In this particular case it does no harm,
but since in other cases it can lead to
problems I didn't want to add an exception
for this case to fix_headers.sh, that currently
chokes on this because it doesn't know better
than that it's a bad thing.
Note on how #pragma once works: when encountered
(aka the #ifdef that it is inside has to
be true), the compiler marks the whole
file as "seen" (this is implementation
defined, but most implementations store
the inode of the file). Subsequent #include's
of that file/inode are then completely skipped.
Hence it doesn't matter if the #pragma is at
the beginning, at the end or in the middle,
but it should be encountered every #include,
usually, and thus not be inside an #if... #endif
construct.
These headers files were missing from the header files that
I added them to; the fact that they were missing didn't
lead to compile errors because by coincidence the missing
headers are included in the source files before including
these headers. But, after the reordering of header inclusions
by Tools/fix_headers.sh, these cases will give rise to compiler
errors.
Displaying the RMS innovation values at the end of each replay assets with rapid iteration for time delay parameter tuning without having to plot or post process using another tool.
Baro data arriving too soon after the last measurement due to a high sampling rate or timing jitter is rejected inside the ecl EKF to prevent the data buffer overflowing.
This patch checks the timestamp difference from the last measurement, and if to small, the data is accumulated and the average sent to the EKF when the time delta
is acceptable.
Fixes:
1) Invalid data with a zero time stamp could be the EKF ends up in the data buffers and result in loss of 'good' data from the buffers
2) Magnetometer data was arriving at a rate faster than the data buffers could handle resulting in loss of data.
If the replay data for the baro or mag data has a zero time stamp, then the corresponding relative timestamp published over the combined sensor topic must be se to RELATIVE_TIMESTAMP_INVALID so that the ekf2 module does not try to use this data.
* Fix jmavsim HITL simulation of MAV_CMD_DO_REPOSITION in the case where you have no radio attached to the PX4 and so you have disabled RC link loss for that reason (set NAV_RCL_ACT = 0) but you still want the jmavsimulation to work. The line of code changed here causes failsafe RTL to kick in without this fix.
* Add altitude hold option using Z position control, while doing velocity control on vx and vy.
* Fix style and rebase issues
This saves ~1.1KB of RAM for systems with only 1 sensor of each type.
If there are more sensors, they will be dynamically added, such that
failover still works.
Carlo Wood