Problem: The drone started taking off in LOITER (HOLD) mode even if on
ground and did not do a proper takeoff jump. The effect was mostly a
hovering close above ground or tilting/flipping because of integrator
wind-up.
Solution: Stay at minimum throttle until a takeoff setpoint is issued.
This adds the possibility to use offboard velocity control in the body
frame and not just the NED (world) frame.
The frame is set in the set_position_target_local_ned message and passed
on to mc_pos_control in the position_setpoint topic.
If velocity offboard control is used, it makes sense to lock/hold
position if the velocity input is 0. If this is not done, we will slowly
drift because nothing is integrating to keep the UAV at its position.
The stack size was generally ok but seemed to get exhausted in the case
of a waypoint which is too far away and therefore exercises some more
code in the mission feasability checker.
Generally, we should have more margin in the navigator stack size
because there are a bunch of different code paths that can happen.
The stack size was generally ok but seemed to get exhausted in the case
of a waypoint which is too far away and therefore exercises some more
code in the mission feasability checker.
Generally, we should have more margin in the navigator stack size
because there are a bunch of different code paths that can happen.
Use reporting from the motor mixer to only restrict integrator growth when it will result in increased saturation of the control axis concerned.
Enable absolute integrator limits to be set by parameter
According to https://github.com/mavlink/mavlink/pull/629 the mavlink
command DO_SET_MODE should only determine the mode but not the
armed/disarmed state, so the MAV_MODE_FLAG_SAFETY_ARMED bit should be
ignored.
Instead the mavlink command COMPONENT_ARM_DISARM should be used instead.
Therefore, the commander now ignores the arm/disarm bit.
clamp mixer output offset to [-.2,.2] ([-2000, 2000] in mixer file)
add 8 main PWM trim parameters
add long desc to parameters and bump minor parameter version
Julian Oes