During a round corner the L1 distance calculation
was only done in 2D and the z-axis coordinate
was directly coming from the next waypoint.
This lead to an unpredictable altitude profile
between two waypoints. Sometimes almost all
altitude difference was already covered during
the turn instead of going diagonally.
The param is not really required anymore with the actuator
configuration. Also, when it is set to 0, RC doesn't work for some
boards which would be nice to avoid.
Signed-off-by: Julian Oes <julian@oes.ch>
The UART7 TXDMA services TELEM1 with flow control. If CTS is high, the
transmitting thread will wait on a semaphore, which may block other
threads from acquiring necessary resources to make progress, for
example, preventing MAVLINK instances from transmitting.
This change in NuttX makes the TXDMA acquire the semaphore in a
non-blocking way, preventing this issue.
- add functionality to specify world name for simulation in case name
- add test for triggering an airspeed invalidation in case of pitot blockage
- add test for high wind (ramped up wind over short period) to NOT invalidate airspeed in this case
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Increase wind process noise default (ASPD_WIND_NSD) and gate
(ASPD_TAS_GATE) to be able to catch rapid wind increases with
the internal wind estimator of the airspeed validator.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Trust the beta innovations more compated to the TAS innovations.
That should help with detecting real airspeed failures even with
a dynamic wind estimate (as long as vehicle doesn't fly straight)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Increasing the wind process noise results in a more dynamic
wind estimation, which is capable of catching fast-varying
winds. As wind is used in the lateral guidance it's important
that we don't filter it too much.
Furher the gate of the airspeed fusion is increased, to
reduce the likelihood of airspeed fusion stopping due to
dynamic wind conditions. The airspeed is validated in
the airspeed validator (EKF consumes the validated one).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Reduces flash usage by ~16KB.
- compress formats at build-time into a single string with all formats
- then at runtime iteratively decompress using
https://github.com/atomicobject/heatshrink
- if not in air the accel noise is doubled
- if landed don't init unless GPS velocity is non-negligible
- when inactive continue seeding with EKF gyro bias
- reset yaw estimator if GPS fusion is stopped
Has options *None where the check is disabled, and *Warning, where only a warning is
published (which replaces the high wind warning from the COM_WIND_WARN limit).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* started tiltrotor port
* added advanced plane and changed some parameters on the tiltrotor
* added advanced plane
* removed tiltrotor for clean push
* removed standard vtol old model file
* removing the standard vtol changes from this PR, since it is not part of the advanced plane
* removed advanced plane meshes as they are already found in the rc_cessna
* updating and improving airframe parameters
* updated mesh paths
Signed-off-by: frederik <frederik@auterion.com>
---------
Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
There is no reason to keep an uncertainty on the origin as it is then
already contained in the local position estimate when GNSS data is fused
in the filter.
bresch
Julian Oes
Konrad
murata
Damien SIX
Daniel Agar
Matthias Grob
Niklas Hauser
Frederik Markus
Silvan Fuhrer
Claudio Micheli
Beat Küng
robbie-sps
alexklimaj
Sverre Velten Rothmund
Ramon Roche
Christian Rauch
alessandro