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

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

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

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

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

calculation

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

- more intuitive
- avoids tons of divisions

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

- more intuitive
- avoids tons of divisions

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

- do not call hrt_elapsed_time since it's expensive
- remove P2 front transition phase (was not even used)

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

microseconds

- seconds is more intuitive
- avoids tons of divisions by 1e6f

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

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

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

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

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

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

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

- standard vtol was implementing many custom parameters although they
are generic and should be shared between the vtol types
- removed heavy usage of hrt_elapsed_time() which is a system call and
could be computationally expensive

This fixes a problem where we do not properly go to the set takeoff
altitude but end up lower.

The problem was that the setpoint triplet is reset when the navigation
mode changes. So in this case, the triplet is reset when we switch from
takeoff to loiter which can happen before reaching the actual takeoff
altitude.

The fix is an ugly hack to prevent the reset in the case of takeoff to
loiter. A better solution would be to remove the general reset and have
all navigation modes do the proper resets themselves.

This hotfix should however be lower risk.

* Updated and expanded batt_smbus to work with bq40z50-R2. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature, added commented out expanded battery_status.msg parameters for future mavlink expansion.

* Changed errx to PX4_ERR

* Added PX4_ERR returns

- this makes sure that all motors are idling in mc mode. having this too
low can lead to a motor stopping in flight which is critical for
attitude control
- experienced loss of attitude control in RTL during descent prior to this
change

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

 - vehicle_status_flags condition_global_velocity_valid is also unnecessary

If the GPS driver was used on another port (e.g. TELEM2), it would get
stuck in a `write` call and not return anymore. Disabling flow control
fixes that.

CPU usage is unchanged.

 - these are redundant with listener differential_pressure

 - move to ModuleBase
 - strip down to PWM 8 and 16 modes only
 - remove all dead code
 - implement missing pwm ioctls (current value, rates, etc)
 - default rate 50Hz -> 400Hz

air_gnd_angle is from acos(), and never return a value that bigger than
M_PI_F

To account for the parameter definition.
My tests if quadratic is actually better in practise were anyways not conclusive.