EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME
- remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module
- now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME
- leave tilts at disarmed value during spoolup
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- when GNSS is used require low mag heading innovations during
horizontal acceleration (yaw observable) to validate the mag
- only fuse mag heading just enough to constrain the yaw estimate
variance to a sane value. Leave enough uncertainty to allow for a
correction when the yaw is observable through GNSS fusion
In the mavlink_receiver code, after a while it will try to resend some
parameter update through the MAVLink instance. But for Iridium links
those are not a good idea. So this adds a condition that prevent the
sending if the MAVLink instance is in Iridium mode.
Related to issue #21496
sem_wait() can be interrupted if the task receives a signal, however
the blockinglist implementation depends on blocking until the semaphore
can be obtained.
Fix a memory overflow in case SENS_BOARD_ROT is set to Rotation::ROTATION_MAX (41) which is not a valid value
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
* Navigator: DO_CHANGE_SPEED: only store sinlge cruising_speed_current_mode
This stored cruising speed setpoint is reset on mode change and
after a VTOL transition.
* Navigator Mission: replay DO_CHANGE_SPEED items when resuming mission
* Navigator: remove cruising_speed_sp_update()
Speed changes in a mission are handled directly in the position controllers,
and no longer in Navigator.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Increased size for ORB_ID from uint8_t to uint16_t
Created a type: orb_id_size_t = uint16_t.
There are still a couple of places where the size
of the ORB_ID is assumed to be less than 16-bits.
The places that I have found are commented regarding
this and can be found with a search on orb_id_size_t.
- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d)
- new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion
- if WMM available use for mag_I and mag_B init
- mag states reset if external yaw reset (yaw estimator, GPS yaw, etc)
- mag reset if declination changed (eliminate _mag_yaw_reset_req)
- mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north)
Co-authored-by: bresch <brescianimathieu@gmail.com>
- simplify vehicle_status.arming_state down to just armed and disarmed
- ARMING_STATE_INIT doesn't matter
- ARMING_STATE_STANDBY is effectively pre_flight_checks_pass
- ARMING_STATE_STANDBY_ERROR not needed
- ARMING_STATE_SHUTDOWN effectively not used (all the poweroff/shutdown calls loop forever in place)
- ARMING_STATE_IN_AIR_RESTORE doesn't exist anymore
- collapse ArmStateMachine into commander
- all requests already go through Commander::arm() and Commander::dismarm()
- other minor changes
- VEHICLE_CMD_DO_FLIGHTTERMINATION undocumented (unused?) test command (param1 > 1.5f) removed
- switching to NAVIGATION_STATE_TERMINATION triggers parachute command centrally (only if armed)
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Co-authored-by: Matthias Grob <maetugr@gmail.com>
* ekf2-test: remove outdated codegen comparison
The definition of states changed so the comparison with the old
derivation cannot work anymore.
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Co-authored-by: bresch <brescianimathieu@gmail.com>
alexklimaj