Pixracer has FRAM on the same bus as the ms5611 and the FRAM ramtron
driver does not use the same locking mechanism as other px4 SPI
drivers. We need to disable interrupts during FRAM transfers to ensure
we don't get FRAM corruption
The use of yaw angle fusion during startup and ground operation causes problems with tail-sitter vehicle types.
Instead of observing an Euler yaw angle, we now observe the yaw angle obtained by projecting the measured magnetic field onto the the horizontal plain.
This avoids the singularities associated with the observation of Euler yaw angle.
../../libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp:63:5: warning: "WITH_GPS" is not defined [-Wundef]
#if WITH_GPS
^
g_gps was not even declared so remove it.
<command-line>:0:18: warning: "HAL_BOARD_LINUX" is not defined [-Wundef]
../../libraries/AP_Notify/Buzzer.h:20:5: note: in expansion of macro ‘CONFIG_HAL_BOARD’
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
^
In file included from ../../libraries/AP_Notify/Buzzer.cpp:18:0:
../../libraries/AP_Notify/Buzzer.h:20:25: warning: "HAL_BOARD_VRBRAIN" is not defined [-Wundef]
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
^
pid.imax() has type int16_t
../../libraries/PID/examples/pid/pid.cpp:36:53: warning: format ‘%f’ expects argument of type ‘double’, but argument 6 has type ‘int’ [-Wformat=]
pid.kP(), pid.kI(), pid.kD(), pid.imax());
^
../../libraries/Filter/examples/Derivative/Derivative.cpp:16:14: warning: ‘float noise()’ defined but not used [-Wunused-function]
static float noise(void)
^
../../libraries/AP_HAL/examples/UART_test/UART_test.cpp:13:28: warning: ‘uarts’ defined but not used [-Wunused-variable]
static AP_HAL::UARTDriver* uarts[] = {
^
The innovation calculation should have been updated when the heading fusion maths was updated.
We now use a direct heading or yaw angle measurement in the derivation, not the difference between observed and published declination.
Daniel Frenzel
Andrew Tridgell
Michael du Breuil
Tom Pittenger
Paul Riseborough
Víctor Mayoral Vilches
Lucas De Marchi
Peter Barker
Jonathan Challinger
Leonard Hall
mirkix