This makes sure that the vehicle_command topic is properly
initialized from the beginning.
orb_exists returns -1 or 0 and not a bool as one would expect.
- Updating PWM params on param change was interfering with VTOL
parameter settings (e.g. PWM_MIN is set by VTOL at init, and
was then overwritten here after an arbitrary param change).
Only update PWM params on initialisation.
Updating PWM params on param change was interfering with VTOL
parameter settings (e.g. PWM_MIN is set by VTOL at init, and
was then overwritten here after an arbitrary param change).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This fixes a regression introduced in
https://github.com/PX4/PX4-Autopilot/pull/16646
which meant that the acceptance radius was no longer used at all for
multicopter, and instead only the NAV_ACC_RAD param was used.
With this change we use the acceptance radius of the mission item again
if it is actually set (and not NAN) which we did not do before, and we
only do that for multicopter.
- apply sensor scaling immediately to keep things simple (FIFO vs regular)
- inline filter helpers (minor performance improvement)
- dynamic notch filtering
- reorder by axis (applied per axis)
- don't remove notch filters immediately if ESC or FFT data times out
- constrain notch filter frequency and bandwidth to safe range (minimum bandwidth for flaot precision, Nyquist, etc)
- add safe constraint on dt
- merge NotchFilterArray into regular NotchFilter (apply vs applyArray)
- only use direct form 1 to prevent reset confusion
- safe default field initialization
- update VehicleAngularVelocity usage
- use WelfordMean library to determine sensor sample rate average
- if gyro samples exceeds queue depth, instead round to nearest even integer to ease scheduling
- force update if publication latency is falling behind
- remove redundant sample interval perf counters
- status print accel & gyro interval standard deviation
-constrain range to -20..35°C
-do not use temperature readings if exactly 0 (as likley not filled by driver at all in this case)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
In airspeed-less mode, instead of the average of min/max airspeed, take the cruise
airspeed (from param) for current airspeed estimate. A diff of the airspeed setpoint
from this value results in increased enegery demand (incerase of throttle) even
in airspeed-less mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- move systick.c under chip specific sources
- move do_jump into chip specific main.c as arch_do_jump
- wrap flash writes to "arch_flash_write" and implement in chip specific main.c
- add bootloader TOC check
- sync image_toc.h with the version currently in use with old bootloader
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- this fixes a minor edge case when you only have a single accelerometer and haven't made any parameter changes, the sensor sample rate (used for filtering) might not have been updated from default
Daniel Agar
Julian Oes
Hamish Willee
alexklimaj
Silvan Fuhrer
honglang
David Sidrane
Beat Küng
RomanBapst
modaltb
Jukka Laitinen
Peter van der Perk
Nuno Marques