Adds automatic control of more light types via UAVCAN. Publishes
commands for beacon, strobe, nav, and landings lights. Each is
automatically controlled based on arming state and this behavior is
configurable per light type via params. For example, nav lights can be
set to be always on while beacons turn on when the system is prearmed
and strobes turn on only when armed.
Fixes
src/drivers/dshot/dshot.cpp:1408:9: error: declaration of
'struct DShotOutput::custom_command(int, char**)::Command' shadows
a previous local [-Werror=shadow]
There is a platform, NixOS Linux, on which '/bin/bash' is not available.
This commit changes the interpreter to '/usr/bin/env bash' in some
scripts essential to firmware building.
- fmu-v5 debug and stackcheck builds now need to be CONSTRAINED_FLASH to fit
- delete unused holybro_durandal-v1_stackcheck build (also CONSTRAINED_FLASH)
- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
- helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
In the predition step, the process variance was erroneously
multiplied by dt instead of dt^2. The default values are adjusted
accordingly to keep the same tuning for the default loop rate of 50Hz
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
Avionics Anonymous
Silvan Fuhrer
Martin Povišer
CUAVcaijie
Daniel Agar
Beat Küng
PX4 BuildBot
David Sidrane
TSC21
Thies Lennart Alff
Nicolas Martin
SalimTerryLi
Mathieu Bresciani
Alexey