MagcalController advanced calibration poses using wall-clock timers
(time.time()): 24 wall-seconds maximum dwell per pose and 4
wall-seconds of unchanged-progress before rotating. The vehicle
rotation and the calibrator's sample consumption are both simulation
time, so at SITL speedup the sphere coverage for a pose completes in a
fraction of a wall second and the controller then sat idle for the
rest of the wall-clock dwell. This made SITLCompassCalibration the
second most expensive test in CI at ~370 wall-seconds.
Clock the controller from ATTITUDE.time_boot_ms instead so every
quantity in the controller is in the simulation time domain; the
existing constants keep their values, now correctly denominated in
simulation seconds (a full turn at pi/4 rad/s genuinely takes 8
simulation seconds). Locally the test drops from ~370 to ~80-90
seconds.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
global: fix MD007 unordered list indentation in markdown files
Normalize unordered list indentation to use 2-space multiples:
- Top-level list items start at column 0
- Nested list items use 2 additional spaces per level
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD009 trailing whitespace in markdown files
Remove trailing whitespace from all affected markdown files.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD010 hard tabs in markdown files
Replace hard tab characters with 4 spaces.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD012 multiple consecutive blank lines in markdown
Collapse multiple consecutive blank lines to single blank lines
across all markdown files (excluding vendored code).
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD007 list indentation base level in markdown
Shift list indentation left by 2 spaces so top-level list items
start at column 0 instead of column 2.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD022 blank lines around headings in markdown
Ensure headings are surrounded by blank lines as required by
markdownlint MD022 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD032 blank lines around lists in markdown
Ensure lists are surrounded by blank lines as required by
markdownlint MD032 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD031 blank lines around code blocks in markdown
Ensure fenced code blocks are surrounded by blank lines as required
by markdownlint MD031 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD047 files should end with single newline
Ensure all markdown files end with exactly one newline character
as required by markdownlint MD047 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD023 headings must start at beginning of line
Remove leading whitespace from heading lines as required by
markdownlint MD023 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD007 remaining list indentation in markdown
Fix unordered list indentation to use correct spacing as required
by markdownlint MD007 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD030 spaces after list markers in markdown
Reduce multiple spaces after list markers to single space as
required by markdownlint MD030 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD022 blank lines around setext headings
Ensure setext-style headings (underlined with === or ---) are
surrounded by blank lines as required by markdownlint MD022 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD018 missing space after hash in headings
Add space after hash marks in atx-style headings as required by
markdownlint MD018 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD019 multiple spaces after hash in headings
Reduce multiple spaces after hash marks to single space in
atx-style headings as required by markdownlint MD019 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD012 multiple consecutive blank lines in markdown
Remove multiple consecutive blank lines and ensure files end with
exactly one newline as required by markdownlint MD012 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD023 headings with leading whitespace
Remove leading whitespace from setext-style heading text lines
as required by markdownlint MD023 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD022 blank line after heading in markdown
Add missing blank line after heading as required by markdownlint
MD022 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD009 trailing non-breaking space in markdown
Remove trailing non-breaking space (U+00A0) as required by
markdownlint MD009 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD012 remaining multiple blank lines in markdown
Remove leading blank lines and whitespace-only lines that create
multiple consecutive blank lines.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Peter BarkerandClaude Fable 5
Christian Clauss
Pierre Kancir
bugobliterator
Gustavo Jose de Sousa