- Enable arbitrary euler angle for Mag rotation
- new CUSTOM rotation enum out of the normal enum range
- mag_rot: automatically change to custom if euler rot is set
- sensor_calibration: Magnetometer save custom rotation parameters
- mag_cal: cross mention rotation parameters
- This allows the user to see the RPY options when searching for the rotation parameter
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Co-authored-by: Junwoo Hwang <junwoo@auterion.com>
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle
the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing
the motor output to max.
Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
a thrust spike when the transition is initiated (as then the tilt is fully forward).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME
- remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module
- now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME
- leave tilts at disarmed value during spoolup
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- when GNSS is used require low mag heading innovations during
horizontal acceleration (yaw observable) to validate the mag
- only fuse mag heading just enough to constrain the yaw estimate
variance to a sane value. Leave enough uncertainty to allow for a
correction when the yaw is observable through GNSS fusion
In the mavlink_receiver code, after a while it will try to resend some
parameter update through the MAVLink instance. But for Iridium links
those are not a good idea. So this adds a condition that prevent the
sending if the MAVLink instance is in Iridium mode.
Related to issue #21496
sem_wait() can be interrupted if the task receives a signal, however
the blockinglist implementation depends on blocking until the semaphore
can be obtained.
Fix a memory overflow in case SENS_BOARD_ROT is set to Rotation::ROTATION_MAX (41) which is not a valid value
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
* Navigator: DO_CHANGE_SPEED: only store sinlge cruising_speed_current_mode
This stored cruising speed setpoint is reset on mode change and
after a VTOL transition.
* Navigator Mission: replay DO_CHANGE_SPEED items when resuming mission
* Navigator: remove cruising_speed_sp_update()
Speed changes in a mission are handled directly in the position controllers,
and no longer in Navigator.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Increased size for ORB_ID from uint8_t to uint16_t
Created a type: orb_id_size_t = uint16_t.
There are still a couple of places where the size
of the ORB_ID is assumed to be less than 16-bits.
The places that I have found are commented regarding
this and can be found with a search on orb_id_size_t.
- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d)
- new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion
- if WMM available use for mag_I and mag_B init
- mag states reset if external yaw reset (yaw estimator, GPS yaw, etc)
- mag reset if declination changed (eliminate _mag_yaw_reset_req)
- mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north)
Co-authored-by: bresch <brescianimathieu@gmail.com>
Julian Oes
Mathieu Bresciani
bresch
Silvan Fuhrer
alexklimaj
Daniel Mesham
Beat Küng
Matthias Grob
Peter van der Perk
Ludovic Vanasse
Sverre Velten Rothmund
PX4 BuildBot
Ville Juven
Jukka Laitinen
hskrieg
Christian Rauch
Dusan Zivkovic
Daniel Agar