- The range for 3D-thrust in the 6-DOF multirotor mixer is changed to -1 to 1 now (fixed from 0 to 1)
- The Z thrust in the 6-DOF multirotor mixer is mapped to the Z-thrust command now (fixed from thrust command)
- The manual Z command in the rate controller maps to the negative Z-thrust (fixed from positive Z)
- The variable _thrust_body_sp in the rate controller renamed to _thrust_sp to be compatible with the older variable removed in the last commit
- The code tested in TakeOff, Manual, Hold, Position and Land modes on both tilted hex and iris
Accepting and working with 3D thrust commands now
- Tilt-Hex flies like a normal hex but with the new 6-dof mixer now (with some jitters)
- Some minor parameter changes in the hexa_x_tilt definition to make the simulated flight smoother
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
- by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
- publish sensor_gyro at full rate and remove sensor_gyro_control
- limit sensor status publications to 10 Hz
- remove unused accel/gyro raw ADC fields
- add device IDs to sensor_bias and sensor_correction
- vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
- this provides some extra space when the FIFO transfers don't align perfectly
- I've also made an effort to keep the different drivers (icm20602, icm20608g, ism330ldc) in sync so we can factor out the common portions later once we've confident in the pattern.
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
- fixed df_ltc2946_wrapper battery dependency
- fixed px4::atomic fetch_add for QuRT
- updated PX4 QuRT SPI wrapper to set bus frequency
- renamed "qurt-default" configs to just "qurt"
* NotchFilter: add NotchFilter template and test for float type
* NotchFilterTest: add test for Vector3f notch filter
* PX4Gyroscope: add notch filter with IMU_GYRO_NF_(FREQ|BW) parameters to
set the notch center frequency and bandwidth
- deprecate DriverFramework bmp280 driver (df_bmp280_wrapper)
- update beaglebone blue and snapdragon flight eagle boards to use in tree bmp280
- update posix (really just linux) and qurt I2C wrappers
- tested on beaglebone blue
- rename of flag in position sp: from allow_weather_vane to disable_weather_vane
- flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission
- flag is set before front transition to align with wp, and unset after alignment is over
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Azarakhsh Keipour