This is done to test the recovery function of the estimator in case
of divergence or sudden extreme hover thrust change.
Also specify seed of random generator
with measurement noise auto-tuning
The purpose of this estimator is to improve land detection and vertical
velocity feedforward
Recovery strategy:
This is required when the setpoint suddenly changes in air or that the
EKF is diverging. A lowpassed test ratio is used as a trigger for the recovery logic
Also, a lowpassed residual is used to estimate the steady-state value
and remove it when estimating the accel noise to avoid increasing the
accel noise when the redisual is caused by an offset.
- 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
* add support for unmanned underwater vehicles:
* airframe uuv_generic + uuv_hippocammpus including mav_type = 12 for submarines
* mixer for UUVs with X-shaped thruster setup similar to quadcopter
* add module uuv_att_control for underwater robot attitude control
* add rc.uuv_defaults/apps for autostarting e.g. ekf2 and uuv_att_control app
* Add param for software flow ctl on 3DR radios
* Dont reset telemetry type on radio timeout
* Treat 3DR radio as generic link type
* Rename 3DR to SiK radio
new versions of logger does not allow to log multiple instances of a topic when using 'logger_topics.txt'
This commit restores the default behavior (log all instances of a topic) and ad the option to specify an instance to log
These assignments were temporary for correct logging of the input
setpoint which now properly also comes out of the controller again.
This is reverting the hotfix from:
dee8d200d8
Removing the skip_controller and interfaceMapping
concept and replacing it with a single method checking
if the position control update was successful and
return the result in the PositionControl.update().
This restores original horizontal thrust setpoint execution
that I intentionally broke three commits ago. It's necessary
for correct stick to tilt mapping of FlightTaskManualAltitude.
This commit temporarily breaks direct horizontal thrust setpoint execution
which is used by FlightTaskManualAltitude. This is necessary to allow for
PositionControl cleanup namely calculating the whole velocity PID in one
Vector3f formula.
Having this in a separate commit is useful since it reduces indentation
of a bigger code block.
I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the `vehicle_acceleration` to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc.
Later this mechanism will be used in a few areas
- rate limit `vehicle_angular_velocity` and `vehicle_acceleration` without missing any raw data
- move IMU integration to `vehicle_imu` and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated
- integrate raw gyro synchronized with optical flow measurements
Prior this fix VTOL missions get rejected if they have a DO_LAND_START marker, but then do
not end with a LAND waypoint but a VTOL transition and land.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- introduces parameter IMU_DGYRO_CUTOFF to configure the angular acceleration low pass filter
- the angular acceleration is computed by differentiating angular velocity after the notch filter (IMU_GYRO_NF_FREQ & IMU_GYRO_NF_BW) is applied
Co-authored-by: Julien Lecoeur <jlecoeur@users.noreply.github.com>
- gyro filtering (low-pass and notch) only performed on primary gyro in `sensors/vehicle_angular_velocity` instead of every gyro in `PX4Gyroscope`
- sample rate is calculated from actual updates (the fixed value was slightly wrong in many cases, and very wrong in a few)
- In the FIFO case the array is now averaged and published in `sensor_gyro` for filtering downstream. I'll update this in the future to use the full FIFO array (if available), but right now it should be fine.
bresch
CarlOlsson
Beat Küng
Daniel Agar
Daniel Duecker
Hamish Willee
Nico van Duijn
SalimTerryLi
Roman Dvořák
Nicolas Martin
Matthias Grob
RomanBapst
Silvan Fuhrer
Lorenz Meier