- this is to prevent vtol_att_control running at absurdly high rates (kilohertz) from every single actuator controls publication from both the multicopter and fixed wing controllers
- I don't really like this solution, but it works for now until there are larger VTOL architectural changes in place
- this lowers the load immediately at boot while still allowing each VehicleIMU instance to properly measure the actual accel/gyro data rates
- for lockstep builds this is ignored and VehicleIMU initially runs with every new sensor_accel/sensor_gyro publication
- vehicle_air_data won't necessary have an update every iteration and these adjusted throttle values aren't stored
- this only would have worked in the past because the vast majority of systems were using the ms5611 barometer with a publication rate that's faster than the controller
This fixes the takeoff and land CI test where we do a takeoff and land
without RC connected.
In my opinion it does not make sense to go into RC lost failsafe if
a datalink is still available.
Of course, this can be dangerous if someone has a companion computer
connected which gets detected as "data link" but actually has no
connection to the ground station.
- increase rate
- cpu load calculation grab timestamp atomically
- only check one task per cycle (but cycle at a higher rate)
- decrease available FD threshold
- minor cleanup
* FW attitude control scaling fixes and cleanup
This commit aligns the scaling better with the derivations in
https://dev.px4.io/master/en/flight_stack/controller_diagrams.html#airspeed-scaling
Integrator terms now scale with IAS^2 (all three axes)
To match the roll and pitch controllers:
- Yaw integrator scale is now applied during accumulation, not to
integral value (so now FW_YR_IMAX is respected more intuitively)
- Yaw FF term now scale with IAS instead of IAS^2
Also made a number of small changes to make the three files
(roll, pitch, yaw) 3-way diffable to be clearer about what the
differences among them are.
* Remove unused yaw coordination method
- "Coordination method" open vs. closed code removed, since closed
is never used and not actually implemented.
- No change to behavior
* Remove PX4_WARN messages
Co-authored-by: george <george@campsix.com>
This Commit includes a update of the mavlink submodule
since the CELLULAR_STATUS message was updated, the necessary changes were done together
Add enums
This removes the check for the current position of the VTOL swtich, as arming is already prevented if in transition mode,
plus also if VTOL and in fixed-wing mode (unless CBRK_VTOL_ARMING is set).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- schedule on interval multiple of sensor_gyro publications without increasing the configured integration rate
- IMU_INTEG_RATE add enums to guide appropriate selection
- add average calculation bounds to prevent incorrect calculation and force monitoring again if there are consecutive gaps in data
- cleanup failover related messaging
- store previous failover count to prevent unecessary checks
- check for parameter update initially to minimize work after fetching
fresh sensor data
- Introduced COM_LKDOWN_TKO parameter
- Introduced auto disarm for lockdown state
- Do not trigger flight termiantion if system is in lockdown
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Within ekf2, optical flow messages (amongst others) are fused to the state estimates. It might occur that optical flow sensors report unreliable and unrealistic spikes. In that case, the state estimator went crazy so far and just ignored optical flow values from that moment on.
The common thread for all these spikes seems to be a too high integration time span. Therefore, this fix adds a simple logic that ignores unrealistically high integration time spans. As a threshold, 1 second was chosen.
Reported-by: Dominik Natter <dominik.natter@gmail.com>
If some bits are set but no topic was added, _subscriptions was null but
later accessed.
During normal use this only happens when switching between different
firmware versions with different SDLOG_PROFILE definition (with custom
config).
