Remove the entire external yaw handler, dynamic memory allocation,
pointer passing logic. Directly instanciate the weather vane instance
in the flight tasks that support it.
The noise spectral density, NSD, (square root of power spectral density) is a
continuous-time parameter that makes the tuning independent from the EKF
prediction rate.
NSD corresponds to the rate at which the state uncertainty increases
when no measurements are fused into the filter.
Given that the current prediction rate of the wind estimator is 1Hz, the
same tuning is obtained with the same values as before.
Based on feedback that very often the battery is used down too low.
I observed this happens consistently when the cell voltage is properly
load compensated. The default load compensation before #19429 was very
inaccurate and resulted in unpredictable estimate.
After that if there is a usable current measurement and the battery is
within expected tolerances of the default internal resistance the
compensation is pretty good and 3.5V is too low for an empty compensated
cell voltage. That was seen in various logs where the compensated
cell voltage was already dropping fast after 3.6V.
In case the voltage is not load compensated the vehicle estimates the
state of charge a bit too low which is safer than to high
especially for a default configuration.
- fixes the deadlock in px4io ioctl mixer reset
- px4io Run() locks (CDev semaphore)
- mixer load goes through px4io ioctl MIXERIOCRESET which calls MixingOutput::resetMixerThreadSafe()
- MixingOutput::resetMixerThreadSafe() stores a Command::Type::resetMixer command in an atomic variable, schedules a work queue cycle, then sleep spins until the command is cleared
- the execution of the cycle eventually calls back into PX4IO::updateOutputs(), which tries to lock (and waits forever)
mathlib: add second order reference model filter with optional rate feedback (#19246)
Reference models can be used as filters which exhibit a particular, chosen (reference) dynamic behavior. This PR implements a simple second order transfer function which can be used as such a reference model, additionally with rate feedback. The system is parameterized by explicitly set natural frequency and damping ratio. Another nice externality is that the output state and rate are kinematically consistent. Forward-euler and bilinear transform discretizations for the state space integration step are available.
- introduce BAT_AVRG_CURRENT param that is used for init of average current estimate
- increase filtering of average current estimation
- only update average current filter when armed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This fixes unspecified behaviour due to evaluation order of args.
It's up to the compiler whether next_number() or next_dots() is executed
first which means that the behaviour is not properly specified.
- sensor_baro.msg use SI (pressure in Pascals)
- update all barometer drivers to publish directly and remove PX4Barometer helper
- introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
- commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
- create new sensors_status.msg to generalize sensor reporting
- new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW
- existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become
IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW
CR