When running in HITL mode, pwm_out_sim publishes actuator_outputs.
px4io unconditionally publishes the uOrb actuator_outputs. When HITL
is configured, the px4io copy of the uOrb has all zeros.
The result is that there are two publications, one valid, and one
all-zeros. This causes the HIL_ACTUATOR_CONTROLS mavlink message
to be incorrect (all-zeros) and the SERVO_OUTPUTS_RAW mavlink
message to be inconsistent, as it takes the data from one or the
other uOrb randomly each cycle.
The fix is to let px4io know that HITL is in effect when it is
started, and modify px4io to suppress publication in this case.
This is a bigger more complicated fix than I would like, but I
think it is conceptually correct.
Signed-off-by: Nik Langrind <langrind@gmail.com>
This fixes spuriously occuring mag spikes in the external mag of Here2.
The reason for the spikes was that the fact that the I2C registers were
not read out correctly as suggested in the datasheet.
Before we were reading out ST1, data, and ST2 in one pass and ignoring
the data ready bit (DRDY) in ST1. This meant that we could run into race
conditions where the data was not ready when we started reading and
being updated as the registers are read.
Instead, we need to check the read the ST1 register first to check the
data ready bit and then read the data and ST2 if the data is ready. By
reading ST2 we then trigger the next measurement in the chip.
Note: the author name was removed because this file has almost no
resemblence with the code written by that author 4 years ago, has been
copied to new places, and was initially commited without author anyway.
Also, my opinion is that the version control system should take care of
attribution, and not outdated comments.
This fixes the case where the mixer_module would subscribe and use its
own test_motor publication which was created only to make sure the
topic is advertised and subsequent updates will work properly.
This happened in SITL lockstep because the timestamp would be 0 at the
very beginning, and hence elapsed time would be 0 as well.
This lead to an actuator publication which would then get lockstep out
of sync causing poll errors on the Gazebo side.
getLockGuard relies on copy elision to work correctly, which the compiler
is not required to do (only with C++17).
If no copy elision happens, the mutex ends up being unlocked twice, and the
CS is executed with the mutex unlocked.
The patch also ensures that the same pattern cannot be used again.
I don't understand why we should wait to parse incoming MAVLink traffic
just because we don't have the source address initialized. We still
check the source address before doing a sendto.
This should fix serial MAVLink communication on FMU5x where both serial
and UDP is available. There the serial connection previously did not
work because nothing was connected over UDP.
The constrainAbs function was not prioritizing the minimum value
that produces the autocontinue behaviour. This caused zig-zag
paths when the waypoints were almost -but not exactly- aligned.
dt could drive the alpha filter crazy because of the small dt
approximation during the computation of the coefficient.
- Remove unused bitmask packing of the innovation checks
* ekf2: Add FirstOrderLpf and InnovationLpf classes for innovation lowpass filtering
* ekf2: use InnovLpf filter class in preflight checks
* ekf2: move selection of yaw test limit for pre-flight check in function
* ekf2: Move pre-flight checks into separate function
* ekf2: use static constexpr insetead of inline for sq (square) function
* ekf2: Split pre-flight checks in separate functions
Also use the same check for all the innovations:
innov_lpf < test and innov < 2xtest
* ekf2: Add optical flow pre-flight check
* ekf2: Combine FirstOrderLpf and InnovationLpf in single class
* ekf2: check vel_pos_innov when ev_pos is active as well
* ekf2: transform InnovationLpf into a header only library and pass the
spike limit during the update call to avoid storing it here
* ekf2: Static and const cleanup
- set spike_lim constants as static constexpr, set innovation
- set checker helper functions as static
- rename the mix of heading and yaw as heading to avoid confusion
* ekf2: use ternary operator in selectHeadingTestLimit instead of if-else
* ekf2: store intermediate redults in const bool flags. Those will be used for logging
* ekf2: set variable const whenever possible
* ekf2: create PreFlightChecker class that handle all the innovation
pre-flight checks.
Add simple unit testing
Use bitmask instead of general flag to have more granularity
* PreFlightChecker: use setter for the innovations to check instead of sending booleans in the update function
This makes it more scalable as more checks will be added
* ekf: Use booleans instead of bitmask for ekf preflt checks
Rename "down" to "vert"
Some of these perf counters were useful during initial development, but realistically aren't needed anymore, some are redundant when we can now see the average interval from `work_queue status` and some of them simply aren't worth the cost at higher rates.
Required for pwm_out_sim: only publish actuator_outputs when we get
actuator_controls. Otherwise lockstep startup does not work.
The issue was there before but hidden, due to a long poll timeout.
Works with HIL too.
Checking the first output_limited for a disarmed value is fragile.
For example a disarmed value might be within the range of min/max output
values and could then be triggered while armed.
This adds a flight task to catch the case where we want to do an
emergency descent without GPS but only a baro.
Previously, this would lead to the navigator land class being called
without position estimates which then made the flight tasks fail and
react with a flight task failsafe. This however meant that landed was
never detected and a couple of confusing error messages.
This applies if NAV_RCL_ACT is set to 3 "land".
* rename parameters to allow more descriptive names under CP group
* add option to enable moving where there is no data
* add test for param CP_GO_NO_DATA
Co-Authored-By: Martina Rivizzigno <martina@rivizzigno.it>
Nik Langrind