* estimator gps check fail flag for spoofing
* warn whenever spoofing state changes to true, use default hysteresis to completely stop fusion
* dont introduce more GPS namings, GNSS instead
* flash: exclude mantis for cuav_x7pro
- previously we could get stuck with optical flow still technically
active (_control_status.flags.opt_flow=true), but nothing being
updated due to excessive tilt, etc
- collapse updateOptFlow() and startFlowFusion() to avoid recomputing H
- this is a relatively expensive call we can easily avoid with the
right structure
- adjust flow sample gyro_rate immediately after popping from ring
buffer
- always update flow gyro bias (calcOptFlowBodyRateComp()) regardless
of flow quality or magnitude
* lib: add FilteredDerivative class
* AirspeedValidator: add first principle check
- filters throttle, pitch and airspeed rate, and triggers
if the airspeed rate is negative even though the vehicle
is pitching down and giving high throttle.
Check has to fail for duration defined by ASPD_FP_T_WINDOW
to trigger an airspeed failure.
* AirspeedValidator: define constants for first principle check
* FilteredDerivative: set initialised to false if sample interval is invalid
* airspeed_selector: improved comment
* increase IAS derivative filter time constant from 4 to 5
* use legacy parameter handling for FW_PSP_OFF
* handle FW_THR_MAX as well
* ROMFS/airframes: exclude some airframes for v6x and v4pro to save flash on them
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
* reset position by fusion
* handle local_pos_valid for fixed wing in gnss denied
* [WIP] ekf2: setEkfGlobalOrigin respect current height reference and vertical position aiding
* global origin, also reset vertical pos without gps as ref
* fix wo gnss, that bitcraze ci passes
* revert some changes as requested
* remove duplicate reset messages
* undo unrelated whitespace changes, I'll fix it everywhere in a followup
* [SQUASH] ekf2: add vehicle_command_ack
* resetGlobalPosToExternalObservation consolidate logic
* remove gnss check from local_pos validation check
* reset when 0<accuracy<1, otherwise fuse
* replace gps param with flag
* ekf2: dead reckon time exceeded, respect ZUPT preflight if air data or optical flow expected
* subtract timeout from last inertial dead-reck, change fake pos conditions, save flash
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
Pulls cell count, min voltage and max voltage from log file but still allows for over-rides. Also added debug info to tell user what what it found in the log and what it is using
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
Heading offset was configured as radians but should be configured as
degrees on Septentrio receivers. The parameter was already in degrees
but the configuration logic was changing it into radians. Also allow the
entire allowed range of heading offset values for Septentrio receivers.
The documentation for `SEP_DUMP_COMM` was quite unclear and users had to
use the user guide to find out what exactly it did. The new
documentation tries to make the purpose clearer.
This fixes an incorrect check of the device paths during instantiation
of the Septentrio driver that caused the driver to start and not print
an error message.
Marco Hauswirth