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289 Commits

Author SHA1 Message Date
JunwooHWANG
35af604a82
Added RTL Switch Setting for ATL Mantis Edu (#19267) 
Co-authored-by: Junwoo Hwang <junwoo@auterion.com>
 2022-03-02 16:57:20 +01:00
Beat Küng
76d8d8cae6 control_allocator: generic motor configuration for standard vtols 
This adds the pusher/puller to the standard motors and makes the axis
configurable.
 2022-02-25 08:30:58 +01:00
Beat Küng
dce2968470 ROMFS: set CA_* + HIL_ACT_* params for hitl+sih airframes 2022-02-25 08:30:58 +01:00
alessandro
1febba315a mantis: disable optical flow fusion in EKF2 
Above grass fields I can frequently observe position 
instabilities with the mantis due to the optical flow fusion.

Let's disable flow fusion for now.
 2022-02-11 15:33:34 +01:00
Beat Küng
86860808e3 ROMFS: set CA_* geometry params for some of the generic airframes 
Not enabled, makes it easier to switch.
 2022-02-09 10:08:59 +01:00
Beat Küng
a2ba613254 ROMFS: remove 4018 + 6003 ctrlalloc airframes 2022-02-09 10:08:59 +01:00
Julian Oes
853047c643 Mantis: use gimbal auto input 
This allows RC and mavlink gimbal v2 input.
 2022-02-07 19:21:15 -05:00
FARHANG
fe44e281e5
ROMFS: Holybro X500 v2 airframe addition 2022-01-18 15:11:41 -05:00
romain-chiap
4e06b40e2b
sih: add tailsitter support, disable UAVCAN 2022-01-11 08:29:19 +01:00
Julian Oes
1baecf07ad Mantis: remove startup tune volume 
Let's just leave it at the default like the rest of the beeps.
 2022-01-10 23:04:10 -05:00
Julian Oes
38439256e5 Mantis: move MIXER vars to airframe init 
The two were actually conflicting and are now consolidated.
 2022-01-10 23:04:10 -05:00
Julian Oes
14fb019821 Mantis: move SYS_DM_BACKEND to board_defaults 
Otherwise it is set too late and not used during startup.
 2022-01-10 23:04:10 -05:00
Julian Oes
a061d7a02a Mantis: use dataman in RAM 2022-01-10 23:04:10 -05:00
Julian Oes
b1a1e4913b Mantis: rotate flow by 180 degrees 
This seemed to be exactly inverted.
 2022-01-10 23:04:10 -05:00
Julian Oes
28d69d3285 Mantis: fix throttle RC calibration 2022-01-10 23:04:10 -05:00
Julian Oes
b92aa92bec Mantis: fix mixer loading 
The ordering before did not work out, and without the sleep it fails.
 2022-01-10 23:04:10 -05:00
Julian Oes
e4763f15f6 Mantis: add RC hacks 
This changes the way RC is handled for the Mantis:
- The RC values are re-written when arriving over MAVLink. They are
  rescaled from 0..4095 to 1000..2000 and the channel bits added to
  separate channels. This makes the downstream handling easier.
- Gimbal pitch is moved from Aux1 to Aux2 as that should be the default.
- Aux3 and Aux4 are used for the photo and video trigger.
- The speed button is used as the FLTMODE channel and set to switch
  between POSCTL and ALTCTL.
 2022-01-10 23:04:10 -05:00
Julian Oes
1754e25920 vmount: add param to use RC input for angular rate 
Until now RC input was translated to angles only. I added the param
MNT_RC_IN_MODE which allows the RC input to be used for angular rate.
 2022-01-10 23:04:10 -05:00
Julian Oes
0fbb03dee1 ROMFS: add option for startup tune volume 
Otherwise the CBRK_BUZZER param does not work as it should.
 2022-01-10 23:04:10 -05:00
Julian Oes
fa282cfe86 Mantis: make startup less loud 2022-01-10 23:04:10 -05:00
Julian Oes
2b4b87571c Mantis: adapt RC calibration 
This is with a newer RC firmware.
 2022-01-10 23:04:10 -05:00
Julian Oes
856e229482 ROMFS: reset the startup sound for Mantis 2022-01-10 23:04:10 -05:00
Julian Oes
185e4cfd48 Mantis: set range finder limits, and min quality 
The limits might somewhat match the sensor, guessed based on the
original driver.

The quality is set so that spikes when sitting on the ground are not
used.
 2022-01-10 23:04:10 -05:00
Daniel Agar
daa925137c boards: move default battery calibration defines to parameter defaults 2022-01-10 09:49:36 -05:00
romain-chiap
4264ec992d Update 1101_rc_plane_sih.hil 
This bugged me for a while, the sih FW would not takeoff from the ground. Now, I found it!
 2022-01-05 16:18:53 -05:00
Matthias Grob
bbb04ab4b8 Remove relaying of maximum altitude through land detector 2022-01-05 14:54:59 +01:00
Beat Küng
70e46a194f control_allocator: major refactoring & additions 
- allow effectiveness matrix to select control allocator method
  (desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
  to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
 2021-12-24 20:06:13 -05:00
Beat Küng
2809dd8944 control_allocator: remove min/max/scale params 2021-11-23 12:40:22 -05:00
Beat Küng
f99c2617ad control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults 2021-11-23 12:40:22 -05:00
Silvan Fuhrer
e596607e2e minor comments update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-23 14:48:51 +01:00
Jaeyoung-Lim
5dcaadf492 Fix px4vision defaults 2021-10-25 16:29:52 -04:00
mcsauder
21163d859e Whitespace cleanup. 2021-10-19 13:29:26 -04:00
Beat Küng
e36a8f3765 ROMFS: disable vtol airframes for kakutef7 2021-10-18 18:45:19 -04:00
Beat Küng
ab1d76ae7d params: use PWM_MAIN_* instead of PWM_FMU_* 2021-10-18 18:45:19 -04:00
Beat Küng
838ec5d485 airframes: set output function params for ctrlalloc airframes 2021-10-18 18:45:19 -04:00
Beat Küng
38fa65a47e control_allocator: remove direct mixer, add actuator_{motors,servos} instead 2021-10-18 18:45:19 -04:00
Beat Küng
a51c465b54 control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets 2021-10-18 18:45:19 -04:00
mcsauder
a732ddaefb Deprecate 4250_teal from CMakeLists.txt. 2021-10-13 17:25:18 -04:00
mcsauder
c1b0d78077 Minimize flash by migrating MIXER quad_x and PWM_OUT 1234 to rc.mc_defaults. Deprecate 4250_teal config file. 2021-10-13 17:25:18 -04:00
Silvan Fuhrer
fb8bf7eaa6 ROMFS: remove default params from configs 
Remove params from airframe configs that are just set again
to the param default value or to the value that is
specified in the mc_default, fw_default or vtol_default.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-07 09:22:59 -04:00
Daniel Agar
089c962d92 px4io: moving mixing to FMU side 
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-09-25 19:15:05 -04:00
Beat Küng
5b674ea831 ROMFS: remove some airframes and mixers on v2 to reduce flash 2021-09-11 14:08:41 -04:00
Daniel Agar
c8366e736e ROMFS: update ATL Mantis EDU optical flow defaults 2021-08-08 14:21:28 -04:00
romain-chiap
718e5b5b5d
sih: add fixed-wing support 2021-08-05 09:16:14 +02:00
Daniel Agar
be2f65be35 drives/tap_esc: refactor to use OutputModuleInterface 2021-08-04 17:15:24 -04:00
Daniel Agar
e900f2ea54 boards: Advanced Technology Labs (ATL) Mantis EDU support and airfarme (SYS_AUTOSTART 4061) 
Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-08-04 17:15:24 -04:00
Beat Küng
b9e2d2c0f2 4100_tiltquadrotor: remove LED_RGB_MAXBRT 2021-08-03 10:36:25 +02:00
Beat Küng
95789252d0 airframes: minor param cleanups (remove commented 'param set') 2021-08-03 10:36:25 +02:00
Daniel Agar
e84c6664bb ROMFS: update airframes/4901_crazyflie21 legacy battery parameter 2021-07-23 19:58:38 -04:00
Daniel Agar
6f4111e073 ROMFS: update airframes/17003_TF-G2 legacy battery parameter 2021-07-23 19:58:38 -04:00