This fixes the case where a topic instance is already subscribed, and
advertised later. The subscriber will create the DeviceNode with default
priority, and the advertiser will just use the existing DeviceNode,
without updating to the requested priority.
This fixes the case where a new gimbal input gets lost in the output
throttling.
This is required because an input is potentially set only once and
then not computed again. In the failure case, control_data is set
to nullptr in subsequent calls and therefore not used for the output
calculation ever.
This resolves the case where a gimbal command assembled by
QGroundControl is rejected because the component id is set to 0 (for
all) and the component id of the vehicle is e.g. 1.
* add more logging to help with #8556
* log subscribed topics on mission start and test exit (pass or fail)
* use mavlink enums everywhere to avoid maintaining dictionary mappings and to have readable values
* log when the FCU advances to next mission item without satisfying the position reached offset/radius
* some renaming for readability
* log more state value changes (connected and MAV_STATUS)
Align the way motor output is computed with the model used in the mixer generation script.
previous:
`out = (roll_gain*roll + pitch_gain*pitch + yaw_gain*yaw + thrust)*out_gain`
new:
`out = roll_gain*roll + pitch_gain*pitch + yaw_gain*yaw + thrust_gain*thrust`
which is the standard matrix*vector multiplication.
This commit has 0 effect on symmetric platforms (i.e. most) as thrust_gain==1 on these platforms.
On asymmetric platform --where some thrust_gain are lower than 1-- the previous formulation resulted in coupling between thrust and other axes.
fixes#8628
The geometry was previously quad_deadcat in which front motors are closer to CG and thus more loaded in hover.
quad_wide is the same geometry as quad_deadcat except the CG is centered so all motors are loaded equally.
Flight logs on IRIS with deadcat mixer showed that
- all motors are equally loaded during hover (actuator_outputs 0 to 3 have similar values)
- a negative pitch offset is building up soon after takeoff (visible in actuator_controls)
This is a temporary workaround for equal expressions in chip/sam_xdmac.c
and can be reverted once fixed properly in NuttX. Needed for the GCC 7
upgrade in #8551.
Beat Küng
Simone Guscetti
Daniel Agar
Julian Oes
Anthony Lamping
TSC21
PX4 Jenkins
ritul jasuja
Julien Lecoeur
Simon Laube
Lorenz Meier
David Sidrane
ChristophTobler
ChristophTobler
Nicolas de Palezieux