Remove INAV from Position Control #30037
Conversation
|
On plane this make me very nervous that we will forget to call What is the goal or removing inav? It is still used for loiter and circle so this change makes it possible this users are have a different value the pos controller. Why not add the call |
lthall
force-pushed
the
20250506_postype-through-ahrs
branch
from
6b01897 to
c0023b8
Compare
You are completly correct. Doing it now. |
lthall
force-pushed
the
20250506_postype-through-ahrs
branch
4 times, most recently
from
2f3146b to
2c4f73f
Compare
ArduSub/mode.cpp
Outdated
| @@ -155,6 +155,7 @@ bool Sub::set_mode(const uint8_t new_mode, const ModeReason reason) | |||
| // called at 100hz or more | |||
| void Sub::update_flight_mode() | |||
| { | |||
| pos_control.update_estimates(); | |||
There was a problem hiding this comment.
maybe we should do the same here as we've done for plane which is update this at the same time as inertial_nav.update() is called. Same for blimp.
There was a problem hiding this comment.
I have added this as a seperate commit so both options are there for discussion.
lthall
force-pushed
the
20250506_postype-through-ahrs
branch
2 times, most recently
from
202447f to
e2164d4
Compare
This has resulted in a crash dump but I don't understand why. Fixed |
lthall
force-pushed
the
20250506_postype-through-ahrs
branch
from
e2164d4 to
7d03568
Compare
…ude 'float' can't have both postype and these methods, something has to shift names
…de 'float' can't have both postype and these methods, something has to shift names
…float' can't have both postype and these methods, something has to shift names
… 'float' can't have both postype and these methods, something has to shift names
…de 'float' can't have both postype and these methods, something has to shift names
…clude 'float' can't have both postype and these methods, something has to shift names
…de 'float' can't have both postype and these methods, something has to shift names
… 'float' can't have both postype and these methods, something has to shift names
…ude 'float' can't have both postype and these methods, something has to shift names
…de 'float' can't have both postype and these methods, something has to shift names
…lude 'float' can't have both postype and these methods, something has to shift names
…'float' can't have both postype and these methods, something has to shift names
…de 'float' can't have both postype and these methods, something has to shift names
…float' can't have both postype and these methods, something has to shift names
…oat' can't have both postype and these methods, something has to shift names
…oat' can't have both postype and these methods, something has to shift names
squash PID
lthall
force-pushed
the
20250506_postype-through-ahrs
branch
2 times, most recently
from
4f8848a to
85c80c1
Compare
lthall
force-pushed
the
20250506_postype-through-ahrs
branch
from
85c80c1 to
0c360f9
Compare
|
Is this the right name? get_pos_NEU_cm I think I like get_pos_estimate_NEU_cm |
lthall
force-pushed
the
20250506_postype-through-ahrs
branch
from
0c360f9 to
c1efd81
Compare
This PR removes INAV from the position controller and replaces many functions in the main code to directly reference the position controller state where approriate.