-rename FW_POSCTL_INV_ST to FW_POS_STK_CONF and make bitmask out of it:
- bit 0: alternative mapping (height rate on throttle stick, airspeed on pitch)
- bit 1: enable/disable airspeed setpoints via stick
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Take into account the actual number of roll and pitch acutators,
instead of assuming that all actuators have a roll/pitch component.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
known issues:
- flash-based params does not work on H7 (due to ECC), so params are on
SD card. The last flash sector is still reserved however.
- output channel 6 does not support DShot (the implementation does not
handle channel gaps)
- flashing of the 2. flash bank is much slower (around 3x), than the 1.
bank for some unknown reason.
- after the BL jumps to the app, there's several seconds passing until
stm32_boardinitialize() is called.
and remove the possibility to set min > max to reverse.
Initially the idea was to add the checkbox on the UI side, to avoid adding
another param, but I don't think I'll go through the extra effort on the
QGC side.
I don't think the PX4 setup script should decide whether a user is to
use ccache or not. Anecdotally, I've heard from some in the dev team
that they are not using it themselves, so I don't think there is a good
basis to push it onto others.
That being said, we can of course still use ccache as part of the CI
builds nevertheless.
- if following line segment (fixed-wing position control) switch waypoint when in acceptance radius OR passed the second waypoint. this handles the case of being beyond the second waypoint but not within the acceptance radius without the need to fly back to the waypoint (e.g. after a loiter up to waypoint alt)
- sync navigator and fw pos ctrl waypoint acceptance altitude
- centralize logic for selecting a preferred calibration slot
- automatically use existing calibration slot if it exists, otherwise
find first available slot, with a preference for a requested index
- existing commander calibration methods rewrite all calibration slots
to match current sensor ordering
Before: in_ground_effect was always true with the default settings (LNDMC_ALT_GND =-1)
and when a distance sensor was present with valid data.
Now: default of LNDMC_ALT_GND is set to 2m by default, and if set to a negative value
then in_ground_effect is never set to true
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Since the same parameter is used to generate the trajectory and to
saturate the controller, there is no additional space for the output of
the position controller once it is filled with the feedforward, letting
the altitude grow uncontrolled.
Matthias Grob
Silvan Fuhrer
CUAVmengxiao
FARHANG
Daniel Agar
bresch
alexklimaj
PX4 BuildBot
Julian Oes
Beat Küng
Berker Canatar
Thomas Stastny
David Sidrane
Roman Bapst
Claudio Micheli
romain-chiap