As per the discussion in #15331, fixed issue where stm32h7 chips
use hardware ECC bits in program memory that disallow overwriting
32-byte flash line that has already been written. As such,
this change allows for a variant implementation of the flashfs system
that uses more space in the flash entry header in order to
allow an entire line to be reserved for erasing an entry.
Signed-off-by: Taylor Nelms <tnelms@roboticresearch.com>
rtl state was getting reset on inactive, which meant that the state which triggered resuming e.g. mission landing would be overwritten, and the navigator mode would switch back and forth between rtl and mission. this commit:
1. moves the reset of rtl state to the on activation function (removing it from the on inactive function)
2. functionalizes the rtl state input to the rtl time estimator so that rtl time can still be calculated from state=none while inactive
This commit removes the additional airspeed check (airspeed for VTOLs in
hover below LNDFW_AIRSPD_MAX), as it is not a required condition in the
landed state (headwind blowing into the airspeed sensor won't stop
once on the gruond). In FW mode the check would make more sense, but there
the land detector is currently simply disabled.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- if using multi-EKF across all magnetometers then an instance of
vehicle_magnetometer is advertised immediately for every sensor_mag
instance
- this can become problematic if EKF2 multi-mag is enabled, but with
only 1 IMU (EKF2_MULTI_MAG) because you will be stuck with no magnetometer data
FW_LND_USETER defaulted to 1 and FW_LND_ABORT terrain based bits all enabled. why? because using a distance sensor is critical to detecting when to flare, and we want to force the user to actively disable these safety settings if they so choose, so that they understand the implications.
- new param, FW_LND_TER_REL
- fixing the glide slope helps keep the landing glide behavior steady (avoiding bumps in the altitude setpoint from e.g. trees)
- flare is still triggered via the distance sensor, if enabled by FW_LND_USETERR
when the vehicle did not track the slope well (e.g. at an offset above the track) and the altitude setpoint flattening on intersection with terrain, the throttle would spool up to smoothly intersect the newly flattened altitude setpoint, this could happen before the flare altitude was reached, which is bad. now the steady state glide behavior will be maintained, and flare can trigger at the appropriate time
