This avoids premature state machine execution, most notably for missions.
In particular this fixes these issues:
- when landed, and the vehicle has a valid mission: switching to mission
would execute the first item.
- after executing a mission with a land waypoint, the mission is reset
and the first item is executed.
In case the first waypoint is a takeoff, it would print a user message:
"Takeoff to x meters above home.". If it was a vehicle command, it would
execute that.
Note that because the vehicle is disarmed, the vehicle would not actually
do anything (except for commands that are accepted while disarmed).
This will allow navigator to not output any setpoints while disarmed.
Otherwise the position controller outputs warnings in the form of:
Auto activation failed with error: Activation Failed
The risk here is that it could hide problems, where navigator sends invalid
triplets when it should not.
- uORB::SubscriptionBlocking is a specialized uORB::Subscription that allows you to do a blocking read
- this is intended to be an easy to use, hard to misuse replacement for the typical orb fd + poll pattern we've relied on historically
- landed, maybe_landed, or ground_contact required before the safety
button is able to disarm
- this reduces the risk of a faulty safety button triggering in regular
flight
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
- by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
- ecl in PX4/Firmware (ac205456f93857f447595eb0005c954a78461778): 011b4c2e4e
- ecl current upstream: 950e75e484
- Changes: 011b4c2e4e...950e75e484
950e75e 2020-01-18 Matthias Grob - EKF_ringbuffer: minor missing space for style
26125c2 2020-01-17 kamilritz - Switch from jenkins to github actions
When having no velocity estimate the derivative was updated with zero.
When losing the velocity estimate this is fine since the resulting
derivative spike doesn't get used and acceleration is set to NAN.
But when regaining the velocity estimate the spike from zero to
the first estimated velocity gets used as acceleration in the position
controller and results in a twitch.
To solve this I use the derivative reset I introduced in pr #13522
commit b64abf48b2
This caused bad altitude control performance when enabling
terrain following. It even leads to complete vertical control
instability in case dist_bottom is inaccurate.
Relying on the estimator states is the way to go instead of
silently using one altitude source as state.
- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
- publish sensor_gyro at full rate and remove sensor_gyro_control
- limit sensor status publications to 10 Hz
- remove unused accel/gyro raw ADC fields
- add device IDs to sensor_bias and sensor_correction
- vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
- this provides some extra space when the FIFO transfers don't align perfectly
- I've also made an effort to keep the different drivers (icm20602, icm20608g, ism330ldc) in sync so we can factor out the common portions later once we've confident in the pattern.
* Treat UAVS diffrently from manned aviation
* Added fake_traffic testing functionality,
* Added NAV_TRAFF_AVOID Hold and Landmode
* Added Behavior: HOLD Position to collision avoidance mode and implemented Landmode to collision avoidance.
Boards where no Hardware GUID is defined will send 0 as GUID.
Right now collision avoidance for more than one FMU without Hardware GUID is not possible.
We should consider adding a randomly generated HW GUID as a placeholder for legacy Boards
