentally introduce the hover thrust estimator. First it was just logging its status and you could opt in to use it:
f9794e99f897b842e74a370e5fa77c281aeddce5
but soon after it became the default and you had to opt out of using it:
a8063ac94867c2990b0a80c6fdf0dccc835c3356
AFAIK we haven't seen problems requiring to disable it in the last 5 years and hence I suggest to remove the parameter to reduce the configuration space.
* Update src/modules/land_detector/MulticopterLandDetector.cpp
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
* undo docs changes
* change redundant update() calls to copy()
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* ark fpv board_config: update battery ADC current filter time constant to 0.5s
* battery: add configurable voltage and current filter time constants
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Initial changes
* index fix
* gz index fix2
* gz index fix 3
* updates
* Run prettier
* zsh env
removed gz classic
* Corrections 2
* Cleanups
* Update docs/en/dev_setup/dev_env_mac.md
* Apply suggestions from code review
* Minor subedit and prettier
* small correction
* cleanups gz harmonic brew formula
* fix(macos.sh): invert px4-sim install condition for --sim-tools
The condition checked if px4-sim WAS installed before running
brew install, meaning it would never install on a fresh system.
Add the missing negation so it installs when NOT already present.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs: rewrite macOS dev environment setup guide
- Add Xcode Command Line Tools as prerequisite
- Default to ~/.zshrc (macOS default since Catalina)
- Explain why ulimit change is needed and why in startup file
- Add reminder to open new terminal after shell config changes
- Remove broken pip3 alias workaround
- Split git clone into clone + submodule update (canonical form)
- Recommend --sim-tools flag since first build uses gz_x500
- Document what macos.sh installs and its --reinstall flag
- Clarify Gazebo comes from --sim-tools / px4-sim formula
- Add XQuartz requirement for Gazebo display
- Add verification section with key tool checks and smoke test
- Remove outdated video guide comment block
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* conventions
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
It was added at a time where the triplet target was directly fed as position setpoint to the controller.
Since the smoothing improvements to FlightTaskAuto(SmoothVel) and removing the previous "aggressive" FlightTaskAuto variant there should be no need anymore for this logic. It can sometimes lead to unexpected sideffects. E.g. the vehicle would suddenly change direction when exceeding some arbitrary threshold.
