- WelfordMeanVector now computes covariance
- use Kahan summation for Welford mean (but continue using float32 for actual mean, etc)
- WelfordMean and WelfordMeanVector handle initial value and count roll over
- Welford mean count rollover at 16 bit max to prevent numerical issues and shift weight to newer samples
- sensors/vehicle_imu: update Welford mean usage (now simplified with resets removed)
- fix vehicle_imu_status accel var, now properly rotated with full covariance matrix
- gyro_calibration: update Welford mean usage
This is fully backwards compatible: If the throttle trim is set to
the minimum then it's the legacy calibration and gets
interpreted such that there is no trim and behavior remains as before.
If the trim is set to a different value than the minimum then it gets
used like with all other channels which was unsupported before.
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.
I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.
While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
To be consistent with all other axes of stick input and avoid future
rescaling confusion.
Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
Also applies to Loiters that are started due to the previous mode being over (Takeoff,
VTOL_Takeoff, Mission).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
landing airspeed was previously defined by a scale factor multiplied by minimum airspeed. this commit changes this parameter to an explicit speed, and when unspecified, defaults to the minimum airspeed
Use kClearanceAltitudeBuffer for it, which is also used to ensure that during takeoff an
altitude setpoint above the clearance altitdue is set.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
MIS_LTRMIN_ALt was used to limit the go-to altitude of a LOITER_TO_ALT (not the exit altitude,
but the altitude that the vehicle went to to fly to WP), and during landing abort to climb to
at least this altitude. The min entry altitude of LOITER_TO_ALT I remove with this commit, while
for the min alt during abort I added the new parameter MIS_LND_ABRT_ALT.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
previously, the next position setpoint in the triplet was left unchanged during an abort, which meant that the abort loiter current point combined with land next point triggered the early landing config logic. this commit is only a hack to make things work temporarily.. this needs to be handled better.
- explicitly defined takeoff airspeed setpoint
- dont use climbout mode
- allow max climb on takeoff
- dont handle post clearance altitude case (navigator will switch anyway)
Completely detach the steering wheel logic from the yaw controller (beside using the
same manual stick input in a manual flight mode).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
