Andrew: Typically, we’ve done kind of work this with AUX_FUNCTIONS up until now, instead of MAVLink commands. Why not do the same?
Or even a specific COMMAND_INT.
UTC0710
A: I’ll need to think about this a bit more. This could be done in another backend.
UTC0713
Andy: At first it worked, then it broke. Now it should work again… A: Best to be looked at by Randy, as it’s Copter-only.
UTC0717
Merged!
Andrew: We still need to document it.
UTC0724
A: Approved. Andy: We still need to test this with Michelle.
UTC0727
A: Why do we use the primary accel at all in AP_AHRS.cpp? Andy: We have always done it at this point in the code. The feature in general doesn’t mess with it. A: I don’t see that running in master. Andy: AHRS used to call get_primary_accel(), to ask INS what it thinks the primary accel was. A: It’s not clear to me if there’s a change in behaviour compared to master.
As it seems, this there is now an extra call, which isn’t useful.
In practice accel and gyro indices are shadowed by the primary IMU index. They’re not actually individually addressed. Let’s not entangle accel and gyro indices further in the codebase. A: In IS_v3 there is now a behaviour change in the adjust_periodic_callback(). It might be for the best.
Why do we need to update at 5Hz? Andy: Making sure that the primary is always set to the right index, in case the initialization comes in too early in the boot and gets overwritten. A: I don’t love it, but without the accel/gyro indices changes, it can be merged.
UTC0750
Matt: I’m using the same timer as the attitude and position controller. Peter thinks this isn’t right. A: The feature is a FAST_TASK, hence this is the right timer to use. If it was a scheduled task, it might not get called sometimes and the delta could be very wrong sometimes.
UTC0754
A: We use custom-lenght 2’s complement in the codebase. Might be worth embedding it in AP_Math.
Also add a comment to credit Betaflight for their code.
Let’s make sure to test it. Either they test it for us, or they send us a board. Or at the least we buy one for ourselves.
UTC0759
A: Looks harmless.
Let’s add some documentation.
Merged!
UTC0800
Andy: Andrew what do you think about this one? A: Seems reasonable, but Sid has the most reason to review.