- set measurement of first sample to -1 to indicated that the data
is not valid
- give an estimate of the sensor variance based on the sensor resolution
and experiments
Signed-off-by: Roman <bapstroman@gmail.com>
- fix a bug where the wrong rotation order was used to compute the attitude
setpoint when using the pusher assist feature
Signed-off-by: Roman <bapstroman@gmail.com>
- fixed a bug where tilt compensation was done also when the horizontal
velocity was controlled. This is not needed because in this case
the controller outputs a 3D thrust vector.
Signed-off-by: Roman <bapstroman@gmail.com>
- we interface over the base class pointer so we don't need any pointers
to the derived classes of VtolType
Signed-off-by: Roman <bapstroman@gmail.com>
- do not try to shift the target waypoints when a reset occurs in position
control mode. Just make it lock into the current heading.
Signed-off-by: Roman <bapstroman@gmail.com>
- during large transients in pitch demand the pitch integrator value
was shifted such that the final demanded pitch did not violate given
limits. Since this strategy can cause large knock-backs of the pitch
integrator we remove this logic completely. We already have logic in place
which reduces the integrator at the pitch time constant in case the
pitch limits are exceeded so we don't need to limit it further. This
has the advantage that spikes in the specific energy balance error
signal does not lead to integrator knock-back.
Signed-off-by: Roman <bapstroman@gmail.com>
- when limiting the pitch integrator input the value was related to
a quantity with different units (specific energy error rate vs delta pitch)
- once the unconstrained pitch demand is larger / smaller than the max/min
allowed pitch angle the integrator input should only be allowed to drag
the integrator into the direction leading to less pitch demand violation
Signed-off-by: Roman <bapstroman@gmail.com>
- if the specific energy balance correction term produced a demanded
pitch value which exceeded the aircraft pitch limits then the pitch
integrator was shifted such that the pitch demand violation was prevented.
However, this meant that the exceeding pitch was just unloaded into the
integrator and caused unexpected behavior of the pitch loop.
In an underspeed condition e.g. this has lead to the plane pulling up it's
nose very quickly shorty after the underspeed condition kicked in.
Signed-off-by: Roman <bapstroman@gmail.com>
- the method in TECS for detecting an underspeed condition was run after
the method which calculated the airspeed demand. As a result the specific
engergy balance error signal showed a spike when TECS detected an underspeed
condition.
Signed-off-by: Roman <bapstroman@gmail.com>
- avoid dividing by zero when calculating max delta output
- better comments when calculating max delta output
- better naming of functions and variables
Signed-off-by: Roman <bapstroman@gmail.com>
- replay was not working without these values as only range measurements
were given to the filter which were between the min/max value
Signed-off-by: Roman <bapstroman@gmail.com>
- attitude setpoint generation for stabilized mode was shifted back
to the fw attitude controller. since the fw position controller is polling
on global position attitude setpoints were not generated when global
position was not published.
Signed-off-by: Roman <bapstroman@gmail.com>
Roman