- currently the main change is that it reduces the max number of ORB multi instances to 4, but usage will be expanded as needed
- limits number of EKF2 multi instances to 2.
- enabled on all cortex m4 boards
- simple state machine to reset, configure, etc
- checked register mechanism (sensor will reset itself on configuration error)
- configured in 16 bit mode (1320 LSB/Gauss instead of 330 LSB/Gauss)
- adjusted orientation handling in driver to match datasheet as closely as possible
- in many external compass units the rotation was wrong and very difficult to actual determine how to set correctly
- skip avionics rail voltage check when USB connected
- skip forced reboot on USB disconnect if circuit breaker set
- avionics voltage preflight check don't silently fail if system_power unavailble
- explicitly set supply check circuit breaker (CBRK_SUPPLY_CHK)
- always check with state machine before reboot/shutdown
- respect BOARD_HAS_POWER_CONTROL (shutdown from command, low battery, power button)
- px4_shutdown_request add optional delay and always execute from HPWORK
- px4_shutdown_request split out px4_reboot_request
- increase stack sizes to run cleanly under stackcheck
- this is likely overkill for most boards, but using stackcheck to set our minimum ensures we have a very safe margin on regular builds and it's something we can currently afford
- remove holybro_durandal-v1_stackcheck from test rack (there's only one unit)
- update to NuttX with stm32f4 and stm32f7 SPI DMA internal buffers
- remove explicit DMA buffer allocations from new IMU drivers
- restore original BOARD_DMA_ALLOC_POOL_SIZE
- decrease SPI DMA thresholds based on fmu-v2/v3/v4/v5 bench testing
* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.
* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground
Co-authored-by: bresch <brescianimathieu@gmail.com>
Chip-select and SPI initialization uses the new config, whereas the drivers
still use the existing defines.
The configuration in board_config.h can be removed after all drivers are
updated.
- reduces amount of board configuration required
- removes the cyclic dependency between io_timers_t and timer_io_channels_t
Fixes a bug in the fmuk66-v3 config: the 2. timer has 3 channels associated
not 2.
Fixes a bug in the modelai config: the 2. timer has 4 channels associated.
- it does nothing useful
- increases boot time by 2 seconds on pixhawk 4 due to a poll timeout:
IST8310 on I2C bus 3 at 0x0e (bus: 100 KHz, max: 400 KHz)
WARN [ist8310] ERROR: TIMEOUT 2
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
- by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
Daniel Agar
Matthias Grob
David Sidrane
Tanja Baumann
Beat Küng
SalimTerryLi