14/02/2021 Upstream merge #8
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- ecl in PX4/Firmware (afb692e): PX4/PX4-ECL@cd38621 - ecl current upstream: PX4/PX4-ECL@602e651 - Changes: PX4/PX4-ECL@cd38621...602e651 602e651 2021-02-05 Paul Riseborough - EKF: Remove unnecessary initialisation 6f664ab 2020-07-20 Paul Riseborough - EKF: Non functional changes arising from review b87778e 2020-06-30 Paul Riseborough - EKF: Make clip detection logic easier to follow 9aa8d93 2020-06-30 Paul Riseborough - EKF: Use isRecent function e948b35 2020-06-29 Paul Riseborough - EKF: Don't reject vertical aiding data if inertial solution is bad c566318 2020-06-23 Paul Riseborough - EKF: misc improvements to handling of accel clipping 9c89fa3 2020-06-02 Paul Riseborough - EKF: Use IMU clipping to adjudicate bad accel data check
- anything set vehicle side should be volatile and excluded from the param hash
I think this check was the wrong way round which meant that we would end up with an unsigned int overflow and trigger a reset.
The mapping itself was seprated out into a calls because it was reused for the experimental nudging implementation. The position resets which were handled correctly before now change the wrong setpoints and I adjusted. The nudging has to be before any filtering, then these member setpoints which are essentially copies are not needed anymore.
to take the first two elements of a Vector3f.
This commit adds a comment where the autostart IDs 22000-22999 should be reserved for custom models
It seems like we are often missing updates from topics like flight mode or in air state, both topics that are sent out infrequenctly e.g. at 1 Hz. Therefore, instead of polling for that data we should probably subscribe to the updates and that way get notified of each an every update. For instance this should prevent the case where we miss the mode change from mission to descend and back to mission once landed and disarmed.
This is needed to properly identify new variants.
Allows to recover from a failed test with a stricter test
In case of a diverge of the nav filter, both position and velocity test ratios are large. If only one of them is too large, the nav filter is most likely not diverging but is encountering a GNSS position reset and it is still safe to fly in position mode.
Instead use subscription here as well in order not to miss an update.
- minimize storing unnecessary state (msg copies)
…debug enabled - also relax the maximum mean by 50%
I was late for the review.
- ecl in PX4/Firmware (2292cf3): PX4/PX4-ECL@602e651 - ecl current upstream: PX4/PX4-ECL@ffab483 - Changes: PX4/PX4-ECL@602e651...ffab483 ffab483 2021-02-11 Loic Dubois - Waiting for the filter to be initialized to set global origin
- store parameter type and if volatile separately (saves kilobytes of flash)
- use Bitset for tracking active and changed parameters
- use atomic for autosave_enabled flag
- compile at ${MAX_CUSTOM_OPT_LEVEL} (-O2 on non flash constrained boards)
- v2.0 in PX4/Firmware (c764779): mavlink/c_library_v2@43f2f31 - v2.0 current upstream: mavlink/c_library_v2@4e25dfa - Changes: mavlink/c_library_v2@43f2f31...4e25dfa 4e25dfa4 2021-02-12 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/e4269aaf680b0797ba594b130d4e92dda889100c 82dcec27 2021-02-12 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/08e57d08ad17f1218334b74fa3766a0177783ea6
- remove mavlink mechanism for setting minimum pitch
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The reverse mapping was off-by-one in the IO driver.
Codecov Report
@@ Coverage Diff @@
## develop #8 +/- ##
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Coverage ? 50.52%
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Files ? 726
Lines ? 56965
Branches ? 0
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Hits ? 28779
Misses ? 28186
Partials ? 0
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tstastny
approved these changes
Feb 14, 2021
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@tstastny Thanks! |
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Describe problem solved by this pull request
This is a upstream merge for 14/Feb/2021. Since we have not started using the develop branch on real platforms, I think it makes sense to do upstream merges whenever there is something relevant for the fixed wing team. There has also been some improvements inside the fixedwing position controller module that I think is important.
Once we have something working physically, we will do upstream merges less often, and do more of cherry picking critical bug fixes with more testing
The notable changes are as the following.
Test data / coverage
Additional context