Signed-off-by: Silvan <silvan@auterion.com>
boards: increase max mission items for boards with >=1kb RAM to 1000
Signed-off-by: Silvan <silvan@auterion.com>
boards: increase NUM_MISSION_ITMES_SUPPORTED for SITL to 10000
Signed-off-by: Silvan <silvan@auterion.com>
Since we have SYS_DM_BACKEND, the user has to option on all boards
to store the mission on the RAM, thus thus define got obsolete.
Signed-off-by: Silvan <silvan@auterion.com>
vtol_type: timeout transition earlier if we use airspeed and airspeed has
not increased above blend airspeed after openloop front transition time.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* Bidirectional DShot
Co-authored-by: Julian Oes <julian@oes.ch>
* f4/f1 support, not supported
* fix f1 build target
* sanity check timer_channel value, fix CCxNP ifdef, debug stuff
* removed debug code, added define for H7 HAVE_GTIM_CCXNP
* round robin sampling for less than 4 DMA
* unlimited esc_status logging
* dshot: fix formatting
* dshot: add define for number of DMA channels to use
This allows individual boards to override the number of DShot channels
and hence avoid round robin capture of the RPM feedback.
* ARK: enable 4 DMA channels for DShot on 6X
* dshot: publish when all channels are updated
This slows down the ESC_STATUS publication in the case of round robin
capture. E.g. for 800 Hz output with one DMA channel, the ESC_STATUS is
now published at 200 Hz.
* dshot: avoid duplicate publications for bidir and telem
Instead of publishing both bidirectional dshot updates as well as
telemetry updates, we now combine the data from both streams, and
publish whenever we get RPM updates, as the latter arrives with higher
rate, e.g. 200 Hz with round robin, or faster otherwise.
When combining the data, we take RPM from bidirectional dshot, and the
rest from telemetry.
When we have only one of the two, either telemetry or bidirectional
dshot, we just publish that one.
* boards: add ark fpv and pi6x BOARD_DMA_NUM_DSHOT_CHANNELS
* dshot: turn off debug build
---------
Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: alexklimaj <alex@arkelectron.com>
There is already another check for battery_unhealthy, so a separate state
and ID are required.
Fixes the error:
ERROR [failsafe] BUG: duplicate check for caller_id 74
Reading the WAI register is unreliable as the chip sometimes returns
wrong values or boots with the wrong I2C address. This can be fixed by
sending the software reset command to all four possible I2C addresses.
* MissionBase: replay change speed on resume immediately if not going to previous
This fixes an issue where the speed was not correctly set at the beginning of a
survey (with first wp having a DO_CHANGE_SPEED attached) when the user paused
and resumed the mission prior to reaching the first waypoint.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Update src/modules/navigator/mission_base.cpp
Co-authored-by: Stefano Colli <45536733+StefanoColli@users.noreply.github.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Stefano Colli <45536733+StefanoColli@users.noreply.github.com>
Run at sensor_combined speed and publish all other sensors occuring
between 2 sonsor_combined samples.
This allows a crude replay in case ekf2 replay was not enabled during
the flight.
Parameter "void *val" passed to the functions in parameters.cpp are not always
4-byte aligned, so on some platforms direct casting to "int32_t *" or "float *"
leads to an unaligned exception. An example of such user is Logger, which directly packs
parameter values to character buffer.
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
The partial derivative of the flow observation with respect
to the terrain and height states involve calculating the derivative
of 1/x, which is -1/x^2. This function is even, making the estimate
diverge in case x (the height above ground) is negative.
The solution is to take the derivative of 1/|x|,
which is -x/|x|^3 and is an odd function; preserving the sign of x.
Note that for positive values of x, the expression reduces to -1/x^2
