- vehicle_imu/vehicle_magnetometer add monotonically increasing `calibration_count` field so that downstream subscribers are aware of calibration changes
- inconsistency checks now run continuously instead of only preflight
- keep inconsistencies for all sensors
- add per sensor data validator state as overall health flag
- use proper Mavlink MAV_CMD_FIXED_MAG_CAL_YAW command for initiating magnetometer quick cal
- MAV_CMD_FIXED_MAG_CAL_YAW allows specifying the yaw and optionally latitude and longitude if the vehicle doesn't have GPS
- added support for BQ40Z80 based battery
- added performance counter for interface errors
- added SMART_BATTERY_INFO mavlink message
- general code cleanups and optimization
- fixed: void flooding the log in case of interface error
- fixed: using _batt_startup_capacity instead of _batt_capacity for discharged_mah
- update: read manufacture_date
- update: get _cell_count from parameter and not const 4
- update: avoid re-reading data that has already been read and stored on class already
- currently the battery type defined by BAT_SMBUS_MODEL parameter and not by auto detection
- track and publish validity based on hover thrust variance, innovation test ratio, and hysteresis
- only publish on actual updates or becoming inactive
- fix dt (previous timestamp wasn't being saved)
- use local position timestamp (corresponding) to accel data rather than current time to avoid unnecessary timing jitter
- check local position validity before using
- mc_hover_thrust_estimator: move from wq:lp_default -> wq:nav_and_controllers to ensure the hover thrust estimator runs after the position controller and uses the same vehicle_local_position data
- land_detector: check hover thrust estimate validity and adjust low throttle thresholds if hover thrust is available
- mc_pos_control: only use hover thrust estimate if valid
- always check system field for validity
- reject any data outside of "servo position" valid range from Spektrum specification
- properly support XPlus channels (12+)
- debug message if channel count changes
For the RC controlled yaw behaviour, we do a yaw setpoint according to
the stick expo. The uncontrolled yaw behaviour behaves undefined.
Switching between yaw behaviours makes the drone stand still for a
moment, which probably can be improved.
This Commit includes a update of the mavlink submodule
since the CELLULAR_STATUS message was updated, the necessary changes were done together
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Daniel Agar
Julian Oes
TSC21
bazooka joe
Daniel Leonard Robinson
Beat Küng
stmoon
David Jablonski
JaeyoungLim
Thomas Stauber