Instead of directly setting the attitude setpoint for usage inside the same module
only publish it to the uorb topic, which is subscribed to in the same module.
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>
but this time compared to
2fbb70d9ca
the minimum thrust is ramping to not produce a thrust jump.
The better long term solution will be to always have airmode but
with the effect limited to a magnitude of MPC_MANTHR_MIN.
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.
I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.
While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
To be consistent with all other axes of stick input and avoid future
rescaling confusion.
Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
2fbb70d9ca made the lowest possible
throttle value commanded by stick in Stabilized mode before taking off 0.
The real world problem with this is that when takeoff is detected then
the entire throttle scaling range jumps from
[0, MPC_MANTHR_MIN]
to [MPC_MANTHR_MIN, MPC_MANTHR_MIN].
As a result whenever MPC_MANTHR_MIN is not zero there is a thrust jump
on every takeoff just at the moment takeoff is detected even when the
stick is moved continuously.
Because of this I suggest to revert to having a higher throttle value
from the beginning on because it's less complicated and there's
no obvious value in starting out with zero thrust if anyways not
possible to go back to zero for safety once takeoff is detected.
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
Silvan Fuhrer