when handing a mission item, and that is the last item, return true so that whoever is handling this knows we have a new mission list. From here we can log a new mission
Prolonged yaw rotations with gyro scale factor errors can cause yaw errors and gyro bias estimation errors to build up to a point where EKF health checks fail.
This patch introduces the following protections:
1) The assumed yaw gyro error is scaled using a filtered yaw rate and an assumed 3% scale factor error (MPU6000 data sheet)
2) When the filtered yaw rate magnitude is greater than 1 rad/sec, the Z gyro bias process noise is zeroed and the state variance set to zero to inhibit modification of the bias state
3) When the filtered yaw rate magnitude is greater than 1 rad/sec, the magnetometer quaternion corrections are scaled by a factor of four to maintain tighter alignment with the compass
Increases magnetometer weighting on yaw corrections when there there is no other aiding to constrain yaw drift.
Prevents switch to GPS if magnetometer data is failing innovation checks which indicates a bad yaw angle
Mission Planner and parameter.h definitions seem to be outdated. A bit
confusing because when its readed, you think you need to define it
between 0-8 (APM boards) instead of 50-55 (PX4-Pixhawk boards).
this helps to set a custom home location on sim, if the location is
outside of the locations in Tools/autotest/locations.txt
Usage:
sim_vehicle.sh -l 37.872991,-122.302348,20,260
The location needs to be in the same format as the locations defined in
locations.txt inside autotest
Tom Pittenger
Paul Riseborough
Fabio Kruger
Andrew Tridgell
Dario Lindo Andres
Michael Day
Lucas De Marchi
Randy Mackay
Leonard Hall
Ramón Roche
Jonathan Challinger