Paul Riseborough
c84d35e3d7
mc_pos_control: rework height limiter to stay in velocity mode
2018-06-09 13:38:04 +02:00
Paul Riseborough
d26da5fa3b
mc_pos_control: Improve maximum height limiter
...
Implements a better method of determining when to switch from velocity to altitude control to keep height limit from being exceeded.
This method removes the overshoot and transients in height caused by the switching of the previous algorithm.
2018-06-09 13:38:04 +02:00
Paul Riseborough
f0a1cd197e
mc_pos_control: formatting fixes
2018-06-09 13:38:04 +02:00
Paul Riseborough
b77845a3c0
mc_pos_control: Fix bug in calculation of altitude limit
...
The correction for stopping distance applied to the maximum altitude limiter uses the vertical velocity estimate and gives the same offset for both positive (down) and negative (up) velocity.
This calculation has been corrected and simplified and variable names changes to make the functionality clearer.
2018-06-09 13:38:04 +02:00
Paul Riseborough
366e36a07b
ekf2: Update parameter description
2018-06-09 13:38:04 +02:00
Mohammed Kabir
c1169eb38b
mc_pos_control : update to use new navigation limits architechture
2018-06-09 13:38:04 +02:00
Mohammed Kabir
8f5ceac936
ekf2 : use INFINITY when altitude limiting is not needed
2018-06-09 13:38:04 +02:00
Mohammed Kabir
1a2f9dd37a
land_detector : use INFINITY when altitude limiting is not needed
2018-06-09 13:38:04 +02:00
Mohammed Kabir
31aa1cbf01
simulator : publish optical flow limits over uORB
2018-06-09 13:38:04 +02:00
Mohammed Kabir
e8f1d50758
mavlink : update for compatibility with new navigation limits architechture
2018-06-09 13:38:04 +02:00
Mohammed Kabir
1d1dec0a8b
inav : update for compatibility with new navigation limits architechture
2018-06-09 13:38:04 +02:00
Mohammed Kabir
9483885ed9
lpe : update for compatibility with new navigation limits architechture
2018-06-09 13:38:04 +02:00
Mohammed Kabir
6a9377846f
ekf2 : update to use new navigation limits architechture
2018-06-09 13:38:04 +02:00
Mohammed Kabir
7f1686171b
sensors : add parameter for maximum flow rate
2018-06-09 13:38:04 +02:00
Mohammed Kabir
b3c5e53333
Unify optical flow height limiting
2018-06-09 13:38:04 +02:00
Paul Riseborough
0113212b34
mc_pos_control: Update parameter descriptions
2018-06-09 13:38:04 +02:00
Paul Riseborough
9e567cadd6
ekf2: Update parameter description
2018-06-09 13:38:04 +02:00
Paul Riseborough
0dc2377c2f
mc_pos_control: format fixes
2018-06-09 13:38:04 +02:00
Paul Riseborough
9fb674929c
commander: do not check global position when using flow in POSCTL
2018-06-09 13:38:04 +02:00
Paul Riseborough
2c325414f9
mc_pos_control: limit maximum height when reliant on optical flow data
2018-06-09 13:38:04 +02:00
Paul Riseborough
9028592c5f
mc_pos_control: control height above ground when reliant on optical flow
2018-06-09 13:38:04 +02:00
Paul Riseborough
98597dcffc
commander: allow position uncertainty to grow when operator can correct for drift
2018-06-09 13:38:04 +02:00
Lorenz Meier
f87fa9131b
FMUv5: Fix RGB led usage - these are individual status leds.
2018-06-06 23:03:28 +02:00
Philipp Oettershagen
9f414e82f6
Subsystem_info status flags & checks: Add comment to indicate that the IMU+MAG consistency checks need to be performed AFTER the individual checks are complete
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
e12b470cac
Subsystem_info status flags & checks: Small fixes according to @bkueng's review
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
0b71c52225
Subsystem_info status flags & checks: Suppress sensor failover warnings in Hardware in the loop (HITL)
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
302cb0a285
Subsystem_info status flags & checks: Moved the set_health_flags helper functions out of the /lib/ folder and into the module/commander folder because they are actually only needed there
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
bd2af289f5
Subsystem_info status flags & checks: Code style fixes and cleanup to avoid strcmp() as suggested by @LorenzMeier
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
e4d863b95f
Subsystem_info status flags & checks: Separate the functionality to a) set the health flags inside commander and b) to publish them from external modules
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
a807d34a7a
Remove distance sensor checks again. These checks should be handled by EKF2 and should thus be added there later
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
075009be2f
Subsystem_info status flags & checks: 1) Set health flags in commander directly instead of publishing via uORB 2) move publish_subsystem_info into lib/ folder"
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
f5847a4a7b
Subsystem_info status flags & checks: Switch back to uORB for inter-process communication, handle GPS checks completely inside ekf2, add distance_sensor checks
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
6f1f414b49
Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function.
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
ba2cf5fa9a
fw_att_control: Fix stuttering rudder in manual mode ( #9607 )
...
fw_att_control: Fix bug that caused the rudder to stutter when FW_RLL_TO_YAW_FF>0 and aileron input was supplied
2018-06-06 12:31:24 +02:00
Beat Küng
2fa8783795
mavlink_receiver: implement MAV_CMD_REQUEST_STORAGE_INFORMATION
2018-06-05 14:40:01 +02:00
Beat Küng
2de6192f66
position_estimator_inav: add missing return
2018-06-04 16:33:55 +02:00
Beat Küng
5f87545e48
mavlink_messages: fill in all 16 servo channels
2018-06-04 10:55:29 +02:00
Alessandro Simovic
15a44a059d
addressing review comments from #9563
2018-06-02 08:36:35 +02:00
Alessandro Simovic
52c290e234
commander: moved emergency shutdown to end of cycle
2018-06-02 08:36:35 +02:00
Simone Guscetti
700b2c6294
logger: fix overflow on SD card total bytes
2018-06-01 19:27:30 +02:00
Jun-Tao
c7cb62eb28
logger: Fix calculation of total and left bytes
2018-06-01 19:27:30 +02:00
Beat Küng
3f00e2e6c2
mavlink mission: send an ack on duplicated last uploaded mission item
2018-05-28 11:57:35 +02:00
acfloria
57162ff08d
Improve high latency switching and acknowledge
...
- Move publishing the telemetry status from the IridiumSBD driver to the mavlink instance
- In the commander use the iridiumsbd_status message for heartbeat in case of a high latency link
- Move positive acknowledge to the mavlink instance
- Add a failed acknowledge in the commander if no high latency link exists
2018-05-27 12:11:35 -04:00
acfloria
30fc8cd608
Add iridiumsbd_status to logger
2018-05-27 12:11:35 -04:00
acfloria
12f6affdfa
Commander: Avoid sending ack for VEHICLE_CMD_CONTROL_HIGH_LATENCY if from_external is false
2018-05-27 12:11:35 -04:00
Florian Achermann
84578748f4
Navigator Mission RTL ( #8749 )
...
* Add return to land to mission
This method uses the planned mission for rtl. If a landing sequence
is present it will continue the mission and land. If not it will
fly back the mission and loiter/land at the home position.
2018-05-27 12:07:06 -04:00
mcsauder
9122725052
Alphabetize the mavlink stream lists in mavlink_main.cpp.
2018-05-26 14:49:08 -04:00
Sander Smeets
04cc5c5611
Navigator: VTOL only apply acceptance radius calculation for FW part of back transition ( #9519 )
2018-05-23 19:46:36 -04:00
Daniel Agar
222a91c6be
mathlib delete Matrix, Quaternion, Vector
2018-05-23 17:27:09 -04:00
Daniel Agar
0d7b5c4a4e
commander accel calibration switch to matrix lib
2018-05-23 17:27:09 -04:00
Paul Riseborough