e115095f70
Functions: correct interpolate function for N points
2022-09-07 08:00:27 +02:00
4087c27e84
control_allocator: handle saturation flags for helicopters
2022-09-07 08:00:27 +02:00
aa8d594e9b
Add heli servo trim
2022-09-07 08:00:27 +02:00
667e99be81
Helicopter: fix unit test after default throttle curve was changed
2022-09-07 08:00:27 +02:00
115cf4d572
Helicopter: More intuitive yaw direction configuration for the common cases
2022-09-07 08:00:27 +02:00
f233f2167e
generic_250, px4vision: remove zero manual thrust without airmode
...
When hitting zero thrust by stick there is 0 torque authority
without airmode. So 0% minimum manual thrust should never be the default
without airmode.
2022-09-07 08:00:27 +02:00
8a25d06ed7
heli_defaults: comment and spacing
2022-09-07 08:00:26 +02:00
cecef7e3f6
control_allocator: update heli throttle + collective curve defaults
2022-09-07 08:00:26 +02:00
d38c02fd6a
commander: increase maximum COM_SPOOLUP_TIME to 30s (for helis)
2022-09-07 08:00:26 +02:00
2635e2c386
airframes: replace blade with generic helicopter
2022-09-07 08:00:26 +02:00
7e75b497ae
helicopter: add switch to engage main motor
...
For helicopters it's useful (e.g. during bringup) to be able to disable
the main rotor while the tail is still controlled to safely land.
2022-09-07 08:00:26 +02:00
f32d931117
helicopter: add yaw sign parameter & expose settings in UI
2022-09-07 08:00:26 +02:00
349f152601
Helicopter: throttle spoolup upon arming
...
Uses COM_SPOOLUP_TIME to slowly ramp the throttle and allow the
tailrotor to compensate in a coordinated way based on the yaw
compesation from throttle, see CA_HELI_YAW_TH_S.
This coordinated spoolup is necessary to avoid unsafe yaw twitches
because of the heli rotating until the correct compensation kicks in
through the feedback controller.
2022-09-07 08:00:26 +02:00
7bf62373ae
Helicopter: refactor complicated throttle curve logic
2022-09-07 08:00:26 +02:00
2edb35b1b5
Functions: add gradual function with arbitrary number of corner points
2022-09-07 08:00:26 +02:00
6a9a049f1e
Helicopter: add unit testing for throttle curve
2022-09-07 08:00:26 +02:00
9ba6f4efb7
Helicopter: add yaw compensation from throttle CA_HELI_YAW_TH_S
2022-09-07 08:00:26 +02:00
554d965a2d
Helicopter: use absolute value for yaw compensation from collective pitch
2022-09-07 08:00:26 +02:00
608ab9ff9c
control_allocator: extend description for CA_SP0_ANGx
2022-09-07 08:00:25 +02:00
e346190e63
helicopter: use tail motor & add CA_HELI_YAW_CP_S
2022-09-07 08:00:25 +02:00
5ece24cdc4
setup: attempt to fix macOS CI
...
Somehow the wheel install of pymavlink fails without future, let's try
to work around that.
2022-09-07 13:49:37 +12:00
9a0fd624c4
update pyuavcan to latest
2022-09-07 13:11:38 +12:00
8f0c2f4146
UCANS32K1 Enable some sensors by default
2022-09-06 09:43:11 -04:00
92fbd86b46
ekf2: add gps altitude drift test
2022-09-05 10:28:37 -04:00
a2a5093881
ekf2: relax zero velocity update
...
The ZVU is too strong and prevents the EKF from following variations in
the height aiding sources, creating large innovations.
2022-09-05 10:28:37 -04:00
d996af4647
ekf2: pass gpsSample around where required
...
- this minimizes potential misuse accessing _gps_sample_delayed and
makes the dependency clear
2022-09-05 10:27:19 -04:00
0c860fa227
airspeed_selector: don't declare wind estimate valid if estmator is not initialised
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-09-05 10:21:38 -04:00
9ed35debec
board_ctrl: Clean up usage of VBUS, nARMED from user/kernelspace
...
Move logic implemented in the header files to source files, this way
it will be simpler to define which is compiled to kernel space and
which to user space
Also allows to remove some headers that pull in half the universe
from the board definitions (which should just be pin definitions and
no functionality)
2022-09-05 07:37:28 +02:00
a56f654651
Multi-Vehicle Ignition Gazebo Simulation ( #20154 )
2022-09-04 21:10:29 -04:00
7bbdc220f5
ekf2: initialiseFilter() simplify mag heading init and resetQuatStateYaw
...
- most of resetQuatStateYaw doesn't apply to initial heading init, so
removing the special case keeps it simple
2022-09-02 08:46:10 -04:00
e467d11990
boards/px4/fmu-v5/toc: The RD certificate signature points to the wrong place
...
The signature end address is incorrect
2022-09-02 08:00:27 +02:00
5dfd2f39ef
boards/cubepilot/cubeorange: initialize all I2C pins immediately
2022-09-01 20:46:09 -04:00
e93a3a2a3a
ak09916: enable retries and reset perf count
2022-09-01 20:45:20 -04:00
f66b5ce204
simulation: ignition bridge allow IMU or pose callbacks to update system time if newer than clock
...
* requires HRT lockstep changes to eliminate offset (PR #20146 )
2022-09-01 20:42:21 -04:00
c52f2143d2
posix lockstep remove HRT offset and use full sim time
2022-09-01 20:40:37 -04:00
3da0293369
simulator_ignition_bridge: init error handling
2022-09-01 18:54:59 -04:00
43c5f14aa0
commander: update arming & health protocol, add modes to event hash
2022-09-01 17:07:23 -04:00
f57321d365
simulator_mavlink: fix esc_status publication
2022-09-01 17:07:23 -04:00
295caaea60
events/enums.json: remove redundant manual_control_input
2022-09-01 17:07:23 -04:00
2c96bb3746
px4_parameters.hpp.jinja: explicitly set .name attribute
...
Fixes the compile error on llvm:
mixture of designated and non-designated initializers in the same initializer list is a C99 extension [-Wc99-designator]
2022-09-01 17:07:23 -04:00
1370cc0d74
log.h: add PRINTF_LOG option for direct printf to reduce dependencies
2022-09-01 17:07:23 -04:00
a9c1415337
Makefile: allow to set CMAKE_ARGS via CLI
2022-09-01 17:07:23 -04:00
4e940fab83
perf_counter: remove unused include sys/queue.h
2022-09-01 17:07:23 -04:00
9eff6dd049
commander: cleanup param value description for COM_POSCTL_NAVL
2022-09-01 17:07:23 -04:00
0e130eac83
refactor commander: move code inside run() into separate methods
2022-09-01 17:07:23 -04:00
dcb9b712bb
refactor commander: move vehicle control mode to ModeUtil
2022-09-01 17:07:23 -04:00
f197c8884d
commander: move esc checks to arming check
2022-09-01 17:07:23 -04:00
c9037f115b
refactor commander: split out home position
2022-09-01 17:07:23 -04:00
f17f38197d
commander: move estimator checks to arming check
2022-09-01 17:07:23 -04:00
cfe3d793bf
commander: move battery handling into arming checks
2022-09-01 17:07:23 -04:00
Matthias Grob