When lockstep is enabled and LPE is not running, the
attitude_estimator_q needs to publish ekf2_timestamps in order to signal
to the simulator module that it has fully run.
This essentially fixes flying in lockstep when SYS_MC_EST_GROUP is 3.
This change is necessary to give the pilot the ability to switch VTOL state
even if for some reason no attitude sp are published anymore.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This fixes SITL with lockstep when using LPE and q estimator.
The required changes are:
- Publish ekf2_timestamps because simulator_mavlink expects them.
- Run LPE at 250 Hz instead of 80 Hz in order to keep everything in
lockstep running at 250 Hz.
- this is disabled in replay builds to ensure all data in ekf2 replay logs only contains the same time range, otherwise the plots can be unreadable using common tools
- fixes#14230
- refactor Run() into simple state machine
- perform reset and configuration in sensor bus thread
- when using data ready interrupt skip checking FIFO count
- fix periodic temperature sampling (rate limit to 1 Hz)
- refactor Run() into simple state machine
- perform reset and configuration in sensor bus thread
- when using data ready interrupt skip checking FIFO count
- fix periodic temperature sampling (rate limit to 1 Hz)
- refactor Run() into simple state machine
- perform reset and configuration in sensor bus thread
- when using data ready interrupt skip checking FIFO count
- fix periodic temperature sampling (rate limit to 1 Hz)
- refactor Run() into simple state machine
- perform reset and configuration in sensor bus thread
- when using data ready interrupt skip checking FIFO count
* Introduce "px4_arch_adc_reference_v"
* Revert "Introduce "px4_arch_adc_reference_v""
This reverts commit 93691fbbd55a1b8da8c190e225b318067d90399b.
* use structure to return sample count and vref at the same time
* Revert "use structure to return sample count and vref at the same time"
This reverts commit 9cfd1c173cda51495f766a3f678c2202d67725fd.
* Revert "Revert "Introduce "px4_arch_adc_reference_v"""
This reverts commit edb7f7603e4471163ffb0fc6fc62ad2e30336e91.
* fix missed reference
* remove unecessary channel specific vref
* Update src/drivers/drv_adc.h
Co-Authored-By: David Sidrane <David.Sidrane@Nscdg.com>
* Update src/drivers/drv_adc.h
Co-Authored-By: David Sidrane <David.Sidrane@Nscdg.com>
* Introduce BOARD_ADC_POS_REF_V
Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
Regression from https://github.com/PX4/Firmware/pull/13613.
VEHICLE_CMD_COMPONENT_ARM_DISARM from CLI would enter the
ARMING_STATE_IN_AIR_RESTORE logic. This was never intended for disarming
(and leads to state machine transition failures), and IMO it is also not
intended for commands from CLI.
Julian Oes