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wait_ready_to_arm(require_absolute=False) returns as soon as the EKF reports relative aiding, before the origin (and thus home) is set. The GUIDED takeoff that follows needs an ABOVE_HOME -> ABOVE_ORIGIN alt frame conversion, which silently fails when home is unset, so MAV_CMD_NAV_TAKEOFF returns MAV_RESULT_FAILED.
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These two model parameter files were the only ones in Tools/autotest/models using the .param extension; every other model parameter file in the tree uses .parm. Aligning their extension makes them match the existing *.parm ROMFS embed glob without having to extend it, and keeps the convention consistent across the directory. Update the corresponding default_params_filename entries in vehicleinfo.json to match the new filenames. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
The scheduler has a nice diagnostic print for each task it creates. But that is only needed on the DSP diagnostic display, not the console, so changing output to only DSP diagnostic display.
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The refactored get_throttle_mid() used radio_trim as the PWM reference point, but the original get_control_mid() used (radio_min + radio_max)/2 (the geometric midpoint of the stick travel). When radio_trim differs from that midpoint the throttle expo-curve splits at the wrong position, biasing the lower or upper half of the response. Restore the geometric midpoint to match the original behaviour. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
The normalisation refactor replaced
(channel_throttle->norm_input() + 1.0f) / 2.0f
with a bare norm_input_dz(), changing the throttle output range from
[0.5, 1.0] to [0, 1]. Restore the original mapping; the factor-of-two
range change would significantly alter vehicle behaviour.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Tests verify: - norm_input_dz() on a RANGE channel is a drop-in replacement for the old get_control_in() across a variety of min/max/deadzone configs - the fixed get_throttle_mid() matches the original get_control_mid() - the buggy version (which used radio_trim instead of the geometric midpoint) diverges whenever trim != (radio_min + radio_max) / 2 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Classification & Testing (check all that apply and add your own)
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