- 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>
(leads to double publishing on the console when a new link is established, but this is the best compromise between fixing and completely restructuring)
This resolves a bug where a takeoff would go sideways instead of
straight up. What happened was that the position setpoint got shifted
around even though there was actually no real setpoint set but only a
setpoint of type IDLE. This then lead to a position setpoint far away
from the takeoff point and therefore scary takeoffs.
This fix prevents the part of the position controller which
moves/integrates the position setpoint from running in the case of an
idle setpoint.
This bug could be reproduced by switching the vehicle to mission mode
without a valid mission, then switch to hold mode, and then send the arm
and takeoff command.
A large buffer on the heap was not deallocated when parameters were saved,
but there were no changes to the parameters. In that case
parameter_flashfs_write() was not called, which was previously responsible
for freeing the buffer.
This patch moves the responsibility of freeing the buffer to the calling
side, which already explicitly allocates the buffer.
I could not figure out how to make sense out of the binary git data.
Therefore, I replaced the px4_git_version_binary with the first 8 bytes
of px4_git_version (char[]) and this is easily readable when it arrives
on the other side.
- 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>
Dennis Mannhart