issue (GCC 6.1.1):
../src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp:1284:27: error: implicit conversion from ‘float’ to ‘double’ to match other operand of binary expression [-Werror=double-promotion]
if ((fabs(air_gnd_angle) > M_PI) || (ground_speed_2d.length() < 3.0f)) {
If the circuit breaker to disable IO safety is engaged, the safety
button should still blink in the appropriate pattern: double flash for
safety off, solid on for armed.
Since the FRAM and the baro are on the same bus on the Pixracer, we
currently need to lock down everything (instead of just this SPI bus)
for the time when the params are written.
Therefore, we need to keep this locking as short as possible.
This change makes the locking even shorter by moving all param_get and
param_name and param_size calls out of the lock.
The result from `!get_freefall_state()` was always true because
`get_freefall_state()` is already called before `get_landed_state()` is
called. Only if we're not in a freefall, we check if we are landed.
The hysteresis was not properly implemented in the land detector and is
therefore replaced by the library call, both for the freefall detector
and the land detector.
There have been two cases where a hysteresis function wasn't working
correctly. It is therefore a good idea to abstract the hysteresis
functionality into a library.
The override checking was scattered across two places and is now unified
in controls_tick(). The part in mixer_tick only decides which mixer (or
none) to use give the override flag.
This fixes a bug where multirotors got into override mode when the FMU
is dead/not responding.
The main bug was that the check was for FMU_OK || MANUAL_OVERRIDE_OK
in order to get further in the override checks.
Also a mixer_tick was called inside the controls_tick even though these
are called in px4io.c after each other anyway.
James Goppert