This commit fixed a bug were the mag was orphened on a reset.
That resulted in MAG timeouts on reset or test operations and
left the mag in a broken state.
We want to setup the mag interface with retries and report
failurs.
Move retry logic to contol point, instead of hiding re-reading
the ID in ak8963_check_id.
Allow it to fail once to overcome a read of 0 on firt read.
after 2 failure report error to console and reset the
mpu9250's I2C master (SPI to I2C bridge)
The same retry logic is used on the ak8963_read_adjustments
with a reset of the I2C master module after 5 fails. If it
fails fter 10 retires. Disabel the mad and report the failure
on the console, stating it is disabled.
On initialization, if after 3 retries to re-init the mpu9250 from
the checked registers values, it fails. Ensure thath the fact the
driver is exitting is logged to console.
Check that the mpu9250's configured registers match the settings
written to them. Attempt to fix any that do not up to 3 times.
printing erros to the console on mismatches and returning
faliure if after 3 attempts the any of the values are
still wrong.
- change/add a few printfs so they make more sense
- don't accidentally ignore command_acks
- don't forward commands to the same component id, and don't forward
commands that are broadcast to all components (target component 0)
This adds a class to allow for retransmission of outgoing commands.
The sent commands are kept in a timestamped list to check if they are
acked as required by the mavlink protocol.
If they are not acked within a timeout, they can be retransmitted.
It makes sense to have this for all standard planes and our default PWM outputs for MAIN are always 6 wide, so this should scale to all known HW platforms.
Given the original poster's comment that "It happens very consistently for us." I suspect the motor spin observed in https://github.com/PX4/Firmware/issues/7457 is not caused by the original issue of slow decay on the PWM pins at reset, but the post reset pulse of 3.1 Ms arriving in a window that the ESC considers it valid.
The results from testing, indicated that the if the PWM pins were clamped low for > 300 Ms, prior to reset the motors did not spin. This would delay the the post reset pulse of 3.1 Ms out by > 300 Ms.
This change delays the reset and therefore the pulse by at least 400 Ms.
Note that Type buf_adc[i].am_data = int32_t, but everything else are floats. Suggest (float)(buf_adc[i].am_data), precisely as was done a few lines later for the voltage.
- one warn_rate_limited was missing
- vel_sp_slewrate was in the wrong order for smooth slowdown/speedup on takeoff and landing
- slow_land_gradual_velocity_limit was replaced by calls to math::gradual
- smooth takeoff speed got controllable by user input
- comments were corrected
- an additional check for the sanity of velocity setpoints was added
Daniel Agar
Rogelio
Lorenz Meier
David Sidrane
Julian Oes
ChristophTobler
Jan Liphardt
Matthias Grob
Dennis Mannhart
Beat Küng