strncpy() does not enforce NUL-termination, but snprintf() does. So we need to ensure all strings are terminated. Another issue was the use of the wrong length parameter for these functions, resulting in the limiting arguments not being applied to the right length.
Necessary so that build_git_version.h is generated before version.c is
compiled.
Error before:
../src/lib/version/version.c:152:31: error: 'PX4_GIT_TAG_STR' undeclared (first use in this function)
return version_tag_to_number(PX4_GIT_TAG_STR);
boards define BOARD_NAME, so board_name() is not necessary. HW_ARCH was
just a wrapper around board_name().
This patch simplifies to having only one common method px4_board_name().
The stack size was generally ok but seemed to get exhausted in the case
of a waypoint which is too far away and therefore exercises some more
code in the mission feasability checker.
Generally, we should have more margin in the navigator stack size
because there are a bunch of different code paths that can happen.
- during large transients in pitch demand the pitch integrator value
was shifted such that the final demanded pitch did not violate given
limits. Since this strategy can cause large knock-backs of the pitch
integrator we remove this logic completely. We already have logic in place
which reduces the integrator at the pitch time constant in case the
pitch limits are exceeded so we don't need to limit it further. This
has the advantage that spikes in the specific energy balance error
signal does not lead to integrator knock-back.
Signed-off-by: Roman <bapstroman@gmail.com>
Constrain the specific energy balance integrator input to prevent increasing saturation of pitch demand.
Decay the specific energy balance integrator state if the pitch demand is saturated to reduce saturation to zero and do so at the same tome constant as the control loop
Relax the clipping threshold on the specific energy balance integrator to allow the input constraint and decay functions to do more of the work
Improve variable naming and commenting
Beat Küng