* mc_pos_control: ignore a NaN/inf position setpoint
This is a hotfix that prevents the position controller from trying to
do velocity control with a position setpoint that isn't valid in the
first place.
This is only a workaround, ideally the controls later should not scale
down throttle to the minimum just because the position setpoint is far
away if they still have valid setpoint in z.
* mc_pos_control: use PX4_ISFINITE and not isfinite
- Use the course over ground as loiter exit criteria (better wind behavior)
- Compute the tangent origin coordinate explicitly instead of using immediate position
IO needs atomic updates of a few critical status flags, but doing these always atomic (with interrupts disabled) might cause a too high interrupts disabled interval. In order to avoid this only operations that change the state of the target variable are done with interrupts disabled, while operations without an effect on the target variable are not executed.
This enables to use the RAM normally consumed by the log buffer to be used for calibration and other memory-intense tasks.
These run typically only disarmed when logging is not enabled.
Squashed commits:
[290660d] voted_sensors_update: revert the new_accel_data check (and others)
The check removed the ability to detect sensor timeouts.
[c8dc7ad] sensors: publish changes to sensor selection
[dd90dec] sensors: ensure all sensor selections published first time
Move into functions.
Reset probation time and recalculate checks if a mode change is demanded to give the operator ability to regain control as soon as possible after nav performance is regained. (+11 squashed commits)
Squashed commits:
[a4bb800] commander: enable pilot to quickly recover from loss of position accuracy
[19e16a0] commander: rework postal probation time
[f96284e] commander: rework bad pos and vel test probation time
[00d5f0c] commander: Allow EKF preflight checks to pass with moving vehicle
Separates the 'is using GPS' and the GPS quality checks.
Uses a reasonable subset of the GPS quality checks which allows checks to pass if the vehicle is moving.
[4cdfb5c] commander: remove unused variable
[349385a] commander: add EKF GPS quality checks to pre-arm checking
Only perform check if GPs checking is activated by parameter setting.
Display fault messages that makes it clear if EKF quality checks are failing or the EKF is not using GPS for another reason. We do not want to confuse this with GPS lock.
[340ae29] commander: make position invalid fail-safe more sticky
Require check to pass for 7 seconds before exiting failsafe. This is required because if GPs is failing innovation tests for a prolonged period, the EKF will periodically reset to the GPS and report good accuracy at the time of reset.
Adding this delay gives time for an underlying error condition (eg bad IMU or compass) to be re-detected.
[b04ac95] commander: Increase RAM allocation to eliminate low stack warnings
[9dca12f] commander: add missing position invalid fail-safe responses
[69f264d] commander: Update position invalid fail-safe responses
Replace separate logic for each case with a generic function
Add velocity checks.
[8e8cef1] commander: rework position validity checks
Consolidate existing checks for global and local position validity and add checking of velocity accuracy.
Enable checks to be bypassed using the CBRK_VELPOSERR parameter.
The ramtron driver already calls SPI_LOCK when accessing the
FRAM.
Removed the interrupt lockout and anabled the SPI_LOCK
in the ms5611 driver on any HW where the
PX4_SPI_BUS_BARO == PX4_SPI_BUS_RAMTRON
because we need a workaround for the broken auto takeoff logic which can start the vehicle with a loiter setpoint
in this case the very first moment is still a jump but then it gets taken over by the fix gradient ramp
this can basically be reverted after the auto takeoff logic is fixed
currently when the vehicle is landed again (not after bootup) the core position controller does not run anymore
therefore the velocity limit ramp in some cases did not get reset correctly
speed limiting in auto takeoff mode only needs to be limited when the user did not take over
adresses:
there were setpoint twitches at the beginning and end of my smooth takeoff routine
it was to slow and not configurable
it was only available for automatic takeoff
auto takeoff was pretty chaotic and bypassed the velocity controller until some magic condition
the goal of this approach is to make the behaviour and smoothness more predictable and reuse the exact same logic for manual takeoff
Mohammed Kabir