Copter: further precision landing rework #4437
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Also note that the commit log hasn't been squashed. Some changes were made that were later discovered to be incorrect. Please review by looking in the "files changed" tab. |
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i've added a couple of comments in the PX4Firmware PR |
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One small thing, because the precision landing is now updating at 400hz, it may record a lot of updates to the dataflash. Maybe we need to throttle it so that it only updates at 10hz or something like that. |
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Yep. I will look at doing that. |
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@rmackay9 updated to move logging to 25hz logging, squashed commit log, fixed the math thing in the PX4Firmware PR. |
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Note: depends on ArduPilot/archived-PX4Firmware#59 |
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I also added terrain altitude support. |
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Merged as part of the other PR. #4445 |
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This fixes up some issues with the PX4 IR-LOCK driver, runs the precision land update at 400hz to eliminate the latency from having two asynchronous 50hz loops. It also further fixes up the math, properly applying a pinhole camera model.