* FW attitude control scaling fixes and cleanup
This commit aligns the scaling better with the derivations in
https://dev.px4.io/master/en/flight_stack/controller_diagrams.html#airspeed-scaling
Integrator terms now scale with IAS^2 (all three axes)
To match the roll and pitch controllers:
- Yaw integrator scale is now applied during accumulation, not to
integral value (so now FW_YR_IMAX is respected more intuitively)
- Yaw FF term now scale with IAS instead of IAS^2
Also made a number of small changes to make the three files
(roll, pitch, yaw) 3-way diffable to be clearer about what the
differences among them are.
* Remove unused yaw coordination method
- "Coordination method" open vs. closed code removed, since closed
is never used and not actually implemented.
- No change to behavior
* Remove PX4_WARN messages
Co-authored-by: george <george@campsix.com>
This Commit includes a update of the mavlink submodule
since the CELLULAR_STATUS message was updated, the necessary changes were done together
Add enums
This removes the check for the current position of the VTOL swtich, as arming is already prevented if in transition mode,
plus also if VTOL and in fixed-wing mode (unless CBRK_VTOL_ARMING is set).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- schedule on interval multiple of sensor_gyro publications without increasing the configured integration rate
- IMU_INTEG_RATE add enums to guide appropriate selection
- add average calculation bounds to prevent incorrect calculation and force monitoring again if there are consecutive gaps in data
- the latch would actually cause more problems if the backup schedule hit
- this reduces the number of cycles where the FIFO is actually empty at max rate (when there's only 1 sample in the FIFO expected)
- cleanup failover related messaging
- store previous failover count to prevent unecessary checks
- check for parameter update initially to minimize work after fetching
fresh sensor data
- Introduced COM_LKDOWN_TKO parameter
- Introduced auto disarm for lockdown state
- Do not trigger flight termiantion if system is in lockdown
Signed-off-by: Claudio Micheli <claudio@auterion.com>
- sitl_gazebo in PX4/Firmware (38588f0c37): 309f7b0ace
- sitl_gazebo current upstream: 1af7e29dbb
- Changes: 309f7b0ace...1af7e29dbb
1af7e29 2020-06-25 JaeyoungLim - Do not validate r1_rover
5e8ddfb 2020-06-25 Benjamin Perseghetti - fixes for R1 SDF https://github.com/PX4/sitl_gazebo/issues/533 (#534)
726c066 2020-06-23 Supakorn Suttiruang - Remove the incorrect force generated by moment (#532)
Co-authored-by: PX4 BuildBot <bot@px4.io>
- matrix in PX4/Firmware (a1043f6ce068cc4d039d6808ef98fd8c3f379582): f529358e9a
- matrix current upstream: 9a30828a0a
- Changes: f529358e9a...9a30828a0a9a30828 2020-06-30 Julian Kent - Add explicit matrix + scalar test
f3cf615 2020-06-30 Julian Kent - Do += -= and scalar *= /= in place
Within ekf2, optical flow messages (amongst others) are fused to the state estimates. It might occur that optical flow sensors report unreliable and unrealistic spikes. In that case, the state estimator went crazy so far and just ignored optical flow values from that moment on.
The common thread for all these spikes seems to be a too high integration time span. Therefore, this fix adds a simple logic that ignores unrealistically high integration time spans. As a threshold, 1 second was chosen.
Reported-by: Dominik Natter <dominik.natter@gmail.com>
Oleg
Daniel Agar
George Anderson
RomanBapst
JaeyoungLim
Matthias Grob
Silvan Fuhrer
Roman Dvořák
Thomas Stauber
Beat Küng
Julian Oes
Stone White
JaeyoungLim
Claudio Micheli
PX4 BuildBot
TSC21
dominiknatter