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Author SHA1 Message Date
Jaeyoung Lim b95784e804 Consume speedweight from FW longitudinal config (#25709) 
* Consume speedweight from longitudinal config

* Constrain speed weight
 2025-10-10 10:00:43 -07:00
Jaeyoung Lim 950f2272bf Fix scene path for jsbsim (#24568) 
The sitl_run script was misdirecting FG_AIRCRAFT when running flightgear GUI
 2025-03-19 20:00:19 +01:00
Jaeyoung Lim 974446c0e8 Make control allocation and actuator effectiveness a non-module-specific library (#24196) 
* Remove more circular dependencies with ActuatorEffectiveness

* Separate vehicle specific actuator effectiveness

Keep actuator effectivenss in control allocator

* Remove test dependency for now

* Group library directories
Fix

* Change directory names

* Rebase fix
 2025-01-15 10:12:29 +01:00
Jaeyoung-Lim f5c05f6d01 Take 2: Cleanup circular dependencies ActuatorEffectiveness 2025-01-13 09:29:42 +01:00
Jaeyoung Lim 208d37e703 Remove circular dependency if control allocation (#24195) 
... and actuator effectiveness
 2025-01-10 16:58:15 +01:00
Jaeyoung Lim fd87cd682d Dynamically update ff gain for fw rate control (#24120) 2024-12-17 17:57:18 +01:00
Jaeyoung Lim 197aed8bdd Add mavlink stream for plane camera (#24081) 2024-12-06 14:52:54 +01:00
Jaeyoung Lim b1dfe1d731 Update gz version to harmonic 2024-08-22 21:37:00 -04:00
Jaeyoung Lim d617bf4129 simulation/gz_bridge: Fix build issues with unused variable 2024-08-22 11:48:46 -04:00
Jaeyoung Lim ae16556107 simulation/gz_bridge: follow model in gz GUI (#22808) 2024-08-21 11:41:47 -04:00
Jaeyoung Limandjmackay2 f252e20eae Revert "Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. (#23455)" (#23583) 
This reverts commit 7e45f49152.

Co-authored-by: jmackay2 <1.732mackay@gmail.com>
 2024-08-20 19:36:08 -04:00
Jaeyoung Lim e008ca24f1 Remove euler angles from attitude setpoint (#23482) 
* Remove euler angles from attitude setpoint message

* Remove usage of euler angles in attitude setpoint messages

This commit removes the usage of euler angles in the vehicle_attitude_setpoint messages

* Fix standard vtol
 2024-08-12 16:42:51 +02:00
JaeyoungLim 05cd850ae3 Document vehicle attitude message 2024-04-16 16:44:56 +02:00
Jaeyoung LimandSilvan Fuhrer c8e041a371 Add Fixedwing path following as a separate controller state (#21376) 
* Separate offboard path setpoints as fixedwing pos control state

This commit separates offboard path following as a separate state inside the FW Poscontrol module.

This is a cleanup on clearly defining fw pos control behaviors

* Update src/modules/fw_pos_control/FixedwingPositionControl.cpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* Fix format

---------

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-01-09 16:35:50 +01:00
JaeyoungLim e3aea937c3 Support quadtailsitter in SITL 2023-05-29 12:25:20 +02:00
JaeyoungLim 47e802ef92 Fix tailsitter control frames (#21573) 2023-05-10 22:33:53 +09:00
JaeyoungLim b02a785033 microdds: add the position_sp_triplet to the dds topics (#21449) 
- Position setpoint triplets can be useful for offboard processes to understand the intention of navigator
 2023-04-14 13:37:45 -04:00
Jaeyoung Lim cbe611ce66 Update mavlink submodule to latest 2023-04-11 07:44:10 +02:00
Jaeyoung Lim e5d5fcd315 Subscribe to vehicle odometry in GZ Bridge 
This PR subscribes to the vehicle odometry in gz bridge / Add x500_vision model
Fix transforms
F
 2023-03-06 09:27:35 -05:00
Jaeyoung Lim 5676cc32bc Optionally enable sensor simulations 2023-02-21 11:16:25 -05:00
Jaeyoung Lim 0e1e1afcf9 Correct dates in the license headers 2023-02-15 01:37:32 +09:00
Jaeyoung Lim 0b3f4dd385 Inject failure for airspeed sim 2023-02-15 01:37:32 +09:00
Jaeyoung Lim 3f50bd051f Optionally enable airspeed sensor sim 
Enable and disable sensor sim module with parameter
 2023-02-15 01:37:32 +09:00
Jaeyoung Lim 3efc42cb14 Add standard vtol model 
Add standard vtol model sdf
 2023-02-13 13:00:39 -05:00
Jaeyoung Lim 65c287781f Set prearm mode 2023-02-13 13:00:39 -05:00
Jaeyoung Lim df4083265f Add standard vtol airframe configs 2023-02-13 13:00:39 -05:00
Jaeyoung Lim d5ddb44241 Add sensor airspeed sim 
This commit adds the airspeed sensor sim to simulate airspeed sensors
 2023-02-13 13:00:39 -05:00
JaeyoungLim 01c5b3934e Tune GZ plane (rc_cessna) to fly nicely (#21077) 
* Increase control surface joint controller gains

* Enable prearm mode and disable airpspeed checks for gz plane
 2023-02-06 16:24:01 -05:00
JaeyoungLimAlejandro Hernández CorderoBenjamin Perseghetti
 		644aeb9153 support fixed-wing in new Gazebo (gz or ignition gazebo) (#20939) 
* Add gz plane airframe config

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
 2023-01-24 09:22:53 -05:00
Jaeyoung Lim 16d6e699bb Update sitl_gazebo submodule 2023-01-11 14:39:05 -05:00
JaeyoungLimandSilvan Fuhrer 21e88f64b4 Add new fixed wing rate control module (fw_rate_control) 
* Fixedwing rate control into a separate module
* Start fw_rate_control for vtol
* Move over airspeed related parameters to fw_rate_control

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-04 11:14:00 -05:00
JaeyoungLim 9db133b13d Remove angular velocity controller module 2022-12-16 07:52:20 +01:00
Jaeyoung Lim 65577a4f89 Fix invalid offboard setpoints for fw pos control 
This commit fixes a regression that disables offboard control
 2022-11-30 09:14:57 +01:00
JaeyoungLim 2586900c26 Log local position setpoint reference for fixedwings when running NPFG (#20512) 
* Log position setpoint reference of npfg

This commit logs the local position setpoint reference when using NPFG

* Address review comments

This commit address review comments from @tstastny
 2022-11-22 08:19:38 +01:00
JaeyoungLim a9542baf3c Enable motor controls for tailsitter VTOLs in fixed wing mode (enable Quad Tailsitters) (#20511) 
* Enable motor controls for fixed wing mode in tailsitters

This commit enable motor controls in fixed wing mode for tailsitters

This is needed for enabling quad tailsitters

* VTOL: differential thrust in FW: adapt params to be generic for all axes

Until now only suppoted on yaw axis. Not to be supported also on Roll and Pitch.

- VT_FW_DIFTHR_EN: make bitmask for all three axes independently. First bit is Yaw,
sucht that existing meaning of VT_FW_DIFTHR_EN doesn't change.
- VT_FW_DIFTHR_SC: rename to VT_FW_DIFTHR_S_Y and add same params for roll (_R) and
pitch (_P).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Integrate differential control bits to three axis control

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-07 15:29:14 +01:00
JaeyoungLim a90857f651 FW separate reset integrals for messages (#20502) 
This commit separates integral resets for attitude and rate control setpoints
 2022-11-01 06:06:27 +01:00
JaeyoungLim 3f5d7f38cd Handle waypoint altitude acceptance radius for boats (#20508) 
This corrects the waypoint handling logic to include boat type vehicles
 2022-10-31 09:13:13 +01:00
Jaeyoung Lim 7e49147bcf Fix feedforward acceleration setpoints for fixedwing offboard position 
This commit fixes feedforward acceleration setpoints for fixedwing offboard position control.

Previously when acceleration feedforward inputs were sent, negative curvature accelerations were not being computed properly
 2022-10-19 09:15:13 +02:00
Jaeyoung Lim 9245d71397 Fixedwing att control rate loop cleanup 2022-09-14 13:53:58 +02:00
Jaeyoung Lim bcdf61b65f Fix format 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
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
JaeyoungLimandSilvan Fuhrer 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
Jaeyoung Lim d4b77a6172 Update sitl gazebo submodule 2022-08-09 16:35:27 +02:00
Jaeyoung Lim ea5b1be2d4 Disable rear motors tilt for tiltrotor SITL airframe 
This commit disables the rear motor tilt on the tiltrotor SITL airframe
 2022-08-09 16:35:27 +02:00
Jaeyoung-Lim 55eed0e125 Remove multirotor mixer include from MC Ratecontro; 
This commit removes multirotormixer includes since it is not being used
 2022-07-03 19:20:19 -04:00
Jaeyoung-Lim bf68d3433e Add omnicopter SITL model 
F
 2022-06-04 07:40:29 +02:00
JaeyoungLim c6ab4c466e Separate takeoff and landing to individual fixed wing states for FW pos control (#19495) 2022-04-26 10:24:36 +02:00
Jaeyoung-Lim 106044be38 Initialize global local projection for rovers 
This commit initializes the global and local projection for rovers
 2022-03-24 08:57:53 -04:00
Jaeyoung-Lim 194a281fae Project local coordinates for all fw landing states 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim cb81c6ac8c Address review comments 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim 71bfb9c0de Convert NPFG to local coordinates 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim f804b3516f Remove local planar vector 2022-03-23 13:34:13 +01:00
Jaeyoung Lim 28d34bf095 Convert L1 controller to local coordinates 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim b0f9611eb9 NPFG: use cross product for matrix library 
This removes the use of cross products from NPFG and takes advantage of the matrix library
 2022-02-17 09:52:47 +01:00
Jaeyoung Lim 2fc95bb369 Rebase fix 
Use getnavspeed_2d for groundspeed
 2022-02-02 17:16:19 +01:00
Jaeyoung Lim 3dd5c1fbaf Enable NPFG by default on the believer 2022-02-02 17:16:19 +01:00
Jaeyoung Lim 3a9c5c3178 Use acceleration to pass path curvature 2022-02-02 17:16:19 +01:00
Jaeyoung Lim e2741f988a Add interface for passing path tangent and closest point directly 
This commit adds an interface to pass the path tangent and closest point directly to NPFG using the offboard interface
 2022-02-02 17:16:19 +01:00
Jaeyoung-Lim ee98a3336d Spawn at different height for multivehicle simulation 
This commit fixes the spawn location of the multivehicle gazebo sitl script
 2022-01-23 17:59:42 -08:00
Jaeyoung Lim 0dea56f88b Use current_sp for publishing orbit status 2022-01-19 12:00:03 -05:00
Jaeyoung-Lim dec5e7e9c8 Publish orbit status whenever the vehicle is in loiter 
This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint
 2022-01-19 12:00:03 -05:00
Jaeyoung-Lim bdec85fdd0 Disable local vehicle setpoints while in transition 
This commit adds disabling vehicle setpoints while in transition
 2022-01-03 11:09:06 +01:00
Jaeyoung-Lim 4127dfa791 Log vehicle local position setpoints 
This commit enables the local position setpoints to be logged by publishing vehicle_local_position_setpoint
 2022-01-03 11:09:06 +01:00
Jaeyoung Lim 52418f13b0 Use groundspeed for navigate heading 2022-01-03 10:52:34 +01:00
Jaeyoung-Lim e66e82228f Add support for offboard velocity setpoints for fixedwing vehicles 
This commit adds a velocity controller which the setpoint can be passed using offboard setpoints
 2022-01-03 10:52:34 +01:00
Jaeyoung-Lim af7fa63480 Remove kconfig-frontends installation from setup.sh 2021-11-23 15:17:00 +01:00
Jaeyoung-Lim dd83ef1813 Fix fw position controller takeoff 
This was introduced by a rebase
 2021-11-09 10:30:28 -05:00
Jaeyoung-Lim 6a2ebfc0cc Handle setpoint types properly for fixedwing position control 
Handle setpoint types properly for fixedwing position control
 2021-11-07 19:21:00 -05:00
Jaeyoung-Lim 5dcaadf492 Fix px4vision defaults 2021-10-25 16:29:52 -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
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
Jaeyoung-Lim e2f048f608 Add sitl glider model 
Add airframe configs for SITL glider model

This commit adds an airframe config for a glider model
 2021-10-10 12:33:25 -04:00
Jaeyoung-Lim d32f0d6168 Support headless mode for ignition gazebo 
This adds support for `HEADLESS=1` when starting ignition gazebo with headless mode
 2021-09-04 14:01:39 +02:00
Jaeyoung-Lim 3aa3f542ae Update simulation-ignition submodule 2021-09-03 15:54:46 +02:00
Jaeyoung-Lim 121bdfa630 Add verbose option for ignition gazebo 
This commit adds verbose option for ignition gazebo
 2021-09-03 15:54:46 +02:00
Jaeyoung-Lim 3c57626627 Update world path for ignition gazebo 2021-09-03 15:54:46 +02:00
Jaeyoung-Lim d30760a2ea Remove flap scaling to prevent flaps being deployed in manual mode 
This commit restores the flap scaling since it was always getting deployed in manual flight modes
 2021-08-13 15:46:23 +02:00
Jaeyoung-Lim db1dc1c9a1 Add airframe configuration and make target for believer 
This commit adds an airframe configuration and make target for believer
 2021-07-13 18:04:52 +02:00
Jaeyoung-Lim e45b862f1d Specify orientaiton of ADIS16448 IMU from rc.sensors 
Specify orientaiton of ADIS16448 IMU for from the rc.sensors

WIP: Currently only handling one orientation
 2021-06-30 09:34:12 -04:00
Jaeyoung-Lim 01083cecfc Enable adis16448 with parameter 
This commit adds enabling adis16448 with a parameter
 2021-04-03 13:58:25 -04:00
Jaeyoung-Lim 19c4fdd7c5 Add support for 3D body thrust setpoint for offboard attitude control 
This adds support for filling up the 3D thrust setpoint using SET_ATTITUDE_TARGET message
Update mavlink submodule
 2021-04-01 13:58:04 +02:00
Jaeyoung-Lim 6b4ccaa53e Handle invalid yaw rate setpoints 2021-03-14 00:01:57 +01:00
Jaeyoung-Lim 06e3d38bbd Fix yaw rate ignore flag for attitude setpoints 
This PR fixes the yaw rate ignore case handling for offboard control using the SET_ATTITUDE_TARGET message
 2021-03-14 00:01:57 +01:00
Jaeyoung-Lim 1d66b033a4 Append mixer with aux outputs 2021-03-10 07:15:53 +01:00
Jaeyoung-Lim 0db29866f1 Add standard_vtol drop 2021-03-10 07:15:53 +01:00
Jaeyoung-Lim 1fa08c3997 Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR 
Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR
 2021-03-07 20:31:24 -05:00
Jaeyoung-Lim fdd9b3ea51 Add support for stabilized flight mode for rovers 
This commit adds support for stabilized flight mode for rovers, which enables the rover tracking a fixed heading that is set with a manual input
 2021-02-14 11:17:28 +01:00
Jaeyoung-Lim 3c12573e93 Use uORB::Subscription for rover_pos_control 
Modernize rover position control
 2021-02-14 11:17:28 +01:00
Jaeyoung-Lim 9ebf783214 Use smaller loiter radius for rovers 2021-02-11 23:24:34 +01:00
Jaeyoung-Lim 3d9cde885d Add comment for reserve autostartIDs 
This commit adds a comment where the autostart IDs 22000-22999 should be reserved for custom models
 2021-02-10 16:34:01 -05:00
Jaeyoung-Lim f833861fbb Cleanup unsused rover mixers 
This PR cleansup unused rover mixers from the ROMFS
 2021-01-31 19:17:38 +01:00
Jaeyoung-Lim 16b1b220fd Fix roslaunch multivehicle regression caused by #16497 2021-01-12 21:19:36 +01:00