Tests showed that sideslip fusion often starts just before airspeed
fusion, resetting the wind states to 0 instead of using the airspeed
data. A quick look at the wind uncertainty allows to know if the current
wind estimate is meaningful or if we should rather reset it using the
airspeed data.
- if the height rate input into TECS is finite, use that one to
update a velocity reference generator
- if the velocity reference generator reports position locked or
height rate input is not finite, then run altidue reference generator
- run altitude controller only if altitue is controlled
if height_rate_setpoint is set, only use that one to update altitdue trajectory
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FWPositionController: add linear airspeed-to-trim-throttle mapping
Scale trim throttle in a linear way with airspeed.
Different gradients above/below trim airspeed.
The airspeed- and airs density-corrected trim throttle is required for an accurate
throttle prediction in TECS, while the default trim throttle is still needed
as well, as the throttle delta from height rate setpoint delta is linked to it.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Navigator: change way of telling logic if RLT was started just now
* Navigator: change logic around when to engage Mission mode for RTL
To find out if we're currently on a mission landing, check if we either are
past the land start marker OR currently land start marker is current WP
and vehicle is already in LOITER mode.
* Navigator: do not engage RTL at all if already on mission landing
* Navigator: consider to be on mission landing if the LOITER_TO_ALT and dist small
To find out if we're currently on a mission landing, check if we either are
past the land start marker OR currently land start marker is current WP,
the type is LOITER_TO_ALT and the vehicle is inside loiter.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- multi-instances support is removed from the parameter definitions.
- XRCE_DDS_AG_IP allows to define the agent IP when udp transport is used.
The parameter is used by default if the module is started without the -h argument.
- XRCE_DDS_PRT allows to define the agent listning udp port when the
udp transport is uded. The parameter is used by default if the module is started
without the -p argument.
- Tools/convert_ip.py assists in converting ips in decimal dot notation into int32
notation.
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
To prevent mission rejections when vehicle is currently far away from Mission start,
but planned home is close to it.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- mavlink in PX4/Firmware (73104cab2e49118903cf32bdf11f6ea917fa394e): 2bdcab78b5
- mavlink current upstream: e1e68da5e6
- Changes: 2bdcab78b5...e1e68da5e6
e1e68da5 2023-03-08 Hamish Willee - Add quickstart to the README (#1960)
9b92bf2e 2023-03-08 Hamish Willee - Fix enum value for payload battery (#1959)
81e9fcd5 2023-03-08 Hamish Willee - Allocate range for ras-a and indicate next free range (#1957)
abbda253 2023-03-02 Hamish Willee - Indicate preference for COMMAND_INT (#1955)
d3a8e4b8 2023-02-08 Julian Oes - development: add command to configure SiK radio
Testing has shown that 10m is a bit too tight, most of all as this check is also run in not height-controlled
flight modes (eg Stabilized), and there 10m altitude loss during transitions can happen easily.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-set roll/pitch used for failure detection during transition to 0
-rotate estimated attitude 90° in FW flight
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
