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 05e9a30573, 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.
A battery is considered connected when a) V > BOARD_ADC_OPEN_CIRCUIT_V
and if BOARD_ADC_OPEN_CIRCUIT_V > BOARD_VALID_UV connected
is further qualifed by the Valid signal.
* NuttX cmake
* px4_macros:Pass the stringified predicate as second arg to static assert
CC_ASSERT mapes to the c++ static_assert or provides the same
funtionality for c via the other macros. The c++ static assert
takes 2 argumants the prdicate and a message. This fixes the
lacking second argument.
* Updated nuttx and apps submodule to upstream nuttx 7.21+==master
This is the latest uptake of upstream nuttx and apps.
* ROMFS generate with xxd instead of objcopy
* delete nuttx-patches
* NuttX update submodules to latest px4_nuttx-master
* fix nuttx apps and board dependency
* docker_run update to latest container 2017-08-29
* cmake ROMFS portable sed usage
* NuttX update submodules to latest px4_nuttx-master
was:<nuttx/arch.h> is:platform/cxxinitialize.h
Removed PX4 version:src/modules/systemlib/up_cxxinitialize.c
in favor of nuttx platform/gnu/gnu_cxxinitialize.c
was:<nuttx/arch.h> is:platform/cxxinitialize.h
Removed PX4 version:src/modules/systemlib/up_cxxinitialize.c
in favor of nuttx platform/gnu/gnu_cxxinitialize.c
Beat Küng