b482986e8e
uavcannode: Add CANNODE_TERM parameter (configure CAN termination on ARK cannodes)
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- adds functionality to enable the built in can termination on the ARK cannodes
2021-10-15 09:29:56 -04:00
a66b0829b0
Standard VTOL: add airspeed to back transition logic and refactor it a bit
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
358c67226e
Tiltrotor: backtransition logic improvements
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-use groundspeed in body x for exit condition
-use airspeed for speed exit condition if no valid groundspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
cba80a6338
Tiltrotor: front transition: fade out yaw equally to roll
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
641383cbfb
VTOL backtransition improvements
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* vtol_type: only allow positive pitch setpoints during backtransition
* vtol params: set default of VT_B_DEC_FF to 0, as for most frames a FF is not necessary
* Tiltrotor: fix throttle during first part of back transition
* Tiltrotor: only enable all motors in second phase of backtransition (tilting phase)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
af291e2040
FlightTaskTransition: Transition improvements
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- use fw pitch setpoint offset during transition
- take over previous vertical velocity and smooth out over transition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
d39c32619e
Tiltrotor: add minimum throttle of 0.25 during front transition
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
f61853d428
vtol: implement throttle blending out and into transition
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- blend into TECS throttle after front transition
- blend out of TECS throttle during backtransition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
8dd76050e0
vtol: take fixed wing attitude setpoint during transition if altitude is
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not controlled
- required as there is no flightask running if altitude is not controlled
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
12c7056ae5
drivers/imu: icm20602/icm20649/icm20948 remove timestamp_sample adjustments
2021-10-14 16:37:11 -04:00
56823b5ac9
ekf2: EKF control don't allow invalid flow gyro to propagate
2021-10-14 16:31:22 -04:00
d35cf78e4a
commander: PX4_ERR if attitude or angular velocity become invalid
2021-10-14 09:17:50 -04:00
4559230de6
drivers/imu/invensense: adjust icm20602/icm20649/icm20948 rescheduling logic
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- this handles the case where the driver might be more than one full
transfer cycle behind
2021-10-14 09:17:11 -04:00
ef4d4c3093
sensors/vehicle_imu: fix timestamp_sample increasing check
2021-10-14 09:12:45 -04:00
4535b18a80
Set setpoint type as const
2021-10-14 11:18:02 +02:00
07d72f8604
Fix comments
2021-10-14 11:18:02 +02:00
443666199e
Move setmode outside of control_position
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This commit moves the position controller mode handling outside of the control_position method.
The control_method is renamed to control_auto
2021-10-14 11:18:02 +02:00
ae9e91f90c
FW Pos controller: fix format in new switch
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
c3e961a1ed
FW Pos C: move setting of control_mode_current to separate function and minor clean ups
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
0cf3ef87e3
FW Position Controller: move nav_speed_2d calculation to function
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
581ec224be
Encapsulate loiter and position setpoint handling
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This commit encapsulates the position setpoint and loiter setpoint handling into a single method, in order to make the code easier to understand
4be452
2021-10-14 11:18:02 +02:00
f08f2a340d
motion_planning: In VelovitySmoothing, mark const functions const
2021-10-13 21:25:43 -04:00
fed234de81
flight_mode_manager: Extracted position trajectory motion planning into a library
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Extract the functionality to plan smooth position motion trajectories into a
motion planning library, such that it can be used in other parts of the code as well.
2021-10-13 21:25:43 -04:00
07303af8f8
UAVCANv1 Fix typo in #define
2021-10-13 21:22:15 -04:00
ed394027b1
UAVCANv1 Include Kconfig & Fix #18396
2021-10-13 21:22:15 -04:00
8b37db7825
Functions: fix corner case x_low == x_high == value resulting in NAN
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and added unit test to cover it
2021-10-13 17:24:16 -04:00
f5e1da5b0f
Fix broadcom afbrs50 build
2021-10-13 17:22:26 -04:00
351f679c2f
parameters: Use px4::atomic_bool instead of px4::atomic<bool>
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This enables us to define the actual atomic bool type in px4_platform
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
e6658547cf
sensors/vehicle_imu: Fix compiler warning for implicit INFINITY double->float cast
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This pops up on some newer compilers
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
5509235517
commander: Fix implicit NaN conversion from double to float compiler warning
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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
fab053d33b
mavlink: receiver battery_status prevent out of bounds access
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- fixes https://github.com/PX4/PX4-Autopilot/issues/18385
2021-10-12 09:20:40 -04:00
801ef2d520
VTOL main: add local variable for int(vehicle_command.param1 + 0.5)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
342e9900f8
vtol main: only guard against transition to FW in certain flight modes, never to MC
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
8f8304f31e
FixedWingPositionController: Set l1 variables to NAN if no l1 guidance
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took place
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-11 16:41:42 +02:00
ae5d3103f4
fw l1 controller: added a flag to indicate if navigation has updated
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- can be used to check if l1 controller ran during a cycle
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-11 16:41:42 +02:00
99b098f608
Update FixedwingAttitudeControl.cpp
2021-10-09 19:39:43 -04:00
c92cd65831
Update EKF2.cpp
2021-10-09 19:39:43 -04:00
6576e1fda9
Update battery_status.cpp
2021-10-09 19:39:43 -04:00
b56bd7cb21
Update AirspeedValidator.cpp
2021-10-09 19:39:43 -04:00
47a72a6b7b
Update vtol_att_control_main.cpp
2021-10-09 19:39:43 -04:00
9fd19a2c83
Update standard.cpp
2021-10-09 19:39:43 -04:00
af34b21ba8
Update tiltrotor.cpp
2021-10-09 19:39:43 -04:00
98f655815a
mavlink: add LAND_TARGET stream
2021-10-09 10:29:02 -04:00
4be45229bf
fw_pos_control_l1: fix launch detector dt update
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- fixes https://github.com/PX4/PX4-Autopilot/issues/18354
2021-10-08 17:34:14 -04:00
089f96f800
lib/drivers/{accelerometer,gyroscope} skip obselete Vector3f construction
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- FIFO clip count only check if value is INT16_MIN/MAX rather than abs() call
2021-10-08 17:33:27 -04:00
fd39d5b9a1
drivers/distance_sensor/lightware_laser_serial: add LW20/C support
2021-10-08 17:30:41 -04:00
47dc2ae5a5
Revert "protocol_splitter: delete non rtps or mavlink data from buffer"
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This reverts commit 0cae3c129d
2021-10-08 14:35:12 -04:00
2ba369dd54
Add uavcannode fix2 mode and submode
2021-10-08 11:00:37 -04:00
d8e88aedc6
motor_ramp ram cleanup
2021-10-08 10:51:06 -04:00
Alex Klimaj