This reverts commit 446598d003.
The first warning was due to a race condition that is fixed by the previous commit;
don't omit the first warning anymore
Only modify the _setpoint for takeoff when there is a new uORB message
to avoid a race condition where both vel_sp(2) and accel_sp(2) can be
NAN at the same time.
- this avoids any jitter in the integration timespan from impacting the vibration metrics
- vehicle_imu_status vibration metrics are not consumed by anything
(yet), so changing the scaling of the metric shouldn't matter
This reverts the behavior for offboard velocity setpoint.
Back in v1.11, the velocity input in NED_BODY was assumed to be in the
world frame but rotated by yaw to the vehicle frame. With the current
state the frame is completely fixed to the body. While this might be
technically correct, it doesn't seem much intuitive for multicopters
and breaks the MAVSDK offboard velocity API.
So as an example, with a velocity setpoint of 5 m/s forward, the drone
would in
- v1.11: fly forward with 5 m/s
- v1.12: start to fly forward by pitching down but then descend rapidly
as the forward velocity would translate to a setpoint in Z into the
ground as it is pitched down.
This commit restores the behavior to what we had previously.
Forward message to other mavlink channels only if it is broadcast or the target component was seen on this link before (at least one message was received)
- minor scheduling improvements
- if expected number of samples larger than expected adjust timestamp sample and save sample for next iteration
- when scheduling via data ready interrupt (with no FIFO watermark) count continuously without clearing
- sitl_gazebo in PX4/Firmware (4a0fa08953): 1f3f1b1dec
- sitl_gazebo current upstream: b6be00542b
- Changes: 1f3f1b1dec...b6be00542b
b6be005 2021-07-13 Jaeyoung-Lim - Add iris model for control allocation development
This commit adds SITL support for ignition gazebo. Ignition gazebo is a replacement for the "classic" gazebo for future applications.
The simulation can be run as the following
```
make px4_sitl ignition
```
Dima Ponomarev
Sam Chamberlin
bresch
Silvan Fuhrer
Daniel Agar
Ramon Roche
leonardosimovic
Julian Oes
alessandro
Oleg Evseev
honglang
David Sidrane
DonLakeFlyer
Kirill Shilov
TSC21
PX4 BuildBot
JaeyoungLim
dagar