Old behaviour is that anything that wasn't claimed (or failed to
allocate) would become a SITL RPM sensor. This meant we always had at
least one RPM sensor which was allocated but never provided valid data.
New behaviour is that if you want a SITL RPM sensor you have to set type
to 10.
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
// because MISSION_SET_CURRENT is a message not a command,
// there is not ACK associated with us successfully changing
// our waypoint. Some GCSs use the fact we return exactly the
// same mission sequence number in this packet as an ACK - so
// if they send a MISSION_SET_CURRENT with seq number of 4
// then they expect to receive a MISSION_CURRENT message with
// exactly that sequence number in it, even if ArduPilot never
// actually holds that as a sequence number (e.g. packet.seq==0).
if a a message send fails to IOMCU then we were discarding all
currently pending non-recurring events. This means that states like
oneshot enable would be lost if the IOMCU reset.
We now re-trigger all events that have not yet been handled
this works around a bug in the ICM-20602 that can cause the Y facttory
offset register to change unexpectedly. We don't know what triggers
this.
The fix is to save the factory offset at boot and restore it if it
changes. We log a message describing the change, but don't mark the
IMU unhealthy as this happens too often and we don't want to fallback
to a 2nd less good quality IMU (eg. MPU6000 on MatekH743)
Pierre Kancir
Samuel Tabor
Andy Piper
Michael du Breuil
Randy Mackay
murata
Peter Barker
Andrew Tridgell
Iampete1
Paul Riseborough
Yash Vadi
Dr.-Ing. Amilcar do Carmo Lucas
Sebastian Quilter