The implementation before this change had two timeouts, a hard-coded
timeout of 0.5 seconds as well as a by param configurable timeout with
certain failsafe actions set.
This change aims to fix two problems:
1. The hard-coded offboard timeout can be triggered easily with sped up
lockstep simulation. Since i t is hard-coded it can't be adapted to
the speed factor.
2. The offboard signal can time out but no action will be taken just
yet. This means we end up in an in-between stage where no warning or
failsafe action has happened yet, even though certain flags are set
to a timeout state.
This patch aims to fix this by unifying the two timeouts to the existing
configurable param. The convoluted double timeout logic is replaced by a
simple hysteresis.
For anyone that has previously not changed the default timeout param (0),
the param will now be changed to 0.5 seconds which reflects the
previously hardcoded time. For anyone with a specific timeout
configured, the behaviour should remain the same.
Also, going forward, timeouts lower than 0.5 seconds should be possible.
- nuttx in PX4/Firmware (b7a83e23c5e50896bb137266cf89ff928dfaae42): d509b1edd7
- nuttx current upstream: bf646dcf46
- Changes: d509b1edd7...bf646dcf46
bf646dcf46 2020-03-03 Daniel Agar - [BACKPORT] stm32h7: spi_exchange (no dma) available with CONFIG_STM32H7_SPI_DMATHRESHOLD
f2a7ef0ade 2020-03-03 Daniel Agar - [BACKPORT] stm32f7: spi_exchange (no dma) available with CONFIG_STM32F7_SPI_DMATHRESHOLD
7ffc59ba3d 2020-03-03 Daniel Agar - [BACKPORT] stm32: spi_exchange (no dma) available with CONFIG_STM32_SPI_DMATHRESHOLD
d1c8fdb5fb 2020-03-02 Daniel Agar - [BACKPORT] arm/stm32h7 add STM32H7_SPI_DMATHRESHOLD
fa8d636118 2020-03-02 Daniel Agar - [BACKPORT] stm32f76xx77xx_dma.h fix DMAMAP_SPI2_RX_2/DMAMAP_SPI2_TX_2
762d80b217 2020-03-02 Daniel Agar - [BACKPORT] arm/stm32f7 add STM32F7_SPI_DMATHRESHOLD
4f4bbbbf1c 2020-03-02 Daniel Agar - [BACKPORT] arm/stm32 add STM32_SPI_DMATHRESHOLD
Co-authored-by: PX4 Build Bot <bot@px4.io>
When lockstep is enabled and LPE is not running, the
attitude_estimator_q needs to publish ekf2_timestamps in order to signal
to the simulator module that it has fully run.
This essentially fixes flying in lockstep when SYS_MC_EST_GROUP is 3.
This change is necessary to give the pilot the ability to switch VTOL state
even if for some reason no attitude sp are published anymore.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This fixes SITL with lockstep when using LPE and q estimator.
The required changes are:
- Publish ekf2_timestamps because simulator_mavlink expects them.
- Run LPE at 250 Hz instead of 80 Hz in order to keep everything in
lockstep running at 250 Hz.
- this is disabled in replay builds to ensure all data in ekf2 replay logs only contains the same time range, otherwise the plots can be unreadable using common tools
- fixes#14230
* 8 kHz gyro, 4 kHz accel
* DLPF disabled
* scheduled using data ready interrupts
* FIFO is emptied at 1 kHz by default, but can adjusted via IMU_GYRO_RATEMAX from 250 Hz - 2000 kHz.
* On both px4_fmu-v4 and px4_fmu-v4pro the secondary IMU is an mpu9250 with the same driver
Julian Oes
Daniel Agar
David Sidrane
David Jablonski
PX4 BuildBot
Julian Kent
Martina Rivizzigno
baumanta
TSC21
Silvan Fuhrer
Lorenz Meier
Florian Achermann
Matthias Grob
Paul Riseborough
CarlOlsson
JaeyoungLim