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Author SHA1 Message Date
Daniel Agar
a1fa3cc699
WIP: common board init 2022-05-04 18:31:40 -04:00
Daniel Agar
2cc25f0763
boards: px4_fmu-v5/v5x init all I2C pins 2022-05-04 14:02:23 -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:
06c10f61c1401d448979c65c2250afde42b99522
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:
114e85d260d4acb157e191fd8cfc1f58c9c73e4e
 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
7e6aa28106 Added LTO targets for CI 2022-05-02 10:07:54 -04:00
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
7784cd1f40 boards: mro_ctrl-zero-classic updates to sync with ctrl-zero-h7-oem 2022-04-30 09:40:52 -04:00
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
Vincent Poon
080ba4458a
holybro/kakuteh7: change Product ID to show board name properly in QGC 
https://github.com/mavlink/qgroundcontrol/pull/10270
 2022-04-29 07:21:58 +02:00
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
efdf5b8fce vehicle_{thrust,torque}_setpoint.msg: fix comment 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 c1e5e666f083f08ddca218aef86a22338c8020cd,
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
fc7e979d84 boards: px4_fmu-v5_uavcanv0periph disable modules to save flash v1.13.0-beta1 2022-04-26 08:39:19 -04:00
Daniel Agar
7ab9b0c6e2 boards: cubepilot_cubeorange_test disable examples/fake_gps to save flash 2022-04-26 08:39:19 -04:00
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
Daniel Agar
258f558fea apply differential pressure calibration (SENS_DPRES_OFF) centrally 
- remove drv_airspeed.h and ioctls
 2022-04-26 08:39:19 -04:00
JaeyoungLim
c6ab4c466e
Separate takeoff and landing to individual fixed wing states for FW pos control (#19495) 2022-04-26 10:24:36 +02:00
Daniel Agar
d6210d1725
boards: px4_fmu-v6x_default disable common barometers to save flash 2022-04-26 01:43:10 -04:00
Daniel Agar
3d7a6b4021 mc_pos_control: silence invalid setpoint warning when disarmed 2022-04-26 01:37:37 -04:00
Daniel Agar
b2bcd2631a
boards/diatone/mamba-f405-mk2: disable modules to save flash 2022-04-26 01:08:18 -04:00
Daniel Agar
c8d2d83e55
boards: px4_fmu-v2 restore systemcmds/ver needed for board init 2022-04-25 22:47:08 -04:00
Daniel Agar
7bb789cb23
boards: update bootloaders to latest 2022-04-25 22:39:25 -04:00
Daniel Agar
d8a57e15b0
boards/mro/ctrl-zero-classic: fix code style 2022-04-25 22:07:32 -04:00
Daniel Agar
248f42f9ec
boards/diatone/mamba-f405-mk2: fix code style 2022-04-25 22:07:21 -04:00
achim
adacdad32d
boards: add new Diatone Mamba F405 mk2 2022-04-25 21:53:58 -04:00
achim
1bf16cb4df
boards: add new mRo Control Zero Classic 2022-04-25 21:52:38 -04:00
Daniel Agar
3d590af115 mc_att_control: only apply quat reset if estimate is newer than setpoint 2022-04-25 21:25:29 -04:00
Daniel Agar
23c89429ac systemcmds/param: set-default should mark parameter active to avoid race conditions 2022-04-25 21:24:18 -04:00
bresch
e32a484906 [AUTO COMMIT] update change indication 2022-04-25 12:58:18 -04:00
bresch
db0274e19b ekf: robustify bad_acc_vertical check 
when the vertical pos or vel innov ratio is above the threshold, the
other one needs to be significant too and not just positive to trigger
the failure
 2022-04-25 12:58:18 -04:00
Daniel Agar
980f696023 commander: mag calibration tolerate fit failure if sensor disabled 2022-04-25 12:41:20 -04:00
Daniel Agar
89374b2e1d mavlink: delete Mavlink instance if early startup fails 2022-04-25 12:38:28 -04:00