- change/add a few printfs so they make more sense
- don't accidentally ignore command_acks
- don't forward commands to the same component id, and don't forward
commands that are broadcast to all components (target component 0)
This adds a class to allow for retransmission of outgoing commands.
The sent commands are kept in a timestamped list to check if they are
acked as required by the mavlink protocol.
If they are not acked within a timeout, they can be retransmitted.
Note that Type buf_adc[i].am_data = int32_t, but everything else are floats. Suggest (float)(buf_adc[i].am_data), precisely as was done a few lines later for the voltage.
- one warn_rate_limited was missing
- vel_sp_slewrate was in the wrong order for smooth slowdown/speedup on takeoff and landing
- slow_land_gradual_velocity_limit was replaced by calls to math::gradual
- smooth takeoff speed got controllable by user input
- comments were corrected
- an additional check for the sanity of velocity setpoints was added
This requires support in the parsers, and thus the ULog file version is
increased.
As long as no data is appended, both, existing pyulog & FlightPlot, can
still read the new logs (they will output a warning).
The replay module will print an error, but still continue.
The problem was signed vs unsigned mixing together with 64bit conversion:
int32_t flight_time = ...;
uint64_t _total_flight_time = ...;
_total_flight_time |= flight_time;
When flight_time is negative, the last line would first extend the sign
bit to the upper 32bits of the 64bit uint and then apply the bitwise OR.
The fix is to use an unsigned 32 bit value.
In day to day practice, there are two reasons for fabsf(airspeed.differential_pressure_filtered_pa) > 15.0f
1/ The sensor has not been calibrated. In this case, the sensor needs to be calibrated.
2/ It's a windy day, and the operator has powered up the system without covering the pitot tube. In that case, you need to reboot with the pitot cover in place.
The original message ('Check calibration') is ok, but why not be more direct? The user does not have to "check the calibration" - the user has to (a) either calibrate the system in the first place, or (b) not forget the pitot tube cover when powering up the system.
