* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
added and using circuit_breaker_enabled_by_val() where possible instead of circuit_breaker_enabled() which search for cbrk parameters by name, which is extensive process.
part to avoid having to scale its saturation separately. This is
required to avoid premature saturation of the integrator when using
the K term.
Also remove double saturation of the integrator
- MPC_MANTHR_MIN is used as minimum throttle in attitude control mode when
the vehicle is in air. This is useful to retain some control around roll and
pitch axis if airmode is not enabled and the user demands zero throttle.
However, when the vehicle is landed there is not need to keep the throttle
at a higher value than zero.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Reduce the I gain for high rate errors to reduce bounce-back effects after
flips. Up to 200 degrees the gain is almost not reduced (<25%), so this
will only take noticeable effects for large errors (setpoint changes),
where we actually want to have an effect.
This allows to increase the MC_*RATE_I parameters w/o negative effects
when doing flips (i.e. bounce-back after flips).
The 400 degrees limit and the x^2 are empirical.
The better the rate tracking in general (high P gain), the less this is
required (because of the lower tracking error). At the same time it also
does not harm, as the i_factor will always be close to 1.
This changes the enums used for various VTOL states to enum classes
which makes them type-safe and should avoid shadowing.
This change was motivated by a Clang warning about shadowing of the
enum const TRANSITION_TO_FW which was declared twice, once in
vtol_type.h and once in standard.h.
This change only removes the shadowing but presumably these enums could
be cleaned up and consolidated further.
After boot the user is in manual mode and if he has an RC
but doesn't switch out the thrust gets set to the throttle stick
position. When he then starts a takeoff from tablet the thrust is still
high while arming and the land detector immediately sees a takeoff
skiping smooth takeoff from the position controller.
* VTOL trans: changed that now in transition for both MC and FW the corresponding (correct) attitude controller is running
* attitude setpoint for stabilized mode is generated by tailsitter.cpp
* reset yaw setpoint during transition to avoid big yaw errors after
transition back to hover
* VT_TYPE parameter: added "reboot required" metadata
- Remove unnecessary in between rate limits member vectors.
- Only switch the yaw rate limit in auto modes,
other values stay the same anyways.
- Fill gain vectors with parameters in one line.
- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
* move airspeed and scaling calculation into separate method
* if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
When switching back from rate to attitude control, the code depended on a
vehicle_control_mode topics update, but the publication frequency of that
is low. So the switch was noticeably delayed.
- better in terms of dependencies:
- the position controller code depended on position topics for yaw
- mc_pos_control does not have to be run for Stabilized mode
- the code path is much simpler, and thus less error prone. This is
especially important since Stabilized is often used as a fail-safe flight
mode.
The rate controller is now run directly after a gyro publication, and
as soon as it publishes the actuator controls, the output driver (fmu/...)
runs.
Test on a Pixracer:
Reduces fmu control latency from 219us to 134us.
If we run the rate controller last (same order as before, just increase
the prio), the latency is 201us.
CPU load is unchanged.
The drawback is that the attitude to rate setpoint generation is delayed
by one cycle (4ms), but it will be reduced to 1ms as soon as we run at
1kHz.
It scales the yawspeed setpoint arbitrarily by default with 0.5.
This makes no sense because when you give a setpoint of 1rad/s then
you expect the setpoint to get executed. If you want manual yawspeed
response to be less agressive on the stick use the scaling parameter
for the stick MPC_MAN_Y_MAX.
Matthias Grob