- adjust flow sample gyro_rate immediately after popping from ring
buffer
- always update flow gyro bias (calcOptFlowBodyRateComp()) regardless
of flow quality or magnitude
* lib: add FilteredDerivative class
* AirspeedValidator: add first principle check
- filters throttle, pitch and airspeed rate, and triggers
if the airspeed rate is negative even though the vehicle
is pitching down and giving high throttle.
Check has to fail for duration defined by ASPD_FP_T_WINDOW
to trigger an airspeed failure.
* AirspeedValidator: define constants for first principle check
* FilteredDerivative: set initialised to false if sample interval is invalid
* airspeed_selector: improved comment
* increase IAS derivative filter time constant from 4 to 5
* use legacy parameter handling for FW_PSP_OFF
* handle FW_THR_MAX as well
* ROMFS/airframes: exclude some airframes for v6x and v4pro to save flash on them
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
* reset position by fusion
* handle local_pos_valid for fixed wing in gnss denied
* [WIP] ekf2: setEkfGlobalOrigin respect current height reference and vertical position aiding
* global origin, also reset vertical pos without gps as ref
* fix wo gnss, that bitcraze ci passes
* revert some changes as requested
* remove duplicate reset messages
* undo unrelated whitespace changes, I'll fix it everywhere in a followup
* [SQUASH] ekf2: add vehicle_command_ack
* resetGlobalPosToExternalObservation consolidate logic
* remove gnss check from local_pos validation check
* reset when 0<accuracy<1, otherwise fuse
* replace gps param with flag
* ekf2: dead reckon time exceeded, respect ZUPT preflight if air data or optical flow expected
* subtract timeout from last inertial dead-reck, change fake pos conditions, save flash
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
- track accel clipping count per axis
- only set bad_acc_clipping fault_status if at least one axis is
clipping continuously or if all have been clipping at warning level
- Note: this doesn't impact the clipping projections that boost the
accel process noise, pause bias estimation, and skip gravity fusion
on a per sample basis
We had a case where someone took off with an experimental
system with 100% RAM usage on the embedded system
without noticing. This lead to problems during flight.
Since we already have a CPU load check it seems natural
to also check the reported RAM usage.
- new parameter EKF2_LOG_VERBOSE to enable (currently enabled by default)
- force advertise topics immediately (based on EKF2_LOG_VERBOSE and per aid source configuration)
- logger optionally log all estimator topics at minimal rate
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.
- mavlink in PX4/Firmware (7d9b119283b5aff3976431bd48e4308a0bce7b56): 9e0d01df69
- mavlink current upstream: da3223ff93
- Changes: 9e0d01df69...da3223ff93
da3223ff 2024-06-13 Thomas Frans - gps: add status and integrity information (#2110)
- 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.
- 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
-
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>
* AirspeedValidator: remove additional one second of hysteresis for triggering
innovation checks
- this check already uses an integrator and so adding more delay just makes
log analysis more difficult and does not really add any value
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* removed unnecessary conditions
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* AirspeedValidator: only disable innov checks if ASPD_FS_INTEG is negative
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* get rid of unnecessary check on innovation threshold parameter
Signed-off-by: RomanBapst <bapstroman@gmail.com>
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
