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.
It was setting the rotation value to the I2C slave address
causing it to not be successfully probe.
Changing the constructor paramters order instead of
just fix line instantiating to keep consistency with
the other lidars and sonars.
Depending on the CMake version when we are configuring it emits a
warning about deprecation of CMAKE_FORCE_CXX_COMPILER. However we
rely on this macro and don't want to do what CMAKE_CXX_COMPILER
is doing. Here is what I get with CMake 3.9.1:
CMake Deprecation Warning at /usr/share/cmake/Modules/CMakeForceCompiler.cmake:83 (message):
The CMAKE_FORCE_CXX_COMPILER macro is deprecated. Instead just set
CMAKE_CXX_COMPILER and allow CMake to identify the compiler.
Call Stack (most recent call first):
cmake/toolchains/Toolchain-arm-none-eabi.cmake:37 (cmake_force_cxx_compiler)
/usr/share/cmake/Modules/CMakeDetermineSystem.cmake:94 (include)
CMakeLists.txt:263 (project)
Avoid the warning by passing -Wno-deprecated to cmake.
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.
Due to higher bias, V open circuit on the ADC is high with a 1M
termination. This override the default connected threshold on
V5 HW. Revist once lowe termination is chosen.
BOARD_ADC_OPEN_CIRCUIT_V is the voltage present on an ADC due
to the bias current on the terminition resistor.
BOARD_VALID_UV is the under voltage min set by resistors on a
board's Power selector.
A battery is considered connected when the Voltage measures is
greater than BOARD_ADC_OPEN_CIRCUIT_V.
In the case where BOARD_ADC_OPEN_CIRCUIT_V is greater then
BOARD_VALID_UV we can use the HW to qualify connected.
The data sheet for the F4, F7 indicate a maximum of 36 Mhz
in the 2.4-3.3 volt Soc operating range. This change sets
the clock based on the STM32_PCLK2_FREQUENCY.
Beat Küng