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- gz in PX4/Firmware (5f8f021): PX4/PX4-gazebo-models@2228336 - gz current upstream: PX4/PX4-gazebo-models@6b4ed09 - Changes: PX4/PX4-gazebo-models@2228336...6b4ed09 6b4ed09 2024-02-23 Sergei Grichine - Added IMU sensor noise to the model, to avoid STALE messages (#34) 953e02b 2024-02-22 frede791 - add imu sensor model noise
The gyro bias estimate from EFK2 is really good when at rest and should be used by the yaw estimator to prevent heading drifts due to poor heading observability.
…n VTOL transition (#22842) * FW Position Control: some cosmetical changes Signed-off-by: Silvan Fuhrer <[email protected]> * FW Position Control: disable roll constraining warning in VTOL transition In transitions it is expected that the roll is constrained, and instead of defining an aribitrary threshold let's rather disable the user warning in that case. Signed-off-by: Silvan Fuhrer <[email protected]> * FW Pos C: define magic numbers for roll constraining warning as constants Signed-off-by: Silvan Fuhrer <[email protected]> --------- Signed-off-by: Silvan Fuhrer <[email protected]>
- place upper bound to prevent looping indefinitely (high publish rate, etc)
* vtol_type: enable pusher assist also in Descend mode Signed-off-by: Silvan Fuhrer <[email protected]> * vtol_type: treat Descend as Land for pusher assist Signed-off-by: Silvan Fuhrer <[email protected]> --------- Signed-off-by: Silvan Fuhrer <[email protected]>
If part of the Kalman gain is zeroed, the first step of the joseph update does not produce a symmetrical matrix.
…anded (#22850) Signed-off-by: Silvan Fuhrer <[email protected]>
We had a special handling for RTL triggered in vtol_takeoff state. The idea is to wait until the VTOL Takeoff is completed and only then switch to RTL. On a second thought this special handling isn't really necessary and for the sake of simplicity should be removed. This also removes the side effect of the indicated flight mode after RTL being set to VTOL_Takeoff again. Signed-off-by: Silvan Fuhrer <[email protected]>
Signed-off-by: Silvan Fuhrer <[email protected]>
Signed-off-by: Silvan Fuhrer <[email protected]>
This fixes various edge cases when input is set to both: RC and MAVLink gimbal protocol v2. Specifically: - We no longer immediately reset primary control if there is no update, otherwise this will reset immediately after an commands. - Talking of commands: GIMBAL_MANAGER_CONFIGURE no longer switches control to MAVLink but only an actual incoming setpoint command does. - And incoming setpoint command only triggers UpdatedActiveOnce which means we will check RC again afterwards and if there is big movement switch back to RC. That's the intuitive thing to do until we have better reporting about who/what is in control. - Also, with RC we no longer always set us to be in control but only on major movement.
Backports: stm32h755II backport stm32h7: allow Ethernet MAC without PHY imxrt: imxrt11xx set core clock to 1p15v regardless of ocotp imxrt: Correctly update PLL, bit has to toggled instead of being set
…ess than the interval time after boot (#23384) * SubscriptionInterval: ensure _last_update is never before timer start
Saves 17.3 kilobytes of flash 😮
…, with new features and fixes (#23386) Co-authored-by: Chiara de Saint Giniez <[email protected]>
…elay Signed-off-by: Silvan Fuhrer <[email protected]>
This resets the USARTs' clock source selection to the default, in case it has been changed by the bootloader. This is required if booting from the ArduPilot bootloader which happens to reset the clock selection to PLL. Without this fix, UARTs (including the console) is garbled, so presumably at an invalid baudrate.
- keeps them as local params at init - only allow to set at init
- add answer command logging
…ion is not valid Signed-off-by: Silvan Fuhrer <[email protected]>
Co-authored-by: Weng <[email protected]>
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