../../ArduPlane/quadplane.cpp:4260:15: warning: Value stored to 'approach_speed' during its initialization is never read [deadcode.DeadStores]
float approach_speed = cruise_speed;
^~~~~~~~~~~~~~ ~~~~~~~~~~~~
1 warning generated.
The RPM telemetry data structure can get updated by another thread at
any time. This can cause (now - last_update_us) to be negative, which
looks like the data is nearly UINT32_MAX microseconds stale. To fix
this, we copy the last_update_us value before we get the current time
so it's guaranteed to be positive.
We also minimize the number of places we explicitly check the timestamp
and rely on the `data_valid` where possible to minimize the performance
impact of this change.
the autopilot can instantly reset this back to 0 after we set it, so we never receive the set value:
2025-01-30T06:49:04.2029371Z AT-0931.7: COMPASS_LEARN want=3.000000 autopilot=0.0 (attempt=3/10)
2025-01-30T06:49:04.2029876Z AT-0931.7: Sending set (COMPASS_LEARN) to (3.000000) (old=0.000000)
2025-01-30T06:49:04.2030299Z AT-0931.7: AP: CompassLearn: Initialised
2025-01-30T06:49:04.2030653Z AT-0931.7: AP: CompassLearn: Finished
2025-01-30T06:49:04.2031166Z AT-0931.7: Received wanted PARAM_VALUE COMPASS_LEARN=0.000000
2025-01-30T06:49:04.2031653Z AT-0931.7: Received wanted PARAM_VALUE COMPASS_LEARN=3.000000
2025-01-30T06:49:04.2032117Z AT-0931.7: Received wanted PARAM_VALUE COMPASS_LEARN=0.000000
2025-01-30T06:49:04.2032732Z AT-0931.7: COMPASS_LEARN want=3.000000 autopilot=0.0 (attempt=4/10)
Co-authored-by: Bob Long <robertlong13@gmail.com>
Co-authored-by: Michelle Rossouw <michelleros128@gmail.com>
another one of our "do nasty thing to autopilot" commands, useful for testing what ground control stations do when the autopilot is in this state
this allows for hwdef entries like this:
PB1 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
PB3 GPIO_CAN1_TERM_LED OUTPUT PUSHPULL SPEED_LOW LOW
PB0 GPIO_CAN1_TERM_SWITCH INPUT FLOAT
that specifies a termination pin controllable by either a parameter or
a hardware switch, with an LED to indicate if termination is active
