This warning message would often be printed during normal configuration and does not represent a good indicator for true GPS lost states. Instead the system flags should be used, which are available through the normal logging system.
The hardfault keeps track of the number of reboot without a
commit to disk. A commit to disk is the act of writing the
fault data from the bbsram to the hardfault file, not the
ulog file. The sucessful commit rearms the hardfault system.
When ulog appending was added it treated the lack of a ulog
file as an error. This prevented the hardfault_log reset
from being called because the hardfault_log commit returned
an error.
if hardfault_log check
then
if hardfault_log commit
then
hardfault_log reset
fi
fi
This change treats the lack a a ulog as a non error.
- use select_responder from tap_esc_common namespace (same definition)
- switch pwm output to uint16, that's what's used in send_esc_output()
- use SCHED_PRIORITY_ACTUATOR_OUTPUTS instead of SCHED_PRIORITY_MAX
if vmount was enabled in mavlink mode, it was continuously sending mavlink
commmands, which lead to 'command denied during calibration: 205' messages
during calibration.
If you want to go to the limit of what the vehicle can do, you need to be
able to set it so large that it is guaranteed that it's never limited by
software.
Tests showed that it's not a problem to increase it to very high numbers.
360 is too fast if you just want to hover. Next step is to add expo(),
so that we still have fine-grained control at the center and high rates
at the edges.
Previously, the yaw weight was based on the tilt angle of the attitude
setpoint (R_sp(2, 2) == cos(tilt angle)). This makes no sense, it means
the weight is low for high tilt angles even if there is no roll-pitch error
at all.
This patch changes the weight computation to be based on the tilt angle
error: the yaw weight is 1 if there is no roll-pitch error (independent
from current tilt angle), and is reduced for higher tilt angle errors.
The weight was added in 05e9a30573f50dd271f10, without any explanation or
derivation of how and why the weight is chosen that way.
However this patch works much better in practice. The yaw control is
improved, though it can be a bit slow to converge if you do continuous &
fast roll-pitch motions (which is expected).
