bresch
b6f76b5eaa
ekf2: move ev control to file
2022-08-24 09:16:11 -04:00
bresch
f555281c94
ekf2: move height control-related function to file
2022-08-24 09:16:11 -04:00
bresch
d87feee5b0
ekf2: move baro control logic to file
2022-08-24 09:16:11 -04:00
bresch
12e25eba62
ekf2: add common height fusion timeout parameter
2022-08-24 09:16:11 -04:00
bresch
52f726c5b7
ekf2: in bias estimator, use psd instead of var for prediction
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PSD is independent from the sampling time while variance isn't
2022-08-24 09:16:11 -04:00
bresch
3fb218600a
ekf2_test: add multi height source unit tests
2022-08-24 09:16:11 -04:00
bresch
aba2eac0df
ekf2: publish GNSS, rng and EV height biases
2022-08-24 09:16:11 -04:00
bresch
8962cf2d25
ekf2: GPS, baro and range finder control parameters
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Also remove the legacy "range aid" than can be achieved by setting the
height reference to range finder and the range finder control parameter
to "conditional".
Conditional range aiding cal also be set when the height reference isn't
the range finder. This prevents the ratchetting effect due to switching
between references.
2022-08-24 09:16:11 -04:00
bresch
578e1339ca
ekf2: re-implement range aid
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range aid simply forces the range finder to be the height reference when
starting
2022-08-24 09:16:11 -04:00
bresch
88ac5ea210
ekf2_test: add test case for accel clipping handling
2022-08-24 09:16:11 -04:00
bresch
375753eba8
ekf2_test: add inertial nav falling detection tests
2022-08-24 09:16:11 -04:00
bresch
66ce1a002b
ekf2_test: rename VisionHeight -> ExternalVisionHeight
2022-08-24 09:16:11 -04:00
bresch
82ec7a495a
ekf2: refactor inertial nav falling check
2022-08-24 09:16:11 -04:00
bresch
f9188b2a14
ekf2: refactor vertical acceleration check for multiple height sources
2022-08-24 09:16:11 -04:00
bresch
8fd79688c0
ekf2: enable multiple height sources fusion
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Instead of having a single height source fused into the EKF and the
other ones "waiting" for a failure or the primary sensor, fuse all
sources in EKF2 at the same time. To prevent the sources from fighting against each
other, the "primary" source is set as reference and the other ones are
running a bias estimator in order to make all the secondary height
sources converge to the primary one.
If the reference isn't available, another one is automatically selected
from a priority list. This secondary reference keeps its current bias
estimate but stops updating it in order to be the new reference as close
as possible to the primary one.
2022-08-24 09:16:11 -04:00
bresch
f5f31006a0
Ekf2: create HeightBiasEstimator class
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Contains some logic common to all height bias estimators
2022-08-24 09:16:11 -04:00
Daniel Agar
b58f70726f
ekf2: scale delta angle and delta velocity bias to particular IMU sample
2022-08-23 21:06:13 -04:00
bresch
f89044cfbe
ekf2: fix replay EKF2 start when CONSTRAINED_FLASH
2022-08-23 11:14:15 -04:00
Daniel Agar and Jaeyoung-Lim
cfc579542e
new Ignition Gazebo simulation interface architecture ( #20057 )
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- much simpler direct interface using Ignition Transport
- in tree models and worlds
- control allocation output configuration, no more magic actuator mapping to mavlink and back
- currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible)
Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch >
2022-08-22 10:58:19 -04:00
Silvan Fuhrer
889a2fddea
FW Position Control: remove unnsed params
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 19:06:07 +02:00
Silvan Fuhrer
e3e021a1c2
FW Attitude Control: rename att_control to angular_acceleration_setpoint
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
e595952ed4
FW Attitude Control: add @brief, @param and @return for control_attitude()
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
f67d80460f
FW Attitude controller: update copyright headers
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Jaeyoung Lim
bcdf61b65f
Fix format
2022-08-19 09:40:48 +02:00
Silvan Fuhrer and Mathieu Bresciani
b87afb138c
Update src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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reduce code duplication
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2022-08-19 09:40:48 +02:00
Jaeyoung Lim
70134296ed
Fix parameter description from review comments
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This commit makes the parameter description of the fixewing attitude controller more descriptive
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
c54f62e17a
FW attitude control: fix ff terms and constrain outputs to (-1, 1)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
dadd4f39ad
FW attitude control: fix yaw rate publishing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
6724e4af26
FW attitude control: manual stick input sets yaw rate setpoint, not rudder directly
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
22067a1128
FW attitude control: set FF gains for rate controller to 0 as FF controls is handles outside
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
57e052d02d
FW attitdue controller: use allocator status for anti-windup
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
6aab44e425
ControlAllocator: publish allocator_status from all active matrices (2 for VTOL, otherwise 1)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
a9b848cae3
FW attitue controller: fix publishing of rate controller status
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
5a2127d026
fixed-wing: update rate controller integrator handling
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-always reset roll/pitch/yaw integrators at the same time
-reset them while waiting for launch or during FW Takeoff before Climbout
-reset wheel rate integrator only when disarmed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
cd080289c6
FW attitude controller: constrain rates correctly
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
15c95a7b6a
FW attitude controller: improve readability and fix euler rate sp vs. body rate sp
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-19 09:40:48 +02:00
Silvan Fuhrer
e0a998e6ad
FW attitude controller: remove unused control_input.scaler
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
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
JaeyoungLim and Silvan Fuhrer
6f24f4cd1c
Update src/modules/fw_att_control/fw_att_control_params.c
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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
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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
bresch
02c4e0361c
MCPosControl: fix horizontal anti-reset windup algirithm
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Since the horizontal and vertical velocity controllers are now
decoupled, it can be that the horizontal acceleration produced by the
controller is actually greater than the desired one (by design). This
condition would actually make the ARW run "backwards", degrading the
controller performance.
2022-08-18 14:19:10 +02:00
mcsauder
87a5705960
Rename math::gradual() to math::interpolate() and add unit tests to cover additional corner cases.
2022-08-18 14:18:02 +02:00
Junwoo Hwang
d7a962b426
mavlink: fix PX4_DEBUG message formats
2022-08-12 09:43:12 +02:00
Silvan Fuhrer
ffb8fb4383
Allocation: add SteeringWheel type control surface
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Directly use yaw controls for it, and don't add it to the allocation matrix,
as that would have an effect on rudder scaling if the wheel also would have
a yaw effectiveness.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-12 09:43:12 +02:00
Silvan Fuhrer
9e18b351bc
Allocation: add Single Channel Aileron to CS types
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This is the control surface type for airframes that have only a
single aileron servo or have the ailerons on a single output channel.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-12 09:43:12 +02:00
Silvan Fuhrer
c6d1b1f50f
Allocation: add A-tail servo type
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-08-12 09:43:12 +02:00
Beat Küng
f2db7b8deb
control_allocator: hide motor positions for fixed-wings
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should not be set for now
2022-08-12 09:43:12 +02:00
Beat Küng
923a90d78b
control_allocator: set default control surface type to (not set)
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Before it was set to left aileron, but the torque values were all 0.
2022-08-12 09:43:12 +02:00
bresch