The old tune device interface is not working anymore and we need to
publish to uORB tune_control.
This solution is not optimal though because blocks the receiving thread.
- this fixes the case where the navigator publishes a loiter waypoint or any
waypoint which is too close to the vehicle.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
This is a quick follow up fix to to a bug introduced by #14752. In the case of FIFO data (new IMU drivers) the calibration offset wasn't being applied correctly to the result of integrating the FIFO samples.
This slipped through basic sanity testing (simple bench testing, the test rack, and SITL CI) due to the calibration offsets being zeroed.
- bring in PX4/ecl#795 "EKF: Improve covariance prediction stability"
- the ecl/EKF filter update period has changed from 8 ms to 10 ms
- change default integration period 4000 us -> 2500 us (aligns with new EKF filter update period)
The device path is needed to apply PWM limits on the motors that are not
used for FW flight (switch them off). With this parameter the device path can be set
to either IO or FMU, depending on whether the motors are on the IO or FMU port.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
HTE runs based on the position controller so, even if we whish to use
the estimate, it is only available in altitude and position modes.
Therefore, we need to always initialize the hoverThrottle using the hover
thrust parameter in case we fly in stabilized
* FlightTask: Fix ekf2 reset race condition during task switch
During a loss of GPS data when using GPS as primary height source,
the height is reset to baro and the local position gets invalid at the
same time. This triggers a switch to altitude flight task and a setpoint
reset.
This combination of events had the effect to ignore the height reset,
the large sudden height error could create an abrupt change of altitude
or even a crash.
The ekf2 reset is now done at the beginning of each update call.
Adjusting the tilt limit can lead to diverging position control
and should only be used by setting a sanity limit for the controller
and not to adjust during the descent phase of a Land or RTL.
Otherwise it leads to flyaways in important failsafe modes when
there's stronger disturbance e.g. wind.
The hover thrust estimator (HTE) starts to run after the first thrust
setpoint is published. Until then, the feedforward of the vertical
velocity controller was unitialized (= 0). This is now set to hover
thrust parameter until the estimate is available.
* commander: add check for VTOL airfame on fmu-v2
This adds a preflight check when a VTOL airframe is configured
on a fmu-v2 where VTOL is no longer included.
* commander: address code review comments
Julian Oes