In case of a diverge of the nav filter, both position and velocity test
ratios are large. If only one of them is too large, the nav filter is
most likely not diverging but is encountering a GNSS position reset and
it is still safe to fly in position mode.
The mapping itself was seprated out into a calls because it was reused
for the experimental nudging implementation.
The position resets which were handled correctly before now
change the wrong setpoints and I adjusted.
The nudging has to be before any filtering, then these member setpoints
which are essentially copies are not needed anymore.
- ecl in PX4/Firmware (afb692ecffccc3ba7ade39c5906c8c5660066121): cd38621dd6
- ecl current upstream: 602e65146c
- Changes: cd38621dd6...602e65146c
602e651 2021-02-05 Paul Riseborough - EKF: Remove unnecessary initialisation
6f664ab 2020-07-20 Paul Riseborough - EKF: Non functional changes arising from review
b87778e 2020-06-30 Paul Riseborough - EKF: Make clip detection logic easier to follow
9aa8d93 2020-06-30 Paul Riseborough - EKF: Use isRecent function
e948b35 2020-06-29 Paul Riseborough - EKF: Don't reject vertical aiding data if inertial solution is bad
c566318 2020-06-23 Paul Riseborough - EKF: misc improvements to handling of accel clipping
9c89fa3 2020-06-02 Paul Riseborough - EKF: Use IMU clipping to adjudicate bad accel data check
The velocity setpoint of the position controller
does a jump when unlocking position with a non-zero position error.
This is solved by using the velocity setpoint feedback to smoothly
take over.
Improves compression, e.g. current params file: 62KB to 51KB
There's also a PRESET_EXTREME option, which reduces by another 2KB.
We can revisit that once needed, as it increases mem usage as well.
- implement COMP_METADATA_TYPE_VERSION & add component_version.json.gz to
ROMFS for all targets.
- implement COMP_METADATA_TYPE_PARAMETER (only enabled for SITL currently)
With a higher responsiveness, after centering the stick, the velocity and
acceleration setpoints could oscillate around 0 and never reach 0, due to
discretization.
This also prevented position lock engagement.
- libcanard in PX4/Firmware (0c6cf6cb99): cde6703474
- libcanard current upstream: 55938c51cf
- Changes: cde6703474...55938c51cf
55938c5 2020-12-29 Pavel Kirienko - Merge pull request #160 from UAVCAN/readme-fix
1c91c49 2020-12-29 Pavel Kirienko - Improve the example in README, fix#159
Fixed UAVCAN146 linker script that caused CXX initalization to wrong
Enabled uORB listener command
Updated UAVCANv1 msg definition
Known isssue: PX4 params are not working on the UAVCAN146
- same pattern as other new drivers (state machine, checked register mechanism, no sleeps, etc)
- self test has been rolled into regular startup sequence
- still I2C only, but will be expanded in the future
- configure to high accuracy preset
- ecl in PX4/Firmware (1e079d0142b813c3c65c6796576e79d5662a217b): b919f3ddf4
- ecl current upstream: 46251db4a1
- Changes: b919f3ddf4...46251db4a1
46251db 2021-02-05 Daniel Agar - geo: explicitly link libm
In some cases e.g.: (VTOL in wind) a good tracking cannot be
achieved. This condition then needs to be relaxed, otherwise the
drone cannot land properly.
This allows to still fly missions completely without RC
but reacts if RC is lost during the mission because
the safety pilot expects to be able to take over.
