I propose two changes to the battery failsafes:
1. Remove the return only mode because it means the drone is likely
to crash during RTL. I think this is not expected by users chosing
the option and therefore better not exposed as an option.
2. Make Return/Land the default battery failsafe because it is expected
that a drone does the right thing when battery is low.
Also, this changes the description of the Return/Land behaviour to make
the drop down menu less long and awkward in QGC.
On more complicated setups it's still possible to exceed 32 tasks. For example fmu-v5 with mavlink on every telem (+ USB), external spi usage (pmw3901), gimbal (vmount), multiple i2c sensors, and camera feedback is 35 tasks (with top running). This is a fairly extreme case, so I'm only going to increase CONFIG_MAX_TASKS on newer F7 boards.
- ecl in PX4/Firmware (dcfe226638): https://github.com/PX4/ecl/commit/f005e0ea8f33d10dd014a0700e712426540bb58a
- ecl current upstream: https://github.com/PX4/ecl/commit/9b4b24ee71902c6a4289170e8fb1ca3306c1d9c4
- Changes: https://github.com/PX4/ecl/compare/f005e0ea8f33d10dd014a0700e712426540bb58a...9b4b24ee71902c6a4289170e8fb1ca3306c1d9c49b4b24e 2019-10-17 RomanBapst - removed unused definition
0e3a0b8 2019-10-15 RomanBapst - range_finder_checks: parametrised signal quality hysteresis duration
16d1e15 2019-10-15 RomanBapst - addressed review comments
6bc6f26 2019-10-14 RomanBapst - range_finder_checks: set range height to valid if signal quality is non-zero
6299d81 2019-10-14 RomanBapst - ekf_helper: use latest validated range sample to reset height
00f49e6 2019-10-14 RomanBapst - cleanup checks of range finder data
4d37065 2019-08-22 Paul Riseborough - EKF: Make use of inverse rotation function consistent with name
36de2b3 2019-08-22 Paul Riseborough - EKF: Use matrix library for quaternion to rotation matrix conversion
1a4ab06 2019-10-22 bresch - rate controller: add override specifiers whenever needed
29f71ff 2019-10-21 bresch - ekf: Add override specifier for all functions that override virtual functions of the estimator interface class
50167bf 2019-10-16 bresch - estimator interface: add deprecated functions for backward compatibility
b38458c 2019-10-10 bresch - Terrain estimator: formatting and remove redundant comments
0aef0ed 2019-10-10 bresch - terrain_estimator: remove dead code. Since the terrain estimator is constantly reset on ground, it is not necessary anymore to fuse fake measurements on ground if the range measurements are bad.
370e04e 2019-10-03 bresch - terrain_est: Continuously reset terrain height on ground using known clearance. This is the best estimate as we should not rely on a distance sensor while on the ground. This also helps when the drone is carried over as it avoids starting with a crazy downward distance for optical flow scaling.
e09e3e1 2019-10-14 bresch - control: rename _range_aid_enabled to _is_range_aid_suitable rename rangeAidConditionsMet to checkRangeAidSuitability
fac69d0 2019-10-14 bresch - control: refactor rangeAidConditionsMet function
eae6e8f 2019-08-06 Paul Riseborough - EKF: Fix on ground yaw drift when using EKF2_MAG_TYPE = 4
4e946d5 2019-09-04 RomanBapst - implemented synthesized magnetometer Z measurement - calculate a theoretical value based on the knowledge of the direction and strength of the magnetic field vector and X/Y sensor measurements - needs knowledge about location on earth to work
The constrainAbs function was not prioritizing the minimum value
that produces the autocontinue behaviour. This caused zig-zag
paths when the waypoints were almost -but not exactly- aligned.
Daniel Agar