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.
-decrease L1 period for tighter mission tracking in fw mode
- increase backtransition duration, we can now do this is we have active
deceleration control
Signed-off-by: RomanBapst <bapstroman@gmail.com>
This new airspeed module does:
-runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale
-selects another airspeed sensor if for the current one a failure is detected
-estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present
-outputs airspeed_validated topic
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This way we prevent a big dip due to TECS in altitude when the
transition happens at 10 m/s already. Apparently the rule of thumb
is to set this transition speed at the same as airspeed cruise speed.
Mark V19_VT_ROLLDIR @category system
Throttle down mavlink critical msg
Send 0 actuator_output for safety
VTOL: unset v1.9 roll direction safety check param for builtin airframes
Matthias Grob
RomanBapst
Daniel Agar
Silvan Fuhrer
Julian Oes
Julien Lecoeur
mcsauder
Beat Küng