Sometimes, the mission_result timestamp is the same as the
internal_state timestamp which would meant that we would not switch to
LOITER even though the takeoff is clearly done at that point.
sensors having mixer_module creates a dependency on sensors for
the param MOT_SLEW_MAX. Things that do not uses sensors.
IE. PWM only device should not have to include them.
- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
- blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU
Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
120 seconds of learning time in 3D fusion mode was too long for most normal flights. The learned bias is usually really good after a shorter period and was not used to update the parameters. 30s seems to be a good compromise.
- vehicle_imu/vehicle_magnetometer add monotonically increasing `calibration_count` field so that downstream subscribers are aware of calibration changes
- the hover thrust estimate will often invalidate upon ground contact, but before the land detector ground_contact triggers
- use same time throughout call to avoid subtle timing surprises
* Enable offboard gliding position setpoints
Adds a capability to make the vehicle glide when given position setpoints.
Gliding setpoints are enabled by setting POSITION_TARGET_TYPEMASK_Z_IGNORE, POSITION_TARGET_TYPEMASK_VZ_IGNORE, POSITION_TARGET_TYPEMASK_AZ_IGNORE on the typemask of position setpoints.
Include zero cruising throttle
Invalid setpoints with nan
* Handle nans for curise_throttle
- this allows the default priority to be set differently for internal/external sensors
- accel and gyro initialize default priority like mag in preparation for fully supporting external sensors
- fixes#15652
This will make all distance_sensor messages be published to
mavlink. Previously, if you ran multiple distance_sensor publishers,
typically multiple distance sensors, then you'd only get one of them
on mavlink.
The modifications to MavlinkStreamDistanceSensor are based on
MavlinkStreamBatteryStatus, which already exists with multi-instance
subscription and streaming to mavlink.
Use SubscriptionMultiArray
Co-authored-by: Daniel Agar <daniel@agar.ca>
CarlOlsson