WriteBlockCheckStartupMessages returned true if finished writing out
all startup messages. However, that may have allowed the caller to
then write out their message - but the timestamp on that message would
almost certainly be lower than the messages we've just written out.
some pixracer copies have poor components which can cause sensor bus
brownout on boot. This resets the sensor bus for 20ms on boot to try
to get clean sensor startup
The problem with reporting the mission index, is that the mission index will be walked
forward until its referring to a nav target, which means that if a DO_ command was
requested, the requesting mavlink device had no way to validate the command was
accepted, it would have to make a infrence from it's copy of the mission
The EKF2 implementation uses one IMU per EKF2 core. When reporting the
gyro estimate, accel_ef estimate and gyro bias estimate we need to use
the values associated with the current IMU index being used by the
current EKF2 core. Otherwise we will have an inconsistency between the
gyro estimate and attitude estimate
This affects all multi-IMU systems using EKF2
The definitions for each board haven't been reformatted here. They need a
little more thinking on how to format them in order to provide better
readability.
Contributions from:
- Gustavo Jose de Sousa <gustavo.sousa@intel.com>
- José Roberto de Souza <jose.souza@intel.com>
- Lucas De Marchi <lucas.demarchi@intel.com>
- Patrick J.P <patrick.pereira@intel.com>
Some notes:
- The only place that made sense to use
suspend_timer_procs()/resume_timer_procs() calls were where we registered
the timer process. Now there's no need for that anymore. Remove those calls
from other place in the source too.
- There's no need to acquire the device lock now that we are running as a
periodic callback.
when in a quadplane mode we set fly_forward to zero. We need to ensure
the GPS checks for EKF health are applied when doing arming checks, so
we use the checks always when disarmed
Andrew Tridgell
Randy Mackay
priseborough
murata
Peter Barker
William Liu
Benoit Tran
Niti Rohilla
floaledm
Michael du Breuil
Leonard Hall
Gustavo Jose de Sousa
José Roberto de Souza
Lucas De Marchi
Patrick J.P