velocity smoothing library to create a jerk-limited trajectory along the
Z axis. This FlightTask is used when MPC_POS_MODE = 3.

configurable

Signed-off-by: Roman <bapstroman@gmail.com>

Delete trailing whitespace, extra newlines, to quiet git hooks and add an extra = so that it does not appear to git as a merge conflict marker.

   There is no need to not to start a pwm based led or a
   rgbled_ncp5623c if the old TCA62724FMG is started. They
   will all work in parallel.

   I2C bus chaged I2C0 is external, I2C1 internal
     Added BMM150 on I2C1 @ Addr 0x100
     Added BMP280 on I2C1 @ Addr 0x76

   UART0 (/dev/ttyS1) now used at Telem 2

   Chip select added for W25X40CLUXIG Calibration EE prom
     Driver is not added at this time

This updates the submodule sitl_gazebo to include the iris_obs_avoid
sdf model

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>

This is a workaround for the write timeout that we have seen for some
host computers trying to flash the firmware.

We don't know the root cause of the problem but we do observed the
following:

- For blocking writes with timeout (Pyserial write_timeout=0.5):
  write() throws SerialTimeoutException. In systrace we see that the
  select() call after write waiting for the write to be finished hangs
  and finally times out.
- For blocking writes without timeout (Pyserial write_timeout=None):
  write() hangs indefinitely. In systrace we see that the
  select() call after write waiting for the write to be finished hangs.
- For non-blocking writes:
  write() works but flush() hangs. In systrace we see that
  ioctl(fd, TCSBRK, 1) which is (correctly) triggered by termios tcdrain
  hangs.

Inspecting USB traffic using usbmon, we can see that the data which is
written actually seems to be sent and looking at responses from the
Pixhawk bootloader and the timings it looks like all the data has
arrived.

This workaround uses non-blocking writes without flushing and this
seemed to prevent the issue from happening so far.

Debugging was done in collaboration with Beat Küng and David Sidrane.

The replay functionality was broken with lockstep. This is an interim
fix for the replay functionality.

In the longer term it would be nice to leverage the lockstep speedup
for the replay.

Put adaption into a method because it needs to be called when
the control mode or the parameter changes.

- Remove unnecessary in between rate limits member vectors.
- Only switch the yaw rate limit in auto modes,
other values stay the same anyways.
- Fill gain vectors with parameters in one line.

to modularize and simplify unit testing

Signed-off-by: Claudio Micheli <claudio@auterion.com>

Signed-off-by: Claudio Micheli <claudio@auterion.com>

Since the time out is only Obstacle-Avoidance related, the new naming is more self explanatory.

Signed-off-by: Claudio Micheli <claudio@auterion.com>

Signed-off-by: Claudio Micheli <claudio@auterion.com>

With this commit the use cases will be:

Success case:
- booting, no messages about OA, pre-arm check would fail if you try to arm and OA is not yet running

Fail case:
- if OA takes longer than timeout time defined in COM_ONB_BOOT_T, then an error message is triggered.


Signed-off-by: Claudio Micheli <claudio@auterion.com>

Since onboard controllers bootup times are hardware dependent, it makes sense to have the possibility to adapt timeout time according to the specific HW.

Signed-off-by: Claudio Micheli <claudio@auterion.com>

Signed-off-by: Claudio Micheli <claudio@auterion.com>

Signed-off-by: Claudio Micheli <claudio@auterion.com>

Signed-off-by: Claudio Micheli <claudio@auterion.com>

This allows to perform pre-arm checks and prevent arming if obstacle avoidance is enabled but not yet running.
Added a print once flag to prevent excessive message spamming in QGC.

Signed-off-by: Claudio Micheli <claudio@auterion.com>

If we dont explicitly check for pyserial, we can have the case where the
import works but the Serial object creation fails. However, we don't see
this because we have this huge try/catch block which swallows
everything.

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>

 - prevents loss of numerical precision

 - prevents loss of numerical precision
 - fixes #11695