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.
Drawbacks of the previous method: when writing to the SD card, there are
high delays in the write() call of several 100ms, every now and then. The
frequency and length of these events depend on:
- SD card
- used logger bandwidth
- bandwidth of gps data (RTCM)
Since the whole gps thread was blocked during this period, it lead to
gps timeouts and lost module.
What we do now is: publish an orb topic with queuing. This makes it async
and the logger takes care of buffering. This means it's best to:
- use high logger rate
- use large logger buffer
- reduce logger bandwith by disabling unused topics
* Use variance to control publishing for LPE.
* Don't stop publishing if we have gps/ baro.
* LPE tuning and cleanup.
* Added bias saturation to LPE.
* Added vector enabled low pass filter block.
* Added rk4 integration and pub lowpass to LPE.
* Fix std::abs issue on mac/ reset lowpass on state reset.
* Don't estimate gyro bias when rotating at high speed att_est_q.
* Lowered low pass on position to 5 Hz for LPE.
* Streamline state space update for LPE.
* Added health flags to est2 log.
* Revert to old tuning, more conservative, less faults.
* Formatting.
* Fix for fault message on LPE.
* Added subscription throttling to LPE.
* Formatting.
GCC output:
implicit conversion from ‘float’ to ‘double’ to match other operand of
binary expression [-Werror=double-promotion]
It seems gcc 6.1.1 uses the float variant of fabs, whereas older gcc's
use the double version. This makes it compile for both.
* 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>
Beat Küng