Daniel Agar

introduce per GNSS instance configuration parameters (SENS_GNSSi_POS_{X,Y,Z})

9

- https://github.com/PX4/PX4-Autopilot/issues/15683 TODO: - [ ] GPS blending incorporate antenna offsets - [ ] GNSS priority parameter handling (replace SENS_GPS_PRIME) - [ ] review parameter naming (SENS_GNSS0_XPOS -> SENS_GNSS0_POS_X?) -...

- only publish thrust setpoint on update - don't store full copies of msgs - vehicle_rates_setpoint and timestamp_sample that's populated from the input sample timestamp (manual control or higher level...

This is an experiment to see if we can pretty print the full covariance matrix on the command line (`ekf2 status`). Currently off by default unless you enable the DEBUG_BUILD...

This finishes untangling the mag resets from GPS and GPS requirements within mag yaw reset.

[WIP] ekf2: refactor external vision control logic (working towards improved indoor <=> outdoor transitions)

1

This isn't quite ready yet, but opening it early so we can start reviewing and testing. Ultimately the goal is to improve the full VIO + GPS (+ mag) use...

review RC parsing and NuttX parity bit

6

SBUS uses an even parity bit. Is it actually being used with current NuttX? * https://github.com/uzh-rpg/rpg_quadrotor_control/wiki/SBUS-Protocol * https://github.com/PX4/Firmware/blob/master/src/lib/rc/sbus.cpp#L214-L218

- a growing number of samples come into the backend with the time already delayed (sensor's interrupt setting timestamp sample) - if the incoming timestamp is already delayed then the...

Plot `vehicle_status_flags` - `condition_local_position_valid` - `condition_local_velocity_valid` - `condition_local_altitude_valid` - `condition_global_position_valid` From the perspective of the system these are ultimately what matter.