Add UAVCAN IMU support #118
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This fixes a bug where current limiting could fail if the current voltage is less than MOT_BAT_VOLT_MIN
this extend the prearm_healthy() check for rangefinders to ensure that all configured rangefinders are getting data
whereas gps1 logging 0's on unplugging
or more satellites for 5 sec. Earlier it was 2 or more sats
used as part of pre-takeoff checks for auto takeoff
this fixes preferance of GPS for 1st UAVCAN, 2nd M8 UART
UAVCAN rangefinders add themselves to the frontend drivers as the devices appear. If they turn up before RangeFinder::init() is run then this prevented init() from scanning for the other rangefinders as num_instances is non-zero This also fixes a race condition in updating num_instances in the UAVCAN backend
ESCs can send negative values
only continue with mission if MIS_OPTIONS bit is set
this fixes a problem where two different locations could both be mapped to the same disk block in the terrain/*.DAT files. That meant that pre-filled terrain on the microSD card would sometimes require a download in flight. It also means that a RTL with loss of GCS could sometimes fly through a region with no terrain data available This fixes the issue by using a fixed stride between rows in the disk format. Other changes in this patch: - allow for a 2cm discrepancy in the lat/lon of the grid corners. This is needed to allow for slightly different floating point rounding in tools that pre-generate terrain data to load on the microSD - added TERRAIN_OPTIONS parameter to allow the user to disable attempts to download new terrain data. This is mostly useful for testing to validate a terrain generator
useful for pre-populating a microSD card
Aksellence
requested review from
adriennet823,
AydenChubbic,
bhiln,
zalice and
rabad-matternet
adriennet823
approved these changes
Sep 18, 2020
Aksellence
approved these changes
Sep 18, 2020
AydenChubbic
approved these changes
Oct 13, 2020
tridge
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bhiln
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Apr 19, 2021
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This adds support for the Matternet CAN IMU module. It appears as the primary IMU