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24626 Commits

Author SHA1 Message Date
Daniel Agar 53cdb802b1 bitcraze crazyflie fixes 2022-05-10 16:59:44 -04:00
Daniel Agar 45e3fad3e0 Update submodule GPSDrivers to latest Tue May 10 12:38:49 UTC 2022 
- GPSDrivers in PX4/Firmware (3ac8fdbe29): https://github.com/PX4/PX4-GPSDrivers/commit/6534b050ee1a48af7932c46a9a87277eed1cc997
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/58968922b718176be8756f11113d16b2cfbc4022
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/6534b050ee1a48af7932c46a9a87277eed1cc997...58968922b718176be8756f11113d16b2cfbc4022

    5896892 2022-04-26 Seppe Geuens - sbf: add heading support (#100)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-05-10 11:38:52 -04:00
PX4 BuildBot 4b7b7dfa8d Update submodule mavlink to latest Tue May 10 12:39:00 UTC 2022 
- mavlink in PX4/Firmware (d6dff7daa984514185a8f31f6e653a69a278ded8): https://github.com/mavlink/mavlink/commit/3b52eac09c2e37325e4bc49cd2667ea37bf1d7d2
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/a1cb2c0e71f191f04da3d92d92db8702a7e91ff6
    - Changes: https://github.com/mavlink/mavlink/compare/3b52eac09c2e37325e4bc49cd2667ea37bf1d7d2...a1cb2c0e71f191f04da3d92d92db8702a7e91ff6

    a1cb2c0e 2022-05-05 KonradRudin - Figure eight MAV_CMD (#1831)
0ebdf846 2022-04-28 Hamish Willee - common.xml: Deprecate MAV_CMD_GET_MESSAGE_INTERVAL for MAV_CMD_REQUEST_MESSAGE. (#1835)
f357fc78 2022-04-27 Hamish Willee - Deprecate MAV_CMD_GET_HOME_POSITION for MAV_CMD_REQUEST_MESSAGE (#1834)
 2022-05-10 11:37:55 -04:00
Peter van der Perk b1ad4e8864 Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal 
Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp
 2022-05-10 09:46:18 -04:00
Konrad 0e464a91be Remove contradicting geofence parameter description 
The flight termination action on geofence violation is described as only trigger, when the corresponding circuit breaker is not disabled. However, the description of the circuit breaker states, that the geofence action is not depedning on this circuit breaker. The implementation follows the description of the circuit breaker. Hence the GF_ACTION description is adapted.
 2022-05-10 09:01:12 +02:00
Beat Küng 5cdb6fbd8e control_allocator: add helicopter mixer 
Same logic as the existing mixer.
Untested.
 2022-05-10 08:57:39 +02:00
Beat Küng 32402f31df control_allocator: increase max num motors to 12 2022-05-10 08:57:39 +02:00
Beat Küng 9f5c5591a2 ActuatorEffectivenessRotors: fix motor count check 
Check during init to avoid out-of-bound access.
 2022-05-10 08:57:39 +02:00
Silvan Fuhrer 5d6c8c986d Commander: high wind speed handling updates 
- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Silvan Fuhrer 1aad82f87d Commander: add max flight time RTL 
Adds COM_FLT_TIME_MAX param and logic in Commander to enforce RTL when
flight time is above this value. User can only override to LAND mode,
but not proceed flight beyond that.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Igor Mišić ce4e9f6690 uavcan: use timer 6 by default on stm32f7 2022-05-06 19:45:53 -04:00
Thomas Stastny 90789be68f fw pos ctrl: turn back to takeoff point with npfg 2022-05-06 16:36:03 +02:00
Thomas Stastny 3ef5f433b5 fw pos ctrl: add missing guidance control interval setting to control_manual_position() 2022-05-06 16:36:03 +02:00
Thomas Stastny 1ab9fb22ee fw pos ctrl: fix state switching logic for takeoff and landing 2022-05-06 16:36:03 +02:00
Matthias Grob b3776134b8 Commander: ensure diconnected battery is cleared from bit field 2022-05-06 10:32:27 -04:00
Beat Küng 113982e3e7 commander: fix incorrect return in set_link_loss_nav_state() 
If both local position and altitude were not valid, then both RC loss and
datalink loss would not trigger any failsafe at all, independently from
the configured action.
 2022-05-06 10:14:13 -04:00
Matthias Grob 843c814fb8 MulticopterPositionControl: allow offboard takeoff also when not landed 2022-05-06 04:12:18 -07:00
Matthias Grob fbc109436f MultiCopterRateControl: refactor setpoint naming 2022-05-06 04:12:18 -07:00
Matthias Grob 1211a457d7 MulticopterPositionControl: Overwrite vertical acceleration during takeoff rampup only 2022-05-06 04:12:18 -07:00
Matthias Grob d9a2fe5226 Revert "MCPosControl: fix invalid setpoint race condition" 
This reverts commit e7a2c1d88e.
 2022-05-06 04:12:18 -07:00
mcsauder 2a66be4899 Colocate struct stateSample with other instances of *Sample structs. 2022-05-05 18:41:50 -04:00
mcsauder a0d9687409 Add c++ style initializers where missing in EKF/common.cpp, standardize tab/space indentation, align comments and format whitespace. 2022-05-05 18:41:50 -04:00
bresch cab477d715 ekf2: optimize KHP computation 
Calculating K(HP) takes less operations than (KH)P because K and H are
vectors.

Without considering the sparsity optimization:
- KH (24*24 operations) is then a 24x24 matrix an it takes
24^3 operations to multiply it with P. Total: 14400 op

- HP (24*(24+24-1) operations) is a row vector
and it takes 24 operations to left-multiply it by K. Total:1152 op
 2022-05-05 10:34:17 -04:00
bresch c890e8bf99 WindEstimator: fix state covariance prediction 
All the states are stationary so the discrete-time process noise Qk can
be directly added to the state covariance matrix P
 2022-05-05 11:53:33 +02:00
Konrad 14a2fdfe55 Removed l1 control slope angle limitation. The maximal approach angle to the line was set to 45°, no the approach angle can be up to 90°. 2022-05-04 21:23:22 -04:00
Matthias Grob 46fdc28cf8 MulticopterPositionControl: fix typo "descen{d/t}" 2022-05-04 02:22:18 -07:00
Daniel Agar 7f1bb556e9 Update src/modules/mc_pos_control/MulticopterPositionControl.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-05-04 02:22:18 -07:00
Matthias Grob 3fb4889ab9 MultcopterPositionControl: fix executing a zero setpoint for 200ms 
This is a combination of the originally introduced delay:
06c10f61c1
then the emergency failsafe being changed to not just land,
position control being rescheduled to not overwrite every setpoint in:
e502214429576ce68ac3fee9d2db19112f4604b9
and it being fixed by overwriting the setpoint but not removing
the long obsolete hystersis here:
114e85d260
 2022-05-04 02:22:18 -07:00
Matthias Grob cb484c5ac7 PositionControl: publish NAN jerk 
because the controller does not read or write jerk
 2022-05-04 02:22:18 -07:00
Matthias Grob 5055fec796 MulticoperPositionControl: explicitly overwrite setpoint timestamp when setpoint is reset 2022-05-04 02:22:18 -07:00
Matthias Grob 424fd8b304 MulticoperPositionControl: remove time_stamp_now alias for timestamp_sample of the local position 
to make it explicit what is used is not a fresh hrt_absolute_time() call
by this module.
 2022-05-04 02:22:18 -07:00
Matthias Grob 8180f931de MulticopterPositionControl: rename local_pos -> vehicle_local_position 2022-05-04 02:22:18 -07:00
Matthias Grob 4ffe796b4d MulticopterPositionControl: clarify previous position control naming 2022-05-04 02:22:18 -07:00
Daniel Agar ad6592f669 mc_pos_control: require current trajectory setpoint to run controller 2022-05-04 02:22:18 -07:00
Silvan Fuhrer 138772386f FW Position control: explicitly set spoiler/flaps in every control mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Silvan Fuhrer 089673ff35 only allow positive spoiler and flap controls 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Silvan Fuhrer 64ff31aa08 VTOL: add flap and spoiler support 
- including slew rate limiting
- adds option to set spoiler setting during the Land phase (hover)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Silvan Fuhrer 4b8f93de5c FW: rework spoiler/flap control logic 
- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
    The flap settings for takeoff and landing are now specified relative to full range.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Silvan Fuhrer 21a2892f47 use actuator_controls[8] for collective tilt for tiltrotor VTOL, instead of [4] 
[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Peter van der Perk 108c98a691 Added experimental LTO kconfig option 2022-05-02 10:07:54 -04:00
Beat Küng 8da02e2233 dshot: avoid using pwm failsafe params when dynamic mixing is enabled 2022-05-02 07:16:23 +02:00
Daniel Agar 6fc857772d ekf2: remove unnecessary const references 2022-04-29 21:39:02 -04:00
ShiauweiZhao 4a6e958100 add tattu_can smart battery kconfig 2022-04-29 13:49:32 -04:00
Beat Küng d94ec84e46 logged_topics: remove unused vehicle_angular_acceleration_setpoint, extend add_high_rate_topics 2022-04-28 19:51:28 -04:00
Beat Küng 4338976247 ActuatorEffectivenessRotors: add missing getEffectivenessMatrix 
Fixes MOTORS_6DOF
 2022-04-28 19:51:28 -04:00
Beat Küng a9129ea003 logger watchdog: also check main thread 
There was a time window where if a task with higher priority than the main
logger thread would busy-loop, it would block both logging threads and the
watchdog would not trigger if the writer was in idle state.
This can happen for fast SD card writes.
 2022-04-28 19:49:24 -04:00
Beat Küng 9e0a8050a9 fix dshot: remove setAllFailsafeValues 
Fixes a regression from c1e5e666f0,
where with static mixers the dshot outputs would go to max instead of 0
in a failsafe case.
 2022-04-28 13:29:24 -04:00
Daniel Agar a15432fac1 drivers/rc_input: RC_INPUT_PROTO parameter minimal implementation (#19539) 
Co-authored-by: chris1seto <chris12892@gmail.com>

Co-authored-by: chris1seto <chris12892@gmail.com>
 2022-04-27 21:06:43 -06:00
Daniel Agar f390f52058 drivers/differential_pressure: remove lib/drivers/airspeed dependency and cleanup 
- split ms4525_airspeed into separate ms4515 and ms4525 drivers
 2022-04-26 08:39:19 -04:00
Daniel Agar d1d15a6f6d differential pressure remove filters from drivers and average in sensors/airspeed 2022-04-26 08:39:19 -04:00