- make the selected parameter a template argument. This
enables type-checking at compile-time.
- move things to src/platforms.
This provides consistent includes with ModuleBase
- add ModuleParams base class (replaces Block & SuperBlock)
- drop the Block* prefix from the class names
Generates an enum with all params & additional type information for static
type checking
The generated public param header is required to build the modules using
the new BlockParam classes.
On kinetis, the TPM_STATUS_TOF was used to detect missed interrupts for
PPM decoding. However this was not correct, because the TOF bit was set on
each timer overflow. This happened regularly after every 64ms interval,
which meant that most PPM frames were just discarded.
I have not found any equivalent register/solution that is used on STMF4,
so this just removes the TOF handling. However there is now no way to
detect missed edges/interrupts!
In the stm32f7 the configuration variable for SD card with DMA changed from CONFIG_STM32_SDIO_DMA to CONFIG_STM32F7_SDMMC_DMA
the maximum clock speed of 16MHz can now be achieved.
- standard vtol was implementing many custom parameters although they
are generic and should be shared between the vtol types
- removed heavy usage of hrt_elapsed_time() which is a system call and
could be computationally expensive
This fixes a problem where we do not properly go to the set takeoff
altitude but end up lower.
The problem was that the setpoint triplet is reset when the navigation
mode changes. So in this case, the triplet is reset when we switch from
takeoff to loiter which can happen before reaching the actual takeoff
altitude.
The fix is an ugly hack to prevent the reset in the case of takeoff to
loiter. A better solution would be to remove the general reset and have
all navigation modes do the proper resets themselves.
This hotfix should however be lower risk.
* Updated and expanded batt_smbus to work with bq40z50-R2. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature, added commented out expanded battery_status.msg parameters for future mavlink expansion.
* Changed errx to PX4_ERR
* Added PX4_ERR returns
- this makes sure that all motors are idling in mc mode. having this too
low can lead to a motor stopping in flight which is critical for
attitude control
- experienced loss of attitude control in RTL during descent prior to this
change
Signed-off-by: Roman <bapstroman@gmail.com>
