When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally.
- removes conservative accel bias variance limiting
- force symmetry is skipped after fusion of NED vel/pos (a direct measurement)
---------
Co-authored-by: bresch <brescianimathieu@gmail.com>
When handling multiple commands, it could happen that the first command
updates _reposition_triplet. Normally this would then get handled after
getting the mode change from commander through vehicle_status.
But if the next command is handled before an update from commander, it
could overwrite the triplet.
This patch ensures that navigator waits for an update from commander (and
therefore process the _reposition_triplet) before handling the next
command.
This happened specifically when pressing 'Pause' from QGC during a mission.
QGC sends VEHICLE_CMD_DO_REPOSITION twice, first for pausing, then changing
the altitude.
The result was that the vehicle would not stop at the current location but
continue to the next mission waypoint and stop there.
- fake_pos only if at rest or tilt variances becomes large
- fake pos: don't run when grav fusion is enabled
- gravity fusion enabled by default
- gravity: only fuse when accel norm and lpf norm are consistent
Co-authored-by: bresch <brescianimathieu@gmail.com>
* TECS: reduce default of FW_T_I_GAIN_THR
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* TECS: reduce default of FW_T_THR_DAMP
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* TECS: improve param descriptions and meta data of some params
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Pos C: rename FW_T_THR_DAMP to FW_T_THR_DAMPING
Rename wihtout param translation as the interpretation of this param has changed
recently (a bug was fixed that caused the damping to have a much lower effect than
it should). We want to avoid that users keep the previously tuned value (with the bug)
and do not update the tuning when using the fixed version (v1.14.0 and later).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Pos C: rename FW_T_I_GAIN_THR to FW_T_THR_INTEG
Rename wihtout param translation as the interpretation of this param has changed
recently (a bug was fixed that caused the damping to have a much lower effect than
it should). We want to avoid that users keep the previously tuned value (with the bug)
and do not update the tuning when using the fixed version (v1.14.0 and later).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This check gave a warning when one or more mission items were below the
Home altitude. As it is a valid usecase to plan missions below Home,
those warnings were too often seen as a inconvenience and are thus
removed here.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
That enables us to update the pitch setpoint in Stabilized mode
in the VTOL controller (pitch ramp for transition).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Separate offboard path setpoints as fixedwing pos control state
This commit separates offboard path following as a separate state inside the FW Poscontrol module.
This is a cleanup on clearly defining fw pos control behaviors
* Update src/modules/fw_pos_control/FixedwingPositionControl.cpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
* Fix format
---------
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
The IMU topic is not zeroed, and the clipping information was not
copied, so this field ended up being garbage.
Signed-off-by: Julian Oes <julian@oes.ch>
With this margin it is made sure that if the loiter is not perfectly tracked,
(vehicle outside of path setpoint) a wp just at the border of the loiter
is still reachable.
It should though be as small as necessary, as otherwise, with good
loiter tracking, waypoints that are close but not right on the loiter
radius are not enforcing the exit course neither.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* PositionSetpoint: remove yaw_valid field
* Navigator: set yaw setpoint to NAN for Takeoff
Don't set a yaw setpoint for takeoff, as Navigator doesn't handle the yaw reset.
The yaw setpoint generation is handled by FlightTaskAuto.
* PositionSetpoint.msg: remove disable_weather_vane and instead only use the yaw field
Strictly follow the concept that if the position_setpoint.yaw is set, then
follow it the controller, and otherwise let the controller set it as it
thinks it's best.
* Navigator: remove logic that sets yaw to be accepted in TAKEOFF
No longer needed as during Takeoff we anyway don't set a yaw setpoint.
* PositionSetpoint.msg: remove yawspeed_valid
* PositionSetpoint.msg: remove yawspeed
* Navigator: set yaw setpoint to NAN instead of current
In set_takeoff and set_land_item, as well as for VTOL transition.
The flight tasks then set the yaw corresponding to the current yaw.
* Navigator: change get_yaw_acceptance into a bool
* PositionSetpoint.msg: improve comment for yaw
* MissionBlock: remove unnecessary code from set_vtol_transition_item
* Navigator: clean up calculate_breaking_stop(), set yaw to NAN
* Navigator: set yaw to NAN in variouls places where not specifc setpoint is desired
* Navigator: set yaw to NAN in reset_position_setpoint()
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
1s gives some false positives at boot up, as the airspeed selector only
starts publishing 2s after its startup.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-remove dedicated vtol transition airspeed init logic
-init airspeed setpoint on first usage of tecs
-init to max of current airspeed and min airspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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