This is a corner case that happens when the user wants to command an
altitude change just after a takeoff. Takeoff doesn't set the current
lat and lon therefore the user had to change altitude twice to get it working.
The first time to set the current lat and lon and the second time to
actually change altitude.
Before this check we were free to fly outside of a geofence with a goto
command. With this check we ignore the command if the location of the goto
is outside the fence. If this is the case we send back a mavlink warning to
the ground station.
As some tiltrotor systems need a certain tilt angle of their motors in oder to spin up freely,
this commit introduces an additional parameter VT_TILT_SPINUP and sets the motor tilt to
this value if disarmed or within 1s since arming.
The spinup consists of 2 phases:
1st phase fixed tilt (duration hardcoded to 1s)
2nd phase transition from spinup tilt to multicopter tilt (hardcoded to 0.5s)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- matrix in PX4/Firmware (222e0636c4b53ea18013f2bf0d35a798fab6ae76): a32892926c
- matrix current upstream: d613055462
- Changes: a32892926c...d613055462d613055 2020-04-06 kamilritz - Add more assignment operators for slices
976ada4 2020-03-21 Matthias Grob - Matrix: min max comments and test style
fa7153e 2020-03-21 Matthias Grob - Matrix: omit min max nan case with same result
If the user disconnects USB we reboot the system to bring it back into a nominal condition before arming. Otherwise we would either have the USB stack running without a cable connected (code running for no reason, which is violating the principle of not running unnecessary code in aviation). Or we would not allow to arm at all if USB was ever connected, which can be confusing if the system is powered off a battery.
- this doesn't currently change anything, but gets us ready to start
experimenting with using the small amount of instruction tightly memory
on STM32F7
- the .ramfuncs section works with NuttX CONFIG_ARCH_RAMFUNCS
Only have it higher for VTOL and fixed wing.
Multicopter position controlled flight is in our experience always <1g.
Acrobatic flying definitely exceeds the acceleration but if control
doesn't rely on the GPS velocity and position there shouldn't be any
problem.
Before _was_landed was set to the same value as the current
_land_detector.landed, thus outside of the update condition,
_was_landed && !_land_detector.landed could never be true.
This affects setting the home position, which is now set upon arming AND
upon takeoff.
If arming and already !landed, _have_taken_off_since_arming will not be set
and thus auto-disarm after 10s will be triggered (with default config).
This can only happen due to quick state changes, as land detector generally
sets landed=true if !armed.
- nuttx in PX4/Firmware (3cee71918a): 09f0aee352
- nuttx current upstream: ec417d7466
- Changes: 09f0aee352...ec417d7466
ec417d7466 2020-04-06 Peter van der Perk - [Backport] FMUK66 SocketCAN driver & Configurable Bitrate support
a3132cf3b7 2020-03-30 Peter van der Perk - [Backport] SocketCAN support
When disconnecting USB poll returns successfully, but the read returns
-1 with ENOTCONN.
In addition this also ensures there's no busy loop when poll returns an
error.
MAVLink continues to work after reconnecting USB.
This moves the handling of the BAT%d_SOURCE param inside of the battery
library. Users of the library now pass the source instead of the flag
whether to publish. The battery library then checks if the source is
selected using the param and publishes accordingly.
Since we removed the strange system_source flag, we now need to look at
all batteries in commander.
For current estimation - I think - it makes sense to sum them up.
Hamish Willee
daniele
Silvan Fuhrer
Silvan
Daniel Agar
Beat Küng
Lorenz Meier
Matthias Grob
Nico van Duijn
Julian Oes
baumanta
JacobCrabill
TSC21
Julien Lecoeur
PX4 BuildBot
Jacob Dahl
AlexKlimaj
Claudio Micheli
Julian Kent