- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
- ekf2 publish estimated bias limits in estimator_sensor_bias
- preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
- in practice this is mostly useful for identifying incorrect rotations
which we mostly have in 45 degree increments
- handling a vehicle on the ground can easily disturb one mag by more than 30 degrees, so this is often distracting noise
- the values of the parameters GND_MAX_ANG and GND_WHEEL_BASE are outdated. They belonged to another Rover setup.
- in the mixer file rover_diff_and_servo.main.mix the steering was controlled by roll, but in PX4 rover steering is controlled by yaw. And this was the reason why the attitude control did not work correctly
- the DF Robot GPX:Asurada rover has actual a steering angle of 60 degrees. And and wheel base of 0.17m. Parameter values in the airframe file are changed to this values
Before #14212 the velocity control gains used in the multicopter
position controller were defined as a scale between velocity error in
one axis (or it's integral and derivative respectively) and the unit
thrust vector. The problem with this is that the normalization of the
unit thrust vector changes per vehicle or even vehicle configuration
as 0 and 100% thrust get a different physical response. That's why
the gains are now defined as scale between velocity error
(integral/derivative) and the output acceleration in m/s².
@fury1895 reported very valuable feedback from testing
the acceleration feed-forward on VTOL:
> MPC_JERK_MAX 4.5 (from 5 on it felt too aggressive)
> MPC_JERK_AUTO 4
> some hovering, some transitions, and a mission. Everything good.
> I'd say you feel the difference in position mode and you see it in
> Auto modes. Great improvement!
Jakub Kákona
Silvan Fuhrer
xdwgood
Daniel Agar
Lorenz Meier
Hamish Willee
Thies Lennart Alff
David Sidrane
Beat Küng
Matthias Grob
Katrin Moritz
Daniel Leonard Robinson
Katrin
Stone White
斯东Stone
baumanta
flbernier
Nico van Duijn
Hyon Lim
SalimTerryLi