The checks did previously only report the first failure (to not overload the radio link). As we are moving to buffered messages and higher bandwidth links this design choice is not any more in the best interest of the drone operator. We are now reporting all detected failures. To ensure architectural consistency more checks have been moved from the commander mainloop into the respective classes.
This enables us to have better situational awareness during development and when inspecting a system in the field as to which subsystem is currently faulty. These flags are from standard MAVLink and are not sufficient nor do they match well the actual critical path to a safe flight. This will be addressed in a second step with the addition of a new MAVLink message and new flags.
As we are checking the current pre-flight state and validate wether the system could be armed, we do not want to spam the console or user with continously failing checks. These checks are reported to the GCS separately and are processed and displayed there.
- ecl/attitude_fw was never maintained as a standalone library
- moving ecl/attitude_fw library into the fw_att_control module to ease further development
This function updates the vertical velocity integrator with the change
in hover thrust to avoid propagating discontinuities through the
controller when changing the hover thrust.
This is also important when using the hover thrust estimator as its
estimate has unconstrained dynamics and can cause drops or kicks when
the estimate updates faster than the velocity integrator.
- Use a low-passed value of the signed innovation test ratio to trigger
the state variance boost. The threshold of 0.2 has been chosen using log
replay and simulation scenarii.
- Do not reset the learned accel noise during a state variance boost.
After a few tests, this does not seem to help at all.
- Continue to learn the accel noise even if the measurement got rejected
to avoid ignoring sudden changes of noise
- Lower the acceleration noise time constant and increase min/max
values to avoid learning quickly a small variance that could temporarly
destabilize the filter
- Update filter time constants. Increasing the speed of the residual lpf
improves the quality of the learned accel noise
* msg: Add EKF-GSF yaw estimator logging data
* ecl: update to version with EKF-GSF yaw estimator
* ekf2: Add param control and logging for EKF-GSF yaw estimator
* logger: Add logging for EKF-GSF yaw esimtator
* uORB orb_stat() and update(uint64_t *time, void *dst) are now obsolete and have been deleted
* mavlink messages add more advertised checks in streams get_size() check to improve data rate calculation across different scenarios
The mission logic depends in a number of locations on being able to calculate the direction from one waypoint to another. Missions that have waypoints that are in the same physical location do not make sense and need to be rejected (the GCS / SDK generating them needs to be fixed). By enforcing this we can work with a reasonable and simpler state machine while executing the mission.
A mission with zero elements is invalid but should not lead to a warning. Previously a fixed wing aircraft without a mission did emit warnings about a missing land item.
This enables the navigator to wait for a specific gate coordinate to pass orthogonally to the current trajectory. This is particularly helpful for payload / camera handling in missions and avoids a dependency of payload handling on navigation waypoints.
* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.
* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground
Co-authored-by: bresch <brescianimathieu@gmail.com>
Running the sensors module out of the same WQ thread as the estimator, position, and attitude controllers is a bit safer and prevents potential priority and starvation issues. There is a very small increase in latency (~50 us) between sensors and ekf2 execution (on average). This also saves a little bit of memory (~ 3 kB) and cpu (~1-1.5% depending on the board).
Matthias Grob