The parameter description maximum of 0.9 should keep most users from
setting this parameter above 0.9 but there are rare cases for very high powered copters with low hover-throttle values where setting as high as 2.0 improves attitude control
Previously it was possible to arm the vehicle (from the GCS) even thought the vehicle was already armed which would lead to the motors stopping for 2 seconds
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame
1) Do not switch to a core until its states have been updated.
2) Distinguish between mandated switches required for health failure and optional switches required due to innovation checks failing.
3) Apply hyseresis to innovation check levels
The check for fitness being smaller than the last value should use the
absolute value, to mean the fitness isn't changing since last iteration.
It's currently always quiting the function after the first iteration.
However for Gauss Newton we anyway want to run as many iterations as we
can, because there are ups and downs along the iteration so we might get
say best result where before and after iterations were bad. The lines
above takes care that sane and the best is selected.
(cherry picked from commit 451c2f146d)
Summary of significant changes:
-Autsave doesn't depend on STREAM_EXTRA3
-Don't risk only saving one compass on copter if CAL_ALWAYS_REBOOT is set
-Only calibrate compasses that are both health and marked for use (there was a inconsistency in handling the mask)
-Fix incorrect failure reporting on DO_ACCEPT_MAG_CAL with a mask of 0 if a channel was specifically not started
-Fix not starting the buzzer if the delay is set to 0 seconds
-Always send MAG_CAL_REPORT until its acknowledged
-Correct the field in MAG_CAL_REPORT for autosave to indicate if the compass had actually been saved, rather then being scheduled to be saved
-Remmove unused public interfaces
