After boot the user is in manual mode and if he has an RC
but doesn't switch out the thrust gets set to the throttle stick
position. When he then starts a takeoff from tablet the thrust is still
high while arming and the land detector immediately sees a takeoff
skiping smooth takeoff from the position controller.
- start from a velocity setpoint pushing into the ground
to ramp from idle thrust up.
- start with a bit higher velocity setpoint threshold to make
sure the vehicle has a chance to really get off the ground.
- calculate ramp slope from initialization setpoint to the desired one
instead from zero to the desired. this ramps up quicker when you demand
a very small upwards velocity like the AutoLineSmoothVel and
ManualPositionSmoothVel tasks do at the beginning.
- don't stay in the takeoff ramp depending on the land detector, this
is unnecessary.
The comments and variable names were partly misleading.
I grouped all members, hopefully gave them more
understandable names and adjusted the comments.
There were two rather confusing function calls one to check
if smooth takeoff needs to be ran and one that updates it.
I combined them and documented the interface correctly
making the parameters non-reference const floats.
This tries to make the visibility.h header clearer and better
structured. We don't actually need the ifdef for lockstep enabled or
disabled because that's now handled elsewhere.
This makes sure we add the lockstep_scheduler_test even if the
ENABLE_LOCKSTEP_SCHEDULER is not set to yes. This means the
lockstep_scheduler is not used for SITL but the CMakeLists.txt file
still used and the test added.
GCC 9 complained about stringop-truncation which is a cautionary message
to prevent using strncpy with non-null terminated strings.
We can fix this by copying one byte less than the destination size and
then manually adding the null termination, as we already do.
When simulating with lockstep we can raise the speed by setting the env
variable `PX4_SIM_SPEED_FACTOR`. Some inputs like RC, MAVLink heartbeats
from a ground station, or offboard controls via MAVLink are still at the
normal speed which leads to timeouts getting detected in PX4.
To work around this issue we can automatically multiply the timeout
parameters by the speed factor.
This fixes the IDs of multi UAVs started with ROS/Gazebo.
Previously the 3 vehicles were displayed in QGC as Vehicle 2, 3, 4.
With this change it is more intuitive Vehicle 1, 2, 3 and this is
also consistent with the way it is documented and how it is in
jMAVSim.
Example: Before when you passed "make tests TESTFILTER=Attitude"
and subsequently "make tests TESTFILTER=Atti" it found the string
"TESTFILTER=Atti" in "TESTFILTER=Attitude" and hence the check if
the configuration is already correct passed. The fix checks for
the configuration parameter including the subsequent space separator
and after that strips the space away again such that the list
VERIFIED_CMAKE_OPTIONS doesn't contain trailing spaces.
visibility.h is included globally in PX4 via cmake compile flags.
It contains poisoning the exit() command which is used by gtest
to close the test application. Removing the flag for gtest compilation
fixes the compile error:
gtest.cc:4757:7: error: attempt to use poisoned "exit"
Matthias Grob