* Fix jmavsim HITL simulation of MAV_CMD_DO_REPOSITION in the case where you have no radio attached to the PX4 and so you have disabled RC link loss for that reason (set NAV_RCL_ACT = 0) but you still want the jmavsimulation to work. The line of code changed here causes failsafe RTL to kick in without this fix.
* Add altitude hold option using Z position control, while doing velocity control on vx and vy.
* Fix style and rebase issues
It uses a queue length of 6. There are 3 RTCM msgs/s, but due to
fragmentation and WiFi lags, there can be more than that. During several
tests, a length of 6 showed no queue overflows.
Reason: the value is easier to read & handle (for example plotting). In
most places the value is needed, not the integral.
Note that this breaks the replay format for sdlog2 replay
- voting is now at a central place instead of duplicated within the
estimators
-> this also means that estimators that did not do voting so far,
now have voting, like ekf2
- estimators requiring more than that can still subscribe to the raw
sensors
- allows sensors_combined to be 3 times smaller
- reduces logger, memcpy (cache) & RAM overhead
- all modules requiring only 1 or 2 sensor values now automatically get
the voted result
- this also adds voting to baro
Decreases the message size from 780 to 280 bytes.
In particular, all modules using sensor_combined must use the integral now.
The sensor value can easily be reconstructed by dividing with dt.
Voters now need to be moved into sensors module, because error count and
priority is removed from the topic.
Any module that requires additional data from a sensor can subscribe to
the raw sensor topics.
At two places, values are set to zero instead of subscribing to the raw
sensors (with the assumption that no one reads them):
- mavlink mavlink_highres_imu_t::abs_pressure
- sdlog2: sensor temperatures
These are not really used. differential_pressure is just copied from the
topic with the same name.
for sdlog2 we assume no one needs the diff pressure fields and set it to 0.
We plan to switch to the new logger soon anyway.
* mavlink receiver: added handling of battery status
handle incoming battery status messages in order to support external
battery monitoring
Signed-off-by: Roman <bapstr@ethz.ch>
* sensor params: added parameter for battery monitoring source
Signed-off-by: Roman <bapstr@ethz.ch>
* sensors: only publish battery status if we don't have external battery
monitoring activated
Signed-off-by: Roman <bapstr@ethz.ch>
Andreas Antener