vehicle_command_ack: rename result_param1 to progress and comment usage

To avoid confusion:
- naming consistent with MAVLink definition
- comments about the few different ways the field is used

boards/cuav/nora/default.px4board

@@ -39,6 +39,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -57,6 +58,7 @@ CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -68,6 +70,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -95,3 +98,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y

boards/px4/fmu-v5x/test.px4board

@@ -6,7 +6,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_MODULES_DIFFERENTIAL_DRIVE=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_PAYLOAD_DELIVERER=n

msg/VehicleCommandAck.msg

@@ -25,7 +25,7 @@ uint8 ORB_QUEUE_LENGTH = 4
 
 uint32 command						# Command that is being acknowledged
 uint8 result						# Command result
-uint8 result_param1					# Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
+uint8 progress					# Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
 int32 result_param2					# Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
 uint8 target_system
 uint16 target_component 				# Target component / mode executor

platforms/common/Serial.cpp

@@ -74,9 +74,9 @@ ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
 	return _impl.read(buffer, buffer_size);
 }
 
-ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
+ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
 {
-	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_ms);
+	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us);
 }
 
 ssize_t Serial::write(const void *buffer, size_t buffer_size)

platforms/common/include/px4_platform_common/Serial.hpp

@@ -62,7 +62,7 @@ public:
 	bool close();
 
 	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_ms = 0);
+	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
 
 	ssize_t write(const void *buffer, size_t buffer_size);
 

platforms/common/include/px4_platform_common/module.h

@@ -239,10 +239,21 @@ public:
 					unlock_module();
 					px4_usleep(10000); // 10 ms
 					lock_module();
-					i++;
 
-					if (i % 500 == 0) {
-						PX4_INFO("Waiting for task to stop...");
+					if (++i > 500 && _task_id != -1) { // wait at most 5 sec
+						PX4_ERR("timeout, forcing stop");
+
+						if (_task_id != task_id_is_work_queue) {
+							px4_task_delete(_task_id);
+						}
+
+						_task_id = -1;
+
+						delete _object.load();
+						_object.store(nullptr);
+
+						ret = -1;
+						break;
 					}
 				} while (_task_id != -1);
 

platforms/nuttx/src/px4/common/SerialImpl.cpp

@@ -251,7 +251,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 	return ret;
 }
 
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
+ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
 {
 	if (!_open) {
 		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
@@ -264,7 +264,6 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
 	}
 
 	const hrt_abstime start_time_us = hrt_absolute_time();
-	hrt_abstime timeout_us = timeout_ms * 1000;
 	int total_bytes_read = 0;
 
 	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {

platforms/nuttx/src/px4/common/tasks.cpp

@@ -45,7 +45,6 @@
 #include <nuttx/kthread.h>
 
 #include <sys/wait.h>
-#include <syslog.h>
 #include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -89,8 +88,7 @@ int px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_
 
 int px4_task_delete(int pid)
 {
-	syslog(LOG_ERR, "Ignoring force task delete on NuttX\n");
-	return ERROR;
+	return task_delete(pid);
 }
 
 const char *px4_get_taskname(void)

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -244,7 +244,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 	return ret;
 }
 
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
+ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
 {
 	if (!_open) {
 		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
@@ -257,7 +257,6 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
 	}
 
 	const hrt_abstime start_time_us = hrt_absolute_time();
-	hrt_abstime timeout_us = timeout_ms * 1000;
 	int total_bytes_read = 0;
 
 	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {

platforms/qurt/src/px4/SerialImpl.cpp

@@ -173,7 +173,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 	return ret_read;
 }
 
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
+ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
 {
 	if (!_open) {
 		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
@@ -186,7 +186,6 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
 	}
 
 	const hrt_abstime start_time_us = hrt_absolute_time();
-	hrt_abstime timeout_us = timeout_ms * 1000;
 	int total_bytes_read = 0;
 
 	while (total_bytes_read < (int) character_count) {

src/lib/mathlib/math/Functions.hpp

@@ -290,11 +290,6 @@ inline bool isFinite(const float &value)
 	return PX4_ISFINITE(value);
 }
 
-inline bool isFinite(const matrix::Vector2f &value)
-{
-	return value.isAllFinite();
-}
-
 inline bool isFinite(const matrix::Vector3f &value)
 {
 	return value.isAllFinite();

src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp

@@ -251,7 +251,7 @@ void arm_auth_update(hrt_abstime now, bool param_update)
 
 		case vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED:
 		default:
-			switch (command_ack.result_param1) {
+			switch (command_ack.progress) { // It's not used as progress but as protocol parameter for arm authorization
 			case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_NONE:
 				/* Authorizer will send reason to ground station */
 				break;

src/modules/gimbal/input_mavlink.cpp

@@ -518,7 +518,7 @@ InputMavlinkGimbalV2::update(unsigned int timeout_ms, ControlData &control_data,
 	// We can't return early instead because we need to copy all topics that triggered poll.
 
 	bool exit_loop = false;
-	UpdateResult update_result = UpdateResult::NoUpdate;
+	UpdateResult update_result = already_active ? UpdateResult::UpdatedActive : UpdateResult::NoUpdate;
 
 	while (!exit_loop && poll_timeout >= 0) {
 

src/modules/mavlink/mavlink_main.cpp

@@ -2604,7 +2604,7 @@ void Mavlink::handleAndGetCurrentCommandAck()
 					mavlink_command_ack_t msg{};
 					msg.result = command_ack.result;
 					msg.command = command_ack.command;
-					msg.progress = command_ack.result_param1;
+					msg.progress = command_ack.progress;
 					msg.result_param2 = command_ack.result_param2;
 					msg.target_system = command_ack.target_system;
 					msg.target_component = command_ack.target_component;

src/modules/mavlink/mavlink_receiver.cpp

@@ -127,7 +127,7 @@ MavlinkReceiver::acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, ui
 	command_ack.result = result;
 	command_ack.target_system = sysid;
 	command_ack.target_component = compid;
-	command_ack.result_param1 = progress;
+	command_ack.progress = progress;
 
 	_cmd_ack_pub.publish(command_ack);
 }
@@ -771,7 +771,7 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
 	command_ack.command = ack.command;
 	command_ack.result = ack.result;
 	command_ack.from_external = true;
-	command_ack.result_param1 = ack.progress;
+	command_ack.progress = ack.progress;
 	command_ack.target_system = ack.target_system;
 	command_ack.target_component = ack.target_component;
 

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -42,11 +42,14 @@
 using namespace matrix;
 
 MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
+	SuperBlock(nullptr, "MPC"),
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
-	_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint))
+	_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
+	_vel_x_deriv(this, "VELD"),
+	_vel_y_deriv(this, "VELD"),
+	_vel_z_deriv(this, "VELD")
 {
-	_sample_interval_s.update(0.01f); // 100 Hz default
 	parameters_update(true);
 	_tilt_limit_slew_rate.setSlewRate(.2f);
 	_takeoff_status_pub.advertise();
@@ -80,42 +83,7 @@ void MulticopterPositionControl::parameters_update(bool force)
 
 		// update parameters from storage
 		ModuleParams::updateParams();
-
-		float sample_freq_hz = 1.f / _sample_interval_s.mean();
-
-		// velocity notch filter
-		if ((_param_mpc_vel_nf_frq.get() > 0.f) && (_param_mpc_vel_nf_bw.get() > 0.f)) {
-			_vel_xy_notch_filter.setParameters(sample_freq_hz, _param_mpc_vel_nf_frq.get(), _param_mpc_vel_nf_bw.get());
-			_vel_z_notch_filter.setParameters(sample_freq_hz, _param_mpc_vel_nf_frq.get(), _param_mpc_vel_nf_bw.get());
-
-		} else {
-			_vel_xy_notch_filter.disable();
-			_vel_z_notch_filter.disable();
-		}
-
-		// velocity xy/z low pass filter
-		if (_param_mpc_vel_lp.get() > 0.f) {
-			_vel_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get());
-			_vel_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get());
-
-		} else {
-			// disable filtering
-			_vel_xy_lp_filter.setAlpha(1.f);
-			_vel_z_lp_filter.setAlpha(1.f);
-		}
-
-		// velocity derivative xy/z low pass filter
-		if (_param_mpc_veld_lp.get() > 0.f) {
-			_vel_deriv_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get());
-			_vel_deriv_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get());
-
-		} else {
-			// disable filtering
-			_vel_deriv_xy_lp_filter.setAlpha(1.f);
-			_vel_deriv_z_lp_filter.setAlpha(1.f);
-		}
-
-
+		SuperBlock::updateParams();
 
 		int num_changed = 0;
 
@@ -308,7 +276,7 @@ void MulticopterPositionControl::parameters_update(bool force)
 }
 
 PositionControlStates MulticopterPositionControl::set_vehicle_states(const vehicle_local_position_s
-		&vehicle_local_position, const float dt_s)
+		&vehicle_local_position)
 {
 	PositionControlStates states;
 
@@ -332,42 +300,29 @@ PositionControlStates MulticopterPositionControl::set_vehicle_states(const vehic
 	const Vector2f velocity_xy(vehicle_local_position.vx, vehicle_local_position.vy);
 
 	if (vehicle_local_position.v_xy_valid && velocity_xy.isAllFinite()) {
-		const Vector2f vel_xy_prev = _vel_xy_lp_filter.getState();
-
-		// vel xy notch filter, then low pass filter
-		states.velocity.xy() = _vel_xy_lp_filter.update(_vel_xy_notch_filter.apply(velocity_xy));
-
-		// vel xy derivative low pass filter
-		states.acceleration.xy() = _vel_deriv_xy_lp_filter.update((_vel_xy_lp_filter.getState() - vel_xy_prev) / dt_s);
+		states.velocity.xy() = velocity_xy;
+		states.acceleration(0) = _vel_x_deriv.update(velocity_xy(0));
+		states.acceleration(1) = _vel_y_deriv.update(velocity_xy(1));
 
 	} else {
 		states.velocity(0) = states.velocity(1) = NAN;
 		states.acceleration(0) = states.acceleration(1) = NAN;
 
-		// reset filters to prevent acceleration spikes when regaining velocity
-		_vel_xy_lp_filter.reset({});
-		_vel_xy_notch_filter.reset();
-		_vel_deriv_xy_lp_filter.reset({});
+		// reset derivatives to prevent acceleration spikes when regaining velocity
+		_vel_x_deriv.reset();
+		_vel_y_deriv.reset();
 	}
 
 	if (PX4_ISFINITE(vehicle_local_position.vz) && vehicle_local_position.v_z_valid) {
-
-		const float vel_z_prev = _vel_z_lp_filter.getState();
-
-		// vel z notch filter, then low pass filter
-		states.velocity(2) = _vel_z_lp_filter.update(_vel_z_notch_filter.apply(vehicle_local_position.vz));
-
-		// vel z derivative low pass filter
-		states.acceleration(2) = _vel_deriv_z_lp_filter.update((_vel_z_lp_filter.getState() - vel_z_prev) / dt_s);
+		states.velocity(2) = vehicle_local_position.vz;
+		states.acceleration(2) = _vel_z_deriv.update(states.velocity(2));
 
 	} else {
 		states.velocity(2) = NAN;
 		states.acceleration(2) = NAN;
 
-		// reset filters to prevent acceleration spikes when regaining velocity
-		_vel_z_lp_filter.reset({});
-		_vel_z_notch_filter.reset();
-		_vel_deriv_z_lp_filter.reset({});
+		// reset derivative to prevent acceleration spikes when regaining velocity
+		_vel_z_deriv.reset();
 	}
 
 	states.yaw = vehicle_local_position.heading;
@@ -396,7 +351,8 @@ void MulticopterPositionControl::Run()
 			math::constrain(((vehicle_local_position.timestamp_sample - _time_stamp_last_loop) * 1e-6f), 0.002f, 0.04f);
 		_time_stamp_last_loop = vehicle_local_position.timestamp_sample;
 
-		_sample_interval_s.update(dt);
+		// set _dt in controllib Block for BlockDerivative
+		setDt(dt);
 
 		if (_vehicle_control_mode_sub.updated()) {
 			const bool previous_position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled;
@@ -424,7 +380,7 @@ void MulticopterPositionControl::Run()
 			}
 		}
 
-		PositionControlStates states{set_vehicle_states(vehicle_local_position, dt)};
+		PositionControlStates states{set_vehicle_states(vehicle_local_position)};
 
 		// if a goto setpoint available this publishes a trajectory setpoint to go there
 		if (_goto_control.checkForSetpoint(vehicle_local_position.timestamp_sample,
@@ -682,13 +638,12 @@ void MulticopterPositionControl::adjustSetpointForEKFResets(const vehicle_local_
 	}
 
 	if (vehicle_local_position.vxy_reset_counter != _vxy_reset_counter) {
-		_vel_xy_lp_filter.reset(_vel_xy_lp_filter.getState() + Vector2f(vehicle_local_position.delta_vxy));
-		_vel_xy_notch_filter.reset();
+		_vel_x_deriv.reset();
+		_vel_y_deriv.reset();
 	}
 
 	if (vehicle_local_position.vz_reset_counter != _vz_reset_counter) {
-		_vel_z_lp_filter.reset(_vel_z_lp_filter.getState() + vehicle_local_position.delta_vz);
-		_vel_z_notch_filter.reset();
+		_vel_z_deriv.reset();
 	}
 
 	// save latest reset counters

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -42,9 +42,7 @@
 #include "GotoControl/GotoControl.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/mathlib/math/filter/AlphaFilter.hpp>
-#include <lib/mathlib/math/filter/NotchFilter.hpp>
-#include <lib/mathlib/math/WelfordMean.hpp>
+#include <lib/controllib/blocks.hpp>
 #include <lib/perf/perf_counter.h>
 #include <lib/slew_rate/SlewRateYaw.hpp>
 #include <lib/systemlib/mavlink_log.h>
@@ -70,8 +68,8 @@
 
 using namespace time_literals;
 
-class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>, public ModuleParams,
-	public px4::ScheduledWorkItem
+class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>, public control::SuperBlock,
+	public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 	MulticopterPositionControl(bool vtol = false);
@@ -150,11 +148,6 @@ private:
 		(ParamBool<px4::params::MPC_USE_HTE>)       _param_mpc_use_hte,
 		(ParamBool<px4::params::MPC_ACC_DECOUPLE>)  _param_mpc_acc_decouple,
 
-		(ParamFloat<px4::params::MPC_VEL_LP>)       _param_mpc_vel_lp,
-		(ParamFloat<px4::params::MPC_VEL_NF_FRQ>)   _param_mpc_vel_nf_frq,
-		(ParamFloat<px4::params::MPC_VEL_NF_BW>)    _param_mpc_vel_nf_bw,
-		(ParamFloat<px4::params::MPC_VELD_LP>)      _param_mpc_veld_lp,
-
 		// Takeoff / Land
 		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */
 		(ParamBool<px4::params::COM_THROW_EN>)      _param_com_throw_en, /**< throw launch enabled  */
@@ -192,16 +185,9 @@ private:
 		(ParamFloat<px4::params::MPC_YAWRAUTO_ACC>) _param_mpc_yawrauto_acc
 	);
 
-	math::WelfordMean<float> _sample_interval_s{};
-
-	AlphaFilter<matrix::Vector2f> _vel_xy_lp_filter{};
-	AlphaFilter<float> _vel_z_lp_filter{};
-
-	math::NotchFilter<matrix::Vector2f> _vel_xy_notch_filter{};
-	math::NotchFilter<float> _vel_z_notch_filter{};
-
-	AlphaFilter<matrix::Vector2f> _vel_deriv_xy_lp_filter{};
-	AlphaFilter<float> _vel_deriv_z_lp_filter{};
+	control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */
+	control::BlockDerivative _vel_y_deriv; /**< velocity derivative in y */
+	control::BlockDerivative _vel_z_deriv; /**< velocity derivative in z */
 
 	GotoControl _goto_control; ///< class for handling smooth goto position setpoints
 	PositionControl _control; ///< class for core PID position control
@@ -238,7 +224,7 @@ private:
 	/**
 	 * Check for validity of positon/velocity states.
 	 */
-	PositionControlStates set_vehicle_states(const vehicle_local_position_s &local_pos, const float dt_s);
+	PositionControlStates set_vehicle_states(const vehicle_local_position_s &local_pos);
 
 	/**
 	 * Generate setpoint to bridge no executable setpoint being available.

src/modules/mc_pos_control/multicopter_position_control_params.c

@@ -75,56 +75,11 @@ PARAM_DEFINE_INT32(MPC_USE_HTE, 1);
 PARAM_DEFINE_FLOAT(MPC_THR_XY_MARG, 0.3f);
 
 /**
- * Velocity low pass cutoff frequency
- *
- * A value of 0 disables the filter.
+ * Numerical velocity derivative low pass cutoff frequency
  *
  * @unit Hz
  * @min 0
- * @max 50
- * @decimal 1
- * @increment 0.5
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_VEL_LP, 0.0f);
-
-/**
- * Velocity notch filter frequency
- *
- * The center frequency for the 2nd order notch filter on the velocity.
- * A value of 0 disables the filter.
- *
- * @unit Hz
- * @min 0
- * @max 50
- * @decimal 1
- * @increment 0.5
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_VEL_NF_FRQ, 0.0f);
-
-/**
- * Velocity notch filter bandwidth
- *
- * A value of 0 disables the filter.
- *
- * @unit Hz
- * @min 0
- * @max 50
- * @decimal 1
- * @increment 0.5
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_VEL_NF_BW, 5.0f);
-
-/**
- * Velocity derivative low pass cutoff frequency
- *
- * A value of 0 disables the filter.
- *
- * @unit Hz
- * @min 0
- * @max 50
+ * @max 10
  * @decimal 1
  * @increment 0.5
  * @group Multicopter Position Control

src/modules/navigator/navigator_main.cpp

@@ -1418,7 +1418,7 @@ void Navigator::publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_
 	command_ack.from_external = false;
 
 	command_ack.result = result;
-	command_ack.result_param1 = 0;
+	command_ack.progress = 0;
 	command_ack.result_param2 = 0;
 
 	_vehicle_cmd_ack_pub.publish(command_ack);

src/modules/payload_deliverer/payload_deliverer.cpp

@@ -255,7 +255,7 @@ bool PayloadDeliverer::send_gripper_vehicle_command_ack(const hrt_abstime now, c
 	switch (command_result) {
 	case vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS:
 		// Fill in the progress percentage field for IN_PROGRESS ack message
-		vcmd_ack.result_param1 = UINT8_MAX;
+		vcmd_ack.progress = UINT8_MAX; // unkown progress according to MAVLink definition
 		break;
 	}