When using optical flow for terrain aiding, we cannot assume that the
terrain estimate is valid if flow is fused as is can only be observed
during motion. When no direct observation is available, the terrain is
assumed to be valid if its 1sigma uncertainty is < 10% of the hagl.
Terrain is the state: terrain vertical position
Hagl (height above ground level) is the vertical distance between the
vertical position and the terrain vertical position
* mission: skip a vtol takoff mission item if already in air and a fixed wing
* MissionBase: also skip FW takeoff when already in-air
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* mission: use setNextMissionItem to skip vtol takeoff when already in air
* mission: Only skip the VTOL takeoff in air for mission and rtl mission
If flying RTL mission reverse it must still include the takeoff point.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Without this flag the command silently succeeds even though the logs contains
an error. It's much more developer friendly to fail early in case of an error.
The log path is then also shown in the console output.
- MPC_VEL_LP: new velocity first order low pass filter (off by default)
- MPC_VEL_NF_FRQ/MPC_VEL_NF_BW: new velocity notch filter (off by default)
- MPC_VELD_LP: existing velocity derivative low pass filter, but I've dropped the remaining controllib usage
The case where the airframe maintainer wants to enforce a reset to airframe is
not covered anymore with the `param set-default` mechanism. For products based
on PX4 this is still required to ensure proper functionality after a major update.
Having a generic interface over the GPS drivers makes dedicated
functionality for each driver harder. Move the Septentrio driver into
its own module under the `gnss` driver directory, and let it have its
own parameters for only the functionality it requires. This also helps
with adding new features because they only need to be implemented for
the driver that wants it, simplifying testing.
- these are old RC switch configuration parameters that haven't been used for
years, but were hardcoded into old versions of QGC
- RC_MAP_RATT_SW, RC_MAP_POSCTL_SW, RC_MAP_ACRO_SW, RC_MAP_STAB_SW, RC_MAP_MAN_SW deleted
-
* ist8310: do reset before WHOAMI call
Apparently, the IST8310's WHOAMI register is writeable. Presumably, this
can get corrupted by bus noise. It is only reset if powered off for 30s.
Therefore, we do a reset before doing the WHOAMI.
* ist8310: improve comment
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
---------
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Compared to GNSS, alternate position observation methods are less accurate
and thus generally not good enough to do airspeed validation with.
Airspeed validation is thus disabled if no GNSS fusion is happening.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
alexklimaj