- log full sensor_combined by default for now
- small decrease to input_rc rate (manual_control_setpoint is no longer filtered)
- sensor_correction can be logged at full rate (low publication rate)
- the values of the parameters GND_MAX_ANG and GND_WHEEL_BASE are outdated. They belonged to another Rover setup.
- in the mixer file rover_diff_and_servo.main.mix the steering was controlled by roll, but in PX4 rover steering is controlled by yaw. And this was the reason why the attitude control did not work correctly
- the DF Robot GPX:Asurada rover has actual a steering angle of 60 degrees. And and wheel base of 0.17m. Parameter values in the airframe file are changed to this values
1. The spec specifies that the mode change condition should be met for 10
consecutive frames before changing to the next mode.
2. The spec (and comment) says that "PAW3902JF should not operate with Shutter < 0x01F4 in Mode 2" -
however the if condition checked the reverse condition
Signed-off-by: Koby Aizer <koby.aizer@tg-17.com>
This should prevent the race between gzserver and gz model and fix the
integration tests which sometimes timeout because the model is not
spawned correctly.
This patch also changes the shebang to what's generally recommended.
- this is to prevent vtol_att_control running at absurdly high rates (kilohertz) from every single actuator controls publication from both the multicopter and fixed wing controllers
- I don't really like this solution, but it works for now until there are larger VTOL architectural changes in place
If `make px4_sitl_default` is run, and not `make px4_sitl_default gazebo` then each model instance will throw the following errors:
```
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_gps_plugin.so: libgazebo_gps_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_multirotor_base_plugin.so: libgazebo_multirotor_base_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_groundtruth_plugin.so: libgazebo_groundtruth_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_magnetometer_plugin.so: libgazebo_magnetometer_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_barometer_plugin.so: libgazebo_barometer_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_mavlink_interface.so: libgazebo_mavlink_interface.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_imu_plugin.so: libgazebo_imu_plugin.so: cannot open shared object file: No such file or directory
```
- this lowers the load immediately at boot while still allowing each VehicleIMU instance to properly measure the actual accel/gyro data rates
- for lockstep builds this is ignored and VehicleIMU initially runs with every new sensor_accel/sensor_gyro publication
Matthias Grob
Daniel Agar
Katrin
pengl-aee09
bazooka joe
Julian Oes
stmoon
Hamish Willee
Mirko Denecke
xdwgood
Lorenz Meier
Jan-Hendrik Ewers