tobas-2.15.0

Changes

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Sensor Processing

• Added support for RPM filters (FC201 and later)

State Estimation

• Fusion of barometric altitude and GNSS altitude

Control

• Mixing that accounts for motor and propeller efficiency (minimizes current as much as possible while satisfying control commands)

Missions

• Mission save/load functionality
• Altitude can now be specified as height above mean sea level in addition to relative to the takeoff point

Failsafe

• Disarm before takeoff
• Select appropriate behavior according to position and velocity estimation accuracy

Manual Mode

• Adjustable stick deadband range
• Command feedforward acceleration in position control mode

Ground Control Station

• Display relative altitude from the startup position and MSL altitude
• Display the number of satellites used for GNSS positioning

Flight Logs

• Flight log name history can now be recalled with the up/down buttons
• Display download progress
• rosbag output functionality

Boot Device Settings

• Load the current settings when connecting to the device
• Static IP configuration functionality

Other

• Include user package launch files within the vehicle namespace
• Prevent GNSS position initialization during flight
• Output the destination value to the console when changing dynamic parameters
• Automatically expand the partition on first boot
• Changed message QoS to prevent dropped messages
• Changed the CPU used by the interface node: 3 -> 0
• Save motor speed gains in the project folder