The velocity smoothing library constrains the maximum vellocity.
I set the default constraint to 0 to find these exact issues.
The heading smoothing did not initialize the maximum velocity
which in this use case is the maximum heading.
So heading was always constrained to 0 -> north until this change.
The defintion of the custom symbol M_PI_PRECISE
was not included in one of the only places it's used.
Looks like a mistake that happened in
34c852255e
possibly because a lot of things are included
almost everywhere and if the include order
ligns up there are no compile errors.
Note that the unit test also passes without
thechange. But the VelocitySmoothing's
local_time would get NAN. This would leads to
wrong trajectory calculations.
Problem: Zero maximum jerk and/or zero
direction would lead to divisions by zero in
various cases depending on the exact configuration and code path.
Solution: There was already one check for the
direction being zero in one path and I
summarized to check in both
updateDurations...() functions the product
of direction * max_jerk to not be zero
because that's exactly the value calculations
devide by.
goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
The size input argument for monocypher crypto_xchacha20_ctr should be the
plaintext message length.
The promise of the interface is, that the call to encrypt_data updates the
ciphertext message length after the call succeeds.
The crypto should check that the output buffer length (cipher length) is
large enough to contain the encrypted data.
Fix these issues; these have gone unnoticed for a long time since the interface
has been only used by logger, and passing the same size for both in and out.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Removal of PX4_GZ_MODEL env variable and fix of ground glitching
Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
The manufacturer uses both naming schemes, RoboClaw more than Roboclaw
but it's always one word and hence I think it's more consistent to name
it the latter.
Daniel Agar
Matthias Grob
Thomas Stastny
Beat Küng
frederik
Jukka Laitinen
PX4 BuildBot
Jacob Dahl
Konrad
Frederik Markus
alexklimaj
PerFrivik
PerFrivik