We had a special handling for RTL triggered in vtol_takeoff state.
The idea is to wait until the VTOL Takeoff is completed and only
then switch to RTL. On a second thought this special handling isn't
really necessary and for the sake of simplicity should be removed.
This also removes the side effect of the indicated flight mode
after RTL being set to VTOL_Takeoff again.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Position Control: some cosmetical changes
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Position Control: disable roll constraining warning in VTOL transition
In transitions it is expected that the roll is constrained, and
instead of defining an aribitrary threshold let's rather disable
the user warning in that case.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Pos C: define magic numbers for roll constraining warning as constants
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The gyro bias estimate from EFK2 is really good when at rest and should
be used by the yaw estimator to prevent heading drifts due to poor
heading observability.
- gz in PX4/Firmware (5f8f0213a807d327a30a7df05e58f7887cf936ab): 2228336568
- gz current upstream: 6b4ed09d1b
- Changes: 2228336568...6b4ed09d1b
6b4ed09 2024-02-23 Sergei Grichine - Added IMU sensor noise to the model, to avoid STALE messages (#34)
953e02b 2024-02-22 frede791 - add imu sensor model noise
ENOENT returns if the file doesn't exist yet, when using mtd /fs/mtd_net always exist.
On a filesystem you've to generate the file so if ENOENT returns we've to regenerate the default config as well.
The main problem was that during initial negotiation the client would
request the gimbal_manager_information from px4 but px4 would never send
it because in this configuration the device_compid was set to 0.
`estimator_baro_bias` requires to have GNSS and baro hgt active and GNSS as the reference. This is quite restrictive. Instead, we can simply use a high-passed version of the baro error.
Konrad
Silvan Fuhrer
Eric Katzfey
bresch
cuav-liu1
Daniel Agar
PX4 BuildBot
Peter van der Perk
Sihyun Noh
Niklas Hauser
Peter van der Perk
Matthias Grob
Don Gagne
DanielePettenuzzo
GuillaumeLaine
makekam