418df2516d
mixer multirotor: add to CI
2018-12-13 09:50:07 +01:00
e8e3b00a10
refactor mixer: rename delta_outputs to desaturation_vector
2018-12-13 09:50:07 +01:00
3eefc93e5d
mixer_multirotor.py: avoid scientific notation for vector printf
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makes it easier to compare.
2018-12-13 09:50:07 +01:00
447ed18ab4
commander: use C API for MC_AIRMODE & RC_MAP_ARM_SW to remove multirotor modules dependency
2018-12-13 09:50:07 +01:00
c665c34d2a
MC stabilized: allow yaw control at 0 throttle if yaw-airmode is selected
2018-12-13 09:50:07 +01:00
24dc316973
commander: enforce yaw-airmode to have an arming switch mapped
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Yaw airmode w/o arming switch is most likely not what you want and will
lead to surprising results.
2018-12-13 09:50:07 +01:00
cf66656258
mixer multirotor: add unit-tests
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To run:
cd src/lib/mixer
make tests
This will validate the C++ implementation by taking the python
implementation as ground-truth. It runs through various actuator control
command values for all airmode variations and several mixer types.
The python script also allows to prototype new mixer algorithms.
It is not integrated into the existing build system, because it's easier
to use that way, with less dependencies, and faster testing workflow.
It could however be a bit more integrated.
Reference: https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
2018-12-13 09:50:07 +01:00
c659d2bcc2
mixer: minor refactoring to reduce header include dependencies
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- avoid including <px4_defines.h> from the math headers
- avoid driver include <drivers/drv_mixer.h> from the mixer
2018-12-13 09:50:07 +01:00
8bcf54688a
mixer: complete refactoring & add airmode for yaw
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Provides a more generic desaturation algorithm, making it easier to
handle the different mixer strategies.
python reference implementation:
https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
The behavior for non-airmode and roll/pitch airmode should be the
same as before.
CPU load is slightly higher for the non-airmode case (+0.5%), for airmode
it is the same.
2018-12-13 09:50:07 +01:00
19ccab28bb
mixer: use an enum for airmode
2018-12-13 09:50:07 +01:00
9406fa5246
refactor mixer.h: use override keyword, fix set_airmode argument type (uint32_t -> int32_t)
2018-12-13 09:50:07 +01:00
7cc00f41d2
AirModeYaw - Change airmode type from bool to int
2018-12-13 09:50:07 +01:00
f851978101
commander run preflight immediately ( #11018 )
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- partially addresses #11017
2018-12-12 09:24:50 -05:00
c1d50d35d3
Move common shmem parameter declarations to shmem.h.
2018-12-11 09:21:15 -05:00
859b242cb8
Fix some dynamic linking errors.
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_Stof, bsearch, param_find_changed
2018-12-11 09:21:15 -05:00
950ab879ff
Make name mangling type consistent.
2018-12-11 09:21:15 -05:00
11364c0e01
Improve forcefail/terminatefail docs
2018-12-10 15:30:53 -08:00
2c06cb71c8
FlightTask: use convetion for definition of the landing gear default value
2018-12-10 16:17:23 +01:00
9ee3d79a96
FlightTask Manual: Gear react only on switch changes and not states
2018-12-10 16:17:23 +01:00
f4fc0cd291
FlightTAsk AutoMapper: Adapt to new message
2018-12-10 16:17:23 +01:00
be7416c823
FlightTask Auto: Adapt to new message and rename variable
2018-12-10 16:17:23 +01:00
2f7c8569cb
mc_pos_ctrl: Remove gear intialisation
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- Handled in the flight task
2018-12-10 16:17:23 +01:00
1412e0494c
FlightTask AutoMapper: Use deploy gear information
2018-12-10 16:17:23 +01:00
66f85ff9ae
FlightTask Auto: Save deploy gear information
2018-12-10 16:17:23 +01:00
aaddb845c4
FlightTask: Add initialisation of the landing gear
2018-12-10 16:17:23 +01:00
de185726b3
vehicle constraints: remove landing gear
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- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition
2018-12-10 16:17:23 +01:00
6dbed6636d
FlightTasks: Add interface for landing gear
2018-12-10 16:17:23 +01:00
bf9a18a200
FlightTask: Add interface for landing gear
2018-12-10 16:17:23 +01:00
6938b7fe02
Rename the invered state and make namespace more clear
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- Addressing review comments
2018-12-10 16:17:23 +01:00
aac9221d95
msg landing_gear: change type to int8
2018-12-10 16:17:23 +01:00
ee41e3181f
mc_pos_ctrl: Replace landing gear logic
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- It takes the input from the constrains from the active flight task
2018-12-10 16:17:23 +01:00
163d201c28
remove the landing gear from the attitude setpoint
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- An new message is created just for the landing gear
- The old logic is repalaced by publishing this new topic
2018-12-10 16:17:23 +01:00
e979d24fff
commander: fix orbit failsafes for data link & rc loss
2018-12-08 22:34:57 +01:00
5b5d5ac6d5
mc_pos_control: let orbit task do its work
2018-12-08 22:34:57 +01:00
34fb52d8bd
commander: add orbit state handling
2018-12-08 22:34:57 +01:00
21bcc0d2f4
mav_cmd_do_reposition now obeys the ground speed argument
2018-12-07 21:40:16 -05:00
dc49e259b3
logger: add separate profile for vision/avoidance
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Keeps things more modular.
2018-12-07 11:51:59 +01:00
fced1ce33b
logger: remove some unused logged topics in SITL
2018-12-07 11:51:59 +01:00
d42fe1826a
parameters also include all module configs when scoping disabled ( #10992 )
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* fixes parameters on Snapdragon
2018-12-06 14:21:06 -05:00
311c0941c9
Teal One airframe improvements for full support ( #10860 )
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* added a parameter for enabled the smart battery
* start tel1 and tel2 at 921600 and max rate
* turned up the max tx rate on mavlink streams for telem1 and telem2
* turned off mavlink stream for tel1 in 4250_teal. This is connected to TX1 FTDI UART and has issues.
* moved check to 4250 board ID to start mpu9250s for Teal airframe into fmuv4 rc.board.
2018-12-05 09:49:58 -05:00
ab9e9793a0
ICM20948 integration into MPU9250 driver ( #10116 )
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* Integrated preliminary ICM20948 support into MPU9250 driver.
Fixed temperature conversion for MPU9250/ICM20948.
* Included missing check for PX4_I2C_OBDEV_MPU9250 in main.cpp.
* Added explicit bus for internal MPU9250 on Pixhawk 2.1 to avoid implicit start
of an externally attached device with wrong orientation.
2018-12-04 22:15:02 -05:00
5c9aa1ca88
Update submodule micro-CDR to latest Wed Dec 5 00:38:19 UTC 2018
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- micro-CDR in PX4/Firmware (3888bb163eac5c0adfc18e865ef3fb70d0532de9): https://github.com/eProsima/micro-CDR/commit/d23eda8772ecf846531ee470a81fb1be37802e7b
- micro-CDR current upstream: https://github.com/eProsima/micro-CDR/commit/8b3546e8848e4c07c16ec55730d3ad1aa94396ab
- Changes: https://github.com/eProsima/micro-CDR/compare/d23eda8772ecf846531ee470a81fb1be37802e7b...8b3546e8848e4c07c16ec55730d3ad1aa94396ab
2018-12-04 21:41:09 -05:00
e69049ec41
mc_pos_control: use time literals everywhere, @bkueng review input
2018-12-04 11:54:11 +01:00
096d7da4b9
mc_pos_control: fix doxygen comments, @bkueng review input
2018-12-04 11:54:11 +01:00
35a486bf6f
mc_pos_control: addressed @dagar's review comments
2018-12-04 11:54:11 +01:00
513c973f01
mc_pos_control: assign events field outside of initializer
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Necessary because NuttX defines pollfd differend from
the POSIX standard. The difference of field order makes
use of C++ designated initializers to compile for both
platforms impossible.
2018-12-04 11:54:11 +01:00
09e563addd
mc_pos_control: fix naming of non-member time stamps
2018-12-04 11:54:11 +01:00
0ba3896068
mc_pos_control: refactor dt time difference calculation
2018-12-04 11:54:11 +01:00
a310980ad2
mc_pos_control: refactor loop polling
2018-12-04 11:54:11 +01:00
013a2655e2
mc_pos_control: fix comments and spacing inconsistencies
2018-12-04 11:54:11 +01:00
Beat Küng