- mavlink in PX4/Firmware (56106be4805cb2f70d22ad31b87fbd9774f0d0f3): 99e82cad70
- mavlink current upstream: 0909631552
- Changes: 99e82cad70...0909631552
09096315 2022-05-26 Hamish Willee - Clarify and cross reference home position everywhere (#1836)
38c1a99f 2022-05-25 Julian Oes - WIND_COV: clarify description and unknown value (#1845)
- on common IMUs like the mpu6000, mpu9250, icm20602, etc each FIFO
sample is only 12 bytes so this is still more than large enough for the
worst case transfer
- free memory is getting tight on these older boards (depending on
configuratoin) and the pixhawk 2 cube still has 2 other superior IMUs, so this is just
dropping dead weight
H7 Only supports 2 not 3 CAN interfaces.
CanInitHelper passes in in the run time configuration of
the number of interfaces. The code was ignoring these!
This type (23) doesn't specify a motor number, so it can't be properly handled.
There are duo (19) and quad (20) tailsitter types that still work in simulation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Based on feedback that very often the battery is used down too low.
I observed this happens consistently when the cell voltage is properly
load compensated. The default load compensation before #19429 was very
inaccurate and resulted in unpredictable estimate.
After that if there is a usable current measurement and the battery is
within expected tolerances of the default internal resistance the
compensation is pretty good and 3.5V is too low for an empty compensated
cell voltage. That was seen in various logs where the compensated
cell voltage was already dropping fast after 3.6V.
In case the voltage is not load compensated the vehicle estimates the
state of charge a bit too low which is safer than to high
especially for a default configuration.
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
Without this, uavcan creates MixingOutput classes which then create
empty actuator_outputs publications. This then prevents the motor
output in HITL to be forwarded to the simulator via mavlink.
The baro observation noise parameter is often over-estimated in order as
a measure to mitigate temporary offsets in the readings due to wind
gusts or poor pressure compensation tuning. The side effect is that the
innovation sequence monitoring based on normalized innovation struggles
to detect an offset in the state because the innovation isn't
statistically significant.
To counter this issue, a simpler check is added to trigger the process
noise boost when the innovation has the same sign for a long period of
time.
- sitl_gazebo in PX4/Firmware (422be90140): 48440d7b5c
- sitl_gazebo current upstream: 5eb5df8045
- Changes: 48440d7b5c...5eb5df8045
5eb5df8 2022-04-28 stmoon - ROS2_PLUGIN set OFF by default
c8f4d5b 2022-04-28 stmoon - update the motor failure plugin for ros2
Daniel Agar
PX4 BuildBot
David Lechner
David Sidrane
Igor Misic
Matthias Grob
alessandro
Silvan Fuhrer
bresch
Beat Küng
Mark Sauder
Serhat Aksun
Julian Oes