1. 26 Aug, 2021 1 commit
    • mmroma's avatar
      Merged in change_mixing_matrix_saturation_priorities (pull request #19) · 0e760ab6
      mmroma authored
      Change mixing matrix saturation priorities
      
      * Added testing function for new saturation priority method.
      
      * Added new mixing matrix saturation function
      
      * Increased roll rate and pitch rate max values from 1.5 to 3.0 rad/s.
      
      * Changed MIN_THRUST_COMPONENT from -0.75 to -0.65. The current saturation method supports -0.75, but to be extra safe for everyone using the master branch -0.65 makes me feel a lot better. For specific applications where high thrust is needed this can be changed in other branches.
      0e760ab6
  2. 25 Aug, 2021 1 commit
    • mmroma's avatar
      Merged in fix_dt_spike_thru_indefinite_buffering (pull request #18) · ccfb1630
      mmroma authored
      Intermittent high DT spike has been fixed. We believe it was due to the pdflush daemon in linux (which actually writes to disk) hanging on large writes
      
      log_manager will only write to disk AFTER log_manager_cleanup() is called, not when log_manager_add_new() is called
      
      Instead log_manager_add_new() saves the log_entry to a very long buffer that is a preallocated static array (uses “bss” memory). Currently this uses about 115MB and the BBb has 512MB of RAM total
      
      On Disarming log_manager_cleanup() is called AFTER the stop pulses are sent to the motors. This was verified to be working properly with hardware tests and a flight
      
      log_manager will only save the last 10 minutes of logging data (uses a ring buffer)
      ccfb1630
  3. 21 Jul, 2021 1 commit
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  9. 08 Jun, 2021 1 commit
  10. 07 Jun, 2021 3 commits