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Author SHA1 Message Date
Hamish Willee
d74af6d1f8
Delete simpleapp CMakeLists 2021-10-18 08:33:52 +11:00
Alex Klimaj
b482986e8e
uavcannode: Add CANNODE_TERM parameter (configure CAN termination on ARK cannodes) 
- adds functionality to enable the built in can termination on the ARK cannodes
 2021-10-15 09:29:56 -04:00
Jari van Ewijk
55910caec5 UCANS32K146: Enable CONFIG_BCH to use EEEPROM as character driver 2021-10-15 05:54:27 -07:00
Silvan Fuhrer
a66b0829b0 Standard VTOL: add airspeed to back transition logic and refactor it a bit 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer
358c67226e Tiltrotor: backtransition logic improvements 
-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
Silvan Fuhrer
cba80a6338 Tiltrotor: front transition: fade out yaw equally to roll 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer
641383cbfb VTOL backtransition improvements 
* 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
RomanBapst
af291e2040 FlightTaskTransition: Transition improvements 
- 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
Silvan Fuhrer
d39c32619e Tiltrotor: add minimum throttle of 0.25 during front transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
RomanBapst
f61853d428 vtol: implement throttle blending out and into transition 
- 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
RomanBapst
8dd76050e0 vtol: take fixed wing attitude setpoint during transition if altitude is 
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
Daniel Agar
435e5515df github actions: increase nuttx and linux ccache max size to 100M 2021-10-14 19:45:29 -04:00
Daniel Agar
7e71b7eafc github actions: compile nuttx archive bin files and remove duplicate nuttx cannode builds 2021-10-14 19:45:29 -04:00
Daniel Agar
12c7056ae5 drivers/imu: icm20602/icm20649/icm20948 remove timestamp_sample adjustments 2021-10-14 16:37:11 -04:00
Daniel Agar
56823b5ac9 ekf2: EKF control don't allow invalid flow gyro to propagate 2021-10-14 16:31:22 -04:00
Daniel Agar
e8a064af02
github actions: try increasing nuttx ccache limit 2021-10-14 11:54:19 -04:00
Daniel Agar
b88c8eb245 Jenkins: hardware stop commander before sensors module to avoid errors 
- this is only done to silence timeouts during small benchmarks
 2021-10-14 09:17:50 -04:00
Daniel Agar
d35cf78e4a commander: PX4_ERR if attitude or angular velocity become invalid 2021-10-14 09:17:50 -04:00
Daniel Agar
4559230de6 drivers/imu/invensense: adjust icm20602/icm20649/icm20948 rescheduling logic 
- this handles the case where the driver might be more than one full
transfer cycle behind
 2021-10-14 09:17:11 -04:00
Daniel Agar
ef4d4c3093 sensors/vehicle_imu: fix timestamp_sample increasing check 2021-10-14 09:12:45 -04:00
Jaeyoung-Lim
4535b18a80 Set setpoint type as const 2021-10-14 11:18:02 +02:00
Jaeyoung-Lim
07d72f8604 Fix comments 2021-10-14 11:18:02 +02:00
Jaeyoung-Lim
443666199e Move setmode outside of control_position 
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
Jaeyoung-Lim
ae9e91f90c FW Pos controller: fix format in new switch 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-14 11:18:02 +02:00
Silvan Fuhrer
c3e961a1ed FW Pos C: move setting of control_mode_current to separate function and minor clean ups 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-14 11:18:02 +02:00
Silvan Fuhrer
0cf3ef87e3 FW Position Controller: move nav_speed_2d calculation to function 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-14 11:18:02 +02:00
Jaeyoung-Lim
581ec224be Encapsulate loiter and position setpoint handling 
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
Thomas Debrunner
f08f2a340d motion_planning: In VelovitySmoothing, mark const functions const 2021-10-13 21:25:43 -04:00
Thomas Debrunner
fed234de81 flight_mode_manager: Extracted position trajectory motion planning into a library 
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
Peter van der Perk
07303af8f8 UAVCANv1 Fix typo in #define 2021-10-13 21:22:15 -04:00
Peter van der Perk
ed394027b1 UAVCANv1 Include Kconfig & Fix #18396 2021-10-13 21:22:15 -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
Matthias Grob
8b37db7825 Functions: fix corner case x_low == x_high == value resulting in NAN 
and added unit test to cover it
 2021-10-13 17:24:16 -04:00
alexklimaj
f5e1da5b0f Fix broadcom afbrs50 build 2021-10-13 17:22:26 -04:00
Daniel Agar
7de00469a6
platforms: nuttx px4_init fix USB serial mavlink autodetect 2021-10-13 16:34:45 -04:00
Julian Oes
f91aa76645 boards: add v5x RTPS version again 
I just copied this from v5 and removed the heater.
 2021-10-13 16:20:43 -04:00
David Lechner
426efb515f setup: fix installing in virtual env on Ubuntu 
This fixes running the Ubuntu setup script in a Python virtual
environment. This was failing because pip doesn't allow the --user
option in virtual environments.
 2021-10-13 16:19:24 -04:00
Jukka Laitinen
351f679c2f parameters: Use px4::atomic_bool instead of px4::atomic<bool> 
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
Jukka Laitinen
e6658547cf sensors/vehicle_imu: Fix compiler warning for implicit INFINITY double->float cast 
This pops up on some newer compilers

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-10-13 15:01:26 -04:00
Jukka Laitinen
5509235517 commander: Fix implicit NaN conversion from double to float compiler warning 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-10-13 15:01:26 -04:00
Daniel Agar
41a4045630
boards: nxp_fmuk66 fix serial_dma_poll 2021-10-13 13:45:39 -04:00
Daniel Agar
49a4283d0d boards: px4_fmu-v5x restore rc.board_mavlink 
- this was unintentionally removed in https://github.com/PX4/PX4-Autopilot/pull/16180
 2021-10-13 17:34:20 +02:00
alexklimaj
ffb47466df Add ARK GPS passthrough 2021-10-12 22:00:58 -04:00
Mathieu Bresciani
56b0c46444
ekf2: improve optical flow angular rate compensation 2021-10-12 13:17:29 -04:00
Daniel Agar
fab053d33b mavlink: receiver battery_status prevent out of bounds access 
- fixes https://github.com/PX4/PX4-Autopilot/issues/18385
 2021-10-12 09:20:40 -04:00
Daniel Agar
12670b70f4
Jenkins: hardware quick cal skip sleeps 2021-10-11 15:21:43 -04:00
Silvan Fuhrer
801ef2d520 VTOL main: add local variable for int(vehicle_command.param1 + 0.5) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-11 18:15:18 +02:00
Silvan Fuhrer
342e9900f8 vtol main: only guard against transition to FW in certain flight modes, never to MC 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-11 18:15:18 +02:00
SalimTerryLi
5ebe41efbf pilotpi: fix upload cmake 2021-10-11 10:43:59 -04:00