This change is necessary to give the pilot the ability to switch VTOL state
even if for some reason no attitude sp are published anymore.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This fixes SITL with lockstep when using LPE and q estimator.
The required changes are:
- Publish ekf2_timestamps because simulator_mavlink expects them.
- Run LPE at 250 Hz instead of 80 Hz in order to keep everything in
lockstep running at 250 Hz.
- this is disabled in replay builds to ensure all data in ekf2 replay logs only contains the same time range, otherwise the plots can be unreadable using common tools
- fixes#14230
Regression from https://github.com/PX4/Firmware/pull/13613.
VEHICLE_CMD_COMPONENT_ARM_DISARM from CLI would enter the
ARMING_STATE_IN_AIR_RESTORE logic. This was never intended for disarming
(and leads to state machine transition failures), and IMO it is also not
intended for commands from CLI.
RC Failsafe isn't triggered when PPM signal is valid. These changes
update Failsafe trigger logic for RC input. RF Modules keep sending
valid PPM signal when the RC Transmitter is lost.
RF Modules which are in the air send PPM signal with same type when lost
the signal from ground.
Extend the get_freefall_state() from MC land detector to have a VTOL-specific
one that just enables free fall detection if in rotary wing or transition mode.
This is done to prevent wrong free-fall detected warnings while doing low-G maneuvers
(parabolic flights). Land detection is anyway disabled in FW flight for VTOL so
no logic change.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- remove gloabl variable and instead give back forward_thrust from function
- give back increased vertical thrust from fct thrust_compensation_for_tilt()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-move pusher assist functionality into vtol_type class and adapt it to also
work for tiltrotor VTOLs (pitch rotors down to accelerate forward)
-for tiltrotor: compensate for lost lift due to tilt by increasing the throttle
-enable pusher / tiltassist also in altitude mode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
with measurement noise auto-tuning
The purpose of this estimator is to improve land detection and vertical
velocity feedforward
Recovery strategy:
This is required when the setpoint suddenly changes in air or that the
EKF is diverging. A lowpassed test ratio is used as a trigger for the recovery logic
Also, a lowpassed residual is used to estimate the steady-state value
and remove it when estimating the accel noise to avoid increasing the
accel noise when the redisual is caused by an offset.
