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move hover_thrust_estimator to new module (mc_hover_thrust_estimator)

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* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.

* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2020-03-11 21:20:54 -04:00
committed by GitHub
parent 4b9e6964f4
commit f9794e99f8
74 changed files with 419 additions and 141 deletions
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ROMFS/px4fmu_common/init.d/rc.mc_apps
+1
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@@ -61,6 +61,7 @@ mc_att_control start
#
# Start Multicopter Position Controller.
#
mc_hover_thrust_estimator start
mc_pos_control start
#
ROMFS/px4fmu_common/init.d/rc.vtol_apps
+1
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@@ -22,6 +22,7 @@ vtol_att_control start
mc_rate_control start vtol
mc_att_control start vtol
mc_pos_control start vtol
mc_hover_thrust_estimator start
fw_att_control start vtol
fw_pos_control_l1 start vtol