3ad901e51d
Wind Estimator: use time_literals
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
cad7851774
AirspeedSelector: add _CAS_scale_validated to airspeed_wind for logging
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
625f556b0e
AirspeedSelector: airspeed scale estimation improvements and robustification
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- run airspeed scale estimation always, not in dedicated mode
- add option to apply scale automatically, with extra feasibility check
- add airspeed scale for all 3 possible airspeed instances
- clean up parameters
- add check for data stuck (non-changing airspeed data)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
8e8c6efd66
Mission block: do not care for altitdue acceptance when approaching backtransition point
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Not accepting the waypoint causes the vehicle to perform a sharp turn after passing
the land waypoint and this causes worse unexected behavior.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-22 15:37:10 +02:00
78fe6e2152
VelocitySmoothing: fix issue when delta vel is the same on all axes
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When the change in velocity is exactly the same on several axes, the T1
of the recumputed trajectories after time sync was set to 0 because it
was skipping both if and else if.
2021-10-22 10:54:36 +02:00
9301288d1f
Add parameter and logic to set RTL heading mode.
2021-10-22 09:28:30 +02:00
6fb1c79ef0
mixer_module: reject mixer load and reset when dynamic mixing is enabled
2021-10-21 11:27:33 -07:00
ea9c64dcd9
drivers/uavcan: add new UAVCAN_SUB_* parameters to enable subscriptions
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- only GPS and mag are enabled by default
2021-10-21 09:55:04 -04:00
fd96bbf9b9
Mavlink: bump MAX_REMOTE_COMPONENTS to 16
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-21 07:48:50 +02:00
4247e1320b
px4io: allow switching to rate ctrl wq
2021-10-20 09:56:42 -04:00
8a2b310b83
topic_listener: avoid code generation, use existing metadata at runtime
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This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.
2021-10-20 08:10:05 +02:00
a0e72b35a4
replay: ignore ULogMessageType::PARAMETER_DEFAULT messages
2021-10-20 08:10:05 +02:00
4c73ac3805
uorb: use single byte for internal types in o_fields metadata
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Reduces flash usage by ~9KB.
2021-10-20 08:10:05 +02:00
21163d859e
Whitespace cleanup.
2021-10-19 13:29:26 -04:00
4cf8eb8226
ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics
2021-10-18 21:39:40 -04:00
33954a904f
lib/tunes: never play tunes if circuit breaker is set
2021-10-18 21:37:09 -04:00
6e3e6846f4
Fix srf05 driver.
2021-10-18 21:00:59 -04:00
b35dd86d04
mc_pos_control: remove unused var
2021-10-18 20:37:18 -04:00
c8d6f8f5e5
remove proto for unused function limit_thrust_during_landing()
2021-10-18 20:37:18 -04:00
9d7c4596f7
navigator: increase stack 1800 -> 1864 bytes
2021-10-18 20:31:35 -04:00
da1df5352c
fix pwm: only update oneshot timers owned by the current pwm_out instance
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This fixes the case where oneshot was enabled with multi-instance pwm_out,
triggering oneshot updates too close to each other and as a result could
lead to spinning motors while disarmed.
2021-10-18 18:45:19 -04:00
f1686b1abf
px4io: add dynamic mixing support
2021-10-18 18:45:19 -04:00
837a1066e0
px4io, pwm_out: update pwm default checking
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The defaults changed in the previous commit for per-channel params,
so we make sure that the overall params are still used as long as the
per-channel params are default.
2021-10-18 18:45:19 -04:00
ab1d76ae7d
params: use PWM_MAIN_* instead of PWM_FMU_*
2021-10-18 18:45:19 -04:00
183ab8bbe7
control_allocator: avoid default argument for virtual method getEffectivenessMatrix
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clang tidy error:
/__w/PX4-Autopilot/PX4-Autopilot/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp:50:34: error: default arguments on virtual or override methods are prohibited [google-default-arguments,-warnings-as-errors]
ActuatorEffectivenessMultirotor::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
2021-10-18 18:45:19 -04:00
8b3ab7e36d
fix pwm_out: ensure up_pwm_servo_arm() is never continuously called
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This happened with multi-instance, when the second instance did not load
a mixer. Then the first instance would always return false in
update_pwm_out_state, and continuously call up_pwm_servo_arm.
This led to irregular pulses, e.g. with an output set to fixed 1500us, I
saw pulses of e.g. 1800us occationally (they were in a range of
[1500-2100]).
2021-10-18 18:45:19 -04:00
44bbe87165
pwm_out_sim: use PWM_FMU for sitl and HIL_ACT for hitl
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We might want to change this later, but for now it allows to use the same
airframe configs for sitl/real, and independent hitl configuration.
2021-10-18 18:45:19 -04:00
21c1671693
pwm_out_sim: add dynamic mixing support
2021-10-18 18:45:19 -04:00
0871b7974d
uavcan_v1: add dynamic mixing support
2021-10-18 18:45:19 -04:00
ae15ad14a8
tap_esc: add dynamic mixing support
2021-10-18 18:45:19 -04:00
35ce6d1b73
pca9685_pwm_out: add dynamic mixing support
2021-10-18 18:45:19 -04:00
955179e992
linux_pwm_out: add dynamic mixing support
2021-10-18 18:45:19 -04:00
c1e5e666f0
pwm_out, dshot: add dynamic mixing support
2021-10-18 18:45:19 -04:00
3ff6014a3c
uavcan: implement servo outputs
2021-10-18 18:45:19 -04:00
07fa8c5295
uavcan: reduce sensor status output verbosity
2021-10-18 18:45:19 -04:00
49f8131f82
uavcan: add dynamic mixing support
2021-10-18 18:45:19 -04:00
5f0781b6e9
output modules: add param prefix argument to MixingOutput
2021-10-18 18:45:19 -04:00
f5fbcb0770
dshot: handle telemetry index correctly when dynamic mixer is used
2021-10-18 18:45:19 -04:00
916447e804
params: add script to parse timer_config.cpp for timer group info
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This allows to generate pwm params in the form of:
module_name: PWM Output
actuator_output:
output_groups:
- generator: pwm
param_prefix: PWM_FMU
channel_labels: ['PWM Main', 'PWM Capture']
standard_params:
disarmed: { min: 800, max: 2200, default: 900 }
min: { min: 800, max: 1400, default: 1000 }
max: { min: 1600, max: 2200, default: 2000 }
failsafe: { min: 800, max: 2200 }
extra_function_groups: [ pwm_fmu ]
pwm_timer_param:
description:
short: Output Protocol Configuration for ${label}
long: |
Select which Output Protocol to use for outputs ${label}.
Custom PWM rates can be used by directly setting any value >0.
type: enum
default: 400
values:
-5: DShot150
-4: DShot300
-3: DShot600
-2: DShot1200
-1: OneShot
50: PWM50
100: PWM100
200: PWM200
400: PWM400
reboot_required: true
2021-10-18 18:45:19 -04:00
6f01b69f49
mixer_module: add param generation for disarmed, min, max, failsafe
2021-10-18 18:45:19 -04:00
15daded6b0
refactor output_limit: split output_limit_calc_single into separate function
2021-10-18 18:45:19 -04:00
c55626d2d6
refactor Tools/serial: move non-serial param generation into separate script
2021-10-18 18:45:19 -04:00
a65533b469
mixer_module: add output functions for servos, landing gear, parachute, RC passthrough & gimbal
2021-10-18 18:45:19 -04:00
4b37a3d017
mixer_module: generate output_functions header from yaml file
2021-10-18 18:45:19 -04:00
fd76e5488e
mixer_module: add output functions
2021-10-18 18:45:19 -04:00
ab3fe77f46
mavlink_receiver: publish MAV_CMD_DO_SET_ACTUATOR command
2021-10-18 18:45:19 -04:00
38fa65a47e
control_allocator: remove direct mixer, add actuator_{motors,servos} instead
2021-10-18 18:45:19 -04:00
a51c465b54
control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets
2021-10-18 18:45:19 -04:00
0c5a79d84d
fix mixer_module: use PRIx32 for debug printf
2021-10-18 18:45:19 -04:00
ad1bcfd77c
commander: correct lockdown CLI description
2021-10-18 18:45:19 -04:00
Silvan Fuhrer