@bkueang and me realized that on every frame we tune the integral gain for
the roll and pitch rate controller is much too low. Usually it needs to be
increased to 0.3 or even 0.4 to have better "locked in" flight performance
and 0.2 seems like a good compromise for a safe default.
Reduce the I gain for high rate errors to reduce bounce-back effects after
flips. Up to 200 degrees the gain is almost not reduced (<25%), so this
will only take noticeable effects for large errors (setpoint changes),
where we actually want to have an effect.
This allows to increase the MC_*RATE_I parameters w/o negative effects
when doing flips (i.e. bounce-back after flips).
The 400 degrees limit and the x^2 are empirical.
The better the rate tracking in general (high P gain), the less this is
required (because of the lower tracking error). At the same time it also
does not harm, as the i_factor will always be close to 1.
- ecl in PX4/Firmware (4673dd0a0c9b90fcab84a26e75812a5c7172d1af): 0f49eb34a0
- ecl current upstream: a036cf82cc
- Changes: 0f49eb34a0...a036cf82cc
a036cf8 2019-06-14 Paul Riseborough - EKF: Remove use of of quaternion self product operator and fix delta rotation sign
0e946f2 2019-06-14 Paul Riseborough - EKF: Remove use of quaternion self product operator and fix delta rotation sign error
ad7f7af 2019-05-21 CarlOlsson - ekf: correct quaternion multiplication order
d6351bd 2019-05-21 CarlOlsson - EKF: update comment
7612fa4 2019-05-30 Paul Riseborough - EKF: Don't start using GPS for height until all validity checks have passed
cef2ba5 2019-05-08 Roman - implemented Kahan summation algorithm for adding process noise to delta angle- and delta velocity bias variance
In order to be consistent between Gazebo and jMAVSim we should be using
the env variable PX4_SIM_SPEED_FACTOR in the same way. This enables
vscode to set the speed using the env variable.
building "make omnibus_f4sd_default" with gcc 8.2.1 failes with:
hardfault_log.c:315:7: error: 'strncat' specified bound 30 equals destination size
gcc8 introduced -Wstringop-truncation, which will warn about NULL terminator
truncation.
This patch fixes two similar issues:
- strncpy() makes no sense if we want to copy without NULL terminator
- strncat() needs space to append the NULL terminator
fixes#12283
CMAKE_TESTING should automatically be enabled
but I hoped to do that in the test.cmake
target specific options and not in the main
CMakeLists. I have to see if I can make that
order work. Here the hotfix to make CI work
again.
