The timestamp actually used by ekf2 is the sensor_combined timestamp, so we should be setting it with the actual data sample timestamp, rather than the aggregated sensors topic publication metadata.
Later the sensor_combined message will be replaced with vehicle_imu that carries a separate publication timestamp and raw sample timestamp.
* New NotchFilter methods ahead of RPMFilter implementation.
* Added Direct Form I implementation that support dynamic change of frequencies.
* Added update method to update frequency on an existing filter.
* Added setCoefficients method to easily and efficiently create clones of a filter.
* LowSide, HighSide, Onnotch and array tests testing the applyDF1 method.
The EAS is the calibrated airspeed corrected with a scaling factor to account for sensor error/placement of pitot.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- this is done to minimize real end-to-end latency
- actual pulse width only updated for next period regardless of output module
- add cycle interval perf counter
- 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
This is to prevent a wrong (false positive) failure detection of the airspeed
shortly after system boot due to delays in driver and/or estimator startup (seen in SITL).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- increased REP_XY and REP_Z: improves accuracy a bit, while increasing
measurement time (still allows to go to 50Hz, previous max was 100Hz)
- avoid extra transfer in measure()
- extend regdump output
- general code style cleanup
- 30Hz is the sensors max update rate in continous mode
(though not in forced mode as we are using it)
- 30Hz allows to increase the quality of the measurements
- ecl in PX4/Firmware (476a51f32c96fe886edb70f7c7e0bf15f7ec67ad): cda7486897
- ecl current upstream: 12835b999e
- Changes: cda7486897...12835b999e12835b9 2020-05-01 Daniel Agar - cmake update CXX standard 11 -> 14
This adds a sitl target and aiframe configs for the r1_rover, which is a differential rover example for SITL rover. The model is based on the aion robotics r1 rover
- Avoid constantly adjusting the velocity gains with the HTE
- Make sure the hover thrust integral update doesn't break
even though its unit is acceleration and not unit thrust anymore
We need to convert the velocity gains to not contain/depend on the
hover thrust. In horizontal direction it doesn't make sense to scale
them with the hover thrust and in vertical direction the adjustments are
already done in the acceleration to collective thrust conversion.
- create common uORB::PublicationBase
- uORB::PublicationQueued types are now type aliases
- ORB_PRIO use enum type everywhere to avoid accidental misuse
- PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
Because the takeoff ramp is a vertical velocity limit ramp for the
nice user experience but the acceleration feed-forward can
add on top of the output and depending on trajectory generation
result in unwanted thrust changes during the ramp.
Daniel Agar
PX4 BuildBot
Samuel Garcin
Silvan Fuhrer
Beat Küng
kamilritz
JaeyoungLim
Matthias Grob
rfu