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28679 Commits

Author SHA1 Message Date
bresch
82ec7a495a ekf2: refactor inertial nav falling check 2022-08-24 09:16:11 -04:00
bresch
f9188b2a14 ekf2: refactor vertical acceleration check for multiple height sources 2022-08-24 09:16:11 -04:00
bresch
8fd79688c0 ekf2: enable multiple height sources fusion 
Instead of having a single height source fused into the EKF and the
other ones "waiting" for a failure or the primary sensor, fuse all
sources in EKF2 at the same time. To prevent the sources from fighting against each
other, the "primary" source is set as reference and the other ones are
running a bias estimator in order to make all the secondary height
sources converge to the primary one.

If the reference isn't available, another one is automatically selected
from a priority list. This secondary reference keeps its current bias
estimate but stops updating it in order to be the new reference as close
as possible to the primary one.
 2022-08-24 09:16:11 -04:00
bresch
f5f31006a0 Ekf2: create HeightBiasEstimator class 
Contains some logic common to all height bias estimators
 2022-08-24 09:16:11 -04:00
JacobCrabill
57125a4c8f cyphal: Fix FMUv5 config; throw error if no CAN driver exists 2022-08-23 21:24:24 -04:00
huiyulhy
c81efd0174 Fix velocity smoothing functional test 2022-08-23 21:11:35 -04:00
Beat Küng
bae275898b rc/sbus: restart parser after sucessful decoding & increase time limit 
Instead of directly passing the next packet to the parser after successful
parsing, switch the state to SBUS2_DECODE_STATE_SBUS_START and search for
the start byte again.

The timeout is increased as the IO main loop also takes a bit of time
(max ~0.7ms).

Tested on v5x with Futaba R7008SB (60Hz update rate) and FrSky X8R (111Hz
update rate).

Background:
When using the Futaba R7008SB, I noticed there's additional bytes added in
between packets. Often it's a null byte, but sometimes more. There's some
consistency but I did not find any documentation for it.
Sample data:
a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05 ec
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 c0 8b
00 0f 04 ec 1f a8 fb 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00
14 00 0f 04 ec 1f a8 fb 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80
00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10
80 00 34 00 0f 05 ec 1f 30 60 bf 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 34 00 0f 07 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 04 00 03 c0 31 00 0f 05 fc 1f a8 fb 07 16 5b 81 05 d4
a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 05 fc 1f a8 fb 07 16 5b 81 05
d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 04 ec 1f a8 fd 07 16 5b 81
05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 04 ec 1f a8 fd 07 16 5b
81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03 c4 00 00 0f 04 ec 1f
a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 04 ec
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 04
ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f
05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00
03 c0 31 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02
10 80 00 14 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00
02 10 80 00 24 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40
00 02 10 80 00 34 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80
00 04 00 03 c0 31 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00
01 08 40 00 02 10 80 00 34 00 0f 05 f4 1f a8 fb 07 16 5b 81 05 d4 a0 06 20
00 01 08 40 00 02 10 80 00 04 00 03 c4 00 00 b0 60 7f 1c bd 07 16 5b 81 05
d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81
05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b
81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05 ec 1f a8 fb 07 16
5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03 c0 31 00 b0 60 bf
1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 04 f4
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 30 70
7f 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05
f4 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03
c4 00 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10
80 00 14 00 0f 05 ec 1f b0 60 bf 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00

This was causing the parser to skip entire packets resulting in an update
rate of ~31Hz on the FMU side.
With this patch the update rate increases to 42-48Hz.

The investigation was triggered by an RC glitch with a packet containing
random channel data. It's likely, although not completely verified that
the frequent desync randomly happend to pass the CRC check with garbage
data.
 2022-08-23 21:07:18 -04:00
Daniel Agar
b58f70726f ekf2: scale delta angle and delta velocity bias to particular IMU sample 2022-08-23 21:06:13 -04:00
Ville Juven
4f6d523c95 mixer_module: Fix linking of mixer_module 
The module has a hard dependency on mixer library, so link them together
 2022-08-23 21:04:58 -04:00
bresch
f89044cfbe ekf2: fix replay EKF2 start when CONSTRAINED_FLASH 2022-08-23 11:14:15 -04:00
alexklimaj
913bae9924 Revert "drivers/uavcan: update libuavcan" 
This reverts commit deb938fceaa79b927ae0f622d8b2b8c4ad10d391.
 2022-08-22 20:57:06 -04:00
Daniel Agar
cfc579542e
new Ignition Gazebo simulation interface architecture (#20057) 
- much simpler direct interface using Ignition Transport 
 - in tree models and worlds
 - control allocation output configuration, no more magic actuator mapping to mavlink and back
 - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible)

Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
 2022-08-22 10:58:19 -04:00
Silvan Fuhrer
889a2fddea FW Position Control: remove unnsed params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 19:06:07 +02:00
Silvan Fuhrer
e3e021a1c2 FW Attitude Control: rename att_control to angular_acceleration_setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
e595952ed4 FW Attitude Control: add @brief, @param and @return for control_attitude() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
f67d80460f FW Attitude controller: update copyright headers 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim
bcdf61b65f Fix format 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
b87afb138c Update src/modules/fw_att_control/FixedwingAttitudeControl.cpp 
reduce code duplication

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim
70134296ed Fix parameter description from review comments 
This commit makes the parameter description of the fixewing attitude controller more descriptive
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
c54f62e17a FW attitude control: fix ff terms and constrain outputs to (-1, 1) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
dadd4f39ad FW attitude control: fix yaw rate publishing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
6724e4af26 FW attitude control: manual stick input sets yaw rate setpoint, not rudder directly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
22067a1128 FW attitude control: set FF gains for rate controller to 0 as FF controls is handles outside 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
57e052d02d FW attitdue controller: use allocator status for anti-windup 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
6aab44e425 ControlAllocator: publish allocator_status from all active matrices (2 for VTOL, otherwise 1) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
a9b848cae3 FW attitue controller: fix publishing of rate controller status 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
5a2127d026 fixed-wing: update rate controller integrator handling 
-always reset roll/pitch/yaw integrators at the same time
-reset them while waiting for launch or during FW Takeoff before Climbout
-reset wheel rate integrator only when disarmed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
cd080289c6 FW attitude controller: constrain rates correctly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
15c95a7b6a FW attitude controller: improve readability and fix euler rate sp vs. body rate sp 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
e0a998e6ad FW attitude controller: remove unused control_input.scaler 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim
33d068cfb2 Added feedforward terms in fw att control 2022-08-19 09:40:48 +02:00
Jaeyoung Lim
958c61dbba Populate rate control setpoints properly 2022-08-19 09:40:48 +02:00
JaeyoungLim
6f24f4cd1c Update src/modules/fw_att_control/fw_att_control_params.c 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim
dcff481219 Map derivative gains for rate controls 2022-08-19 09:40:48 +02:00
Jaeyoung-Lim
f2877ce585 Replace rate controller with RateControlLibrary 
This commit makes the fw attitude controller take share the rate controller as a library with the mc_rate_control module
 2022-08-19 09:40:48 +02:00
Thomas Debrunner
44a18acd51
Fix race condition in px4io serial driver (#20005) 
* px4io: prevent memory corruption on corrput io data

* px4io_serial: Prevent race between handling wait timeout case and interrupt posting semaphore
 2022-08-18 17:46:47 +02:00
bresch
02c4e0361c MCPosControl: fix horizontal anti-reset windup algirithm 
Since the horizontal and vertical velocity controllers are now
decoupled, it can be that the horizontal acceleration produced by the
controller is actually greater than the desired one (by design). This
condition would actually make the ARW run "backwards", degrading the
controller performance.
 2022-08-18 14:19:10 +02:00
mcsauder
87a5705960 Rename math::gradual() to math::interpolate() and add unit tests to cover additional corner cases. 2022-08-18 14:18:02 +02:00
bresch
021b23826d wind_replay: allow estimated local vel and GNSS vel sources 
local vel by default, set --gnss to use GNSS vel instead
 2022-08-18 14:09:23 +02:00
bresch
be6acb0a68 wind_est: add python script to replay wind estimator equations 2022-08-18 14:09:23 +02:00
bresch
4d21c90cbb wind_est: generate wind estimator equations for python use 2022-08-18 14:09:23 +02:00
Kalyan Sriram
deb938fcea drivers/uavcan: update libuavcan 2022-08-16 11:05:51 -04:00
Daniel Agar
1c72f86761 Update src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp 
Co-authored-by: Kabir Mohammed  <kabir@corvus-robotics.com>
 2022-08-16 08:40:43 -04:00
Daniel Agar
49d87f1907 adis16470: fix accel and gyro scaling 2022-08-16 08:40:43 -04:00
Junwoo Hwang
d7a962b426 mavlink: fix PX4_DEBUG message formats 2022-08-12 09:43:12 +02:00
Silvan Fuhrer
ffb8fb4383 Allocation: add SteeringWheel type control surface 
Directly use yaw controls for it, and don't add it to the allocation matrix,
as that would have an effect on rudder scaling if the wheel also would have
a yaw effectiveness.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Silvan Fuhrer
9e18b351bc Allocation: add Single Channel Aileron to CS types 
This is the control surface type for airframes that have only a
single aileron servo or have the ailerons on a single output channel.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Silvan Fuhrer
c6d1b1f50f Allocation: add A-tail servo type 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Beat Küng
f454dcef6b ROMFS: set control allocation parameters for airframes 
Removes some airframes:
- 1000_rc_fw_easystar.hil
- 10015_tbs_discovery
- 10016_3dr_iris
- 10018_tbs_endurance
- 13001_caipirinha_vtol
- 13002_firefly6
- 13003_quad_tailsitter
- 13004_quad+_tailsitter
- 13005_vtol_AAERT_quad
- 13006_vtol_standard_delta
- 13007_vtol_AAVVT_quad
- 13008_QuadRanger
- 13009_vtol_spt_ranger
- 13012_convergence
- 13050_generic_vtol_octo
- 14001_tri_y_yaw+
- 14002_tri_y_yaw-
- 15001_coax_heli
- 2105_maja
- 2200_mini_talon
- 3031_phantom
- 3032_skywalker_x5
- 3033_wingwing
- 3036_pigeon
- 3100_tbs_caipirinha
- 4003_qavr5
- 4009_qav250
- 4019_x500_v2
- 4030_3dr_solo
- 4031_3dr_quad
- 4051_s250aq
- 4072_draco
- 4080_zmr250
- 4090_nanomind
- 4100_tiltquadrotor
- 50003_aion_robotics_r1_rover
 2022-08-12 09:43:12 +02:00
Beat Küng
f2db7b8deb control_allocator: hide motor positions for fixed-wings 
should not be set for now
 2022-08-12 09:43:12 +02:00