added and using circuit_breaker_enabled_by_val() where possible instead of circuit_breaker_enabled() which search for cbrk parameters by name, which is extensive process.
- matrix in PX4/Firmware (8b1f9546aabfe6ab2a0431f1d5af6dcc976d4f59): 60c9c99dcc
- matrix current upstream: c34e8dc98f
- Changes: 60c9c99dcc...c34e8dc98fc34e8dc 2019-09-17 Matthias Grob - helper: consider matrices with the same NANs and INFINITYs equal
bbaa938 2019-09-17 Matthias Grob - helper: consider NAN equal to NAN such that vectors can be compared exactly
33a6291 2019-09-17 Matthias Grob - Matrix: add proper print function testing
b0b7d72 2019-09-17 Matthias Grob - Multiplication test: fix division resulting in NAN
3747232 2019-09-17 Matthias Grob - LeastSquaresSolver: Fix nasty GCC compile optimization error
5844b0e 2019-09-16 Matthias Grob - Implement one float equality check and use it everywhere
1e80807 2019-09-16 Matthias Grob - test: Add uncovered equality checks with NAN and INFINITE
a374f37 2019-09-16 Matthias Grob - Include helper_functions like all other library components
part to avoid having to scale its saturation separately. This is
required to avoid premature saturation of the integrator when using
the K term.
Also remove double saturation of the integrator
A NAN is interpreted in the FlightTaskAuto as a non-valid global coordinate and sets a local position.
If a zero is sent instead, the global coordinate is recognized as valid and will be executed.
This is a problem when the global position is gained for the first time after takeoff and that a valid global reference did not exist before
* ekf2: Move handling of invalid range finder data inside ecl library
The ecl library EKF is able to use vehicle motion and in-air status to better determine when the default on-ground range finder reading can be used.
The description for the EKF2_MIN_RNG parameter has been updated to make its use clearer.
* PMW3901: use frame count and quality metric
* PMW3901: set qual to 0 for unsuccessful SPI reads
* PMW3901: improve comment for collect_time
* PMW3901: set qual to zero for huge flow values
After landing it can happen that a second take off is detected and then the _takeoff_time is rest, resulting in a wrong total flight time counter. With this fix the flight time is reliably counted from the first take off until the vehicle is disarmed. Normally the vehicle will not spend much time armed after landing, if it does the flight time will be off but this is the same as before this fix. This fix was tested in several flight experiments.
Also split a few functions into smaller ones for readability, fix
formatting, use geters to get the current state of the trajectory
instead of return arguments.
This helps when the current velocity is smaller than the target but that
the acceleration is too large such that the velocity will overshoot.
Without this check, the algorithm increases the acceleration which leads
to an even larger overshoot.
This solves many numerical issues when the trajectory is close to the
primary NE axes (small velocities). It is also more robust when dt is
large and has some jitter.
Christian Clauss
Daniel Agar
bazooka joe
mcsauder
PX4 Build Bot
bresch
Dennis Mannhart
Dennis Mannhart
Nico van Duijn
Matthias Grob
Julian Kent
Maximilian Laiacker
Hamish Willee