fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-28 04:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity
26,777 Commits 852 Branches 161 Tags
0b60df5fe0f668cb83fe97ea9d3645452b9a0601
Commit Graph

26777 Commits

This Branch
This Branch
All Branches
Author SHA1 Message Date
David Sidrane 0b60df5fe0 px4fmu-v2:Added HW manifest (only support PX4IO) for now 
This is the beginning of the manifest support on FMUv2/v3
   it only provide PX4_MFT_PX4IO for now.
 2018-07-20 18:29:58 +02:00
David Sidrane 08e04e3c5c px4fmu-v4pro:Comment GPIO_BTN_SAFETY_FMU is inited and not used 2018-07-20 18:29:58 +02:00
David Sidrane 4330d6dad5 px4fmu-v4pro::Define BOARD_HAS_STATIC_MANIFEST as 1 
When BOARD_HAS_STATIC_MANIFEST is defined with a value of 1
   and the board_config provides the BOARD_USES_PX4IO_VERSION
   then the board_common will define
   PX4_MFT_HW_SUPPORTED_PX4_MFT_PX4IO
 2018-07-20 18:29:58 +02:00
David Sidrane 3b0427c2a5 auav-x21:Define BOARD_HAS_STATIC_MANIFEST as 1 
When BOARD_HAS_STATIC_MANIFEST is defined with a value of 1
    and the board_config provides the BOARD_USES_PX4IO_VERSION
    then the board_common will define
    PX4_MFT_HW_SUPPORTED_PX4_MFT_PX4IO
 2018-07-20 18:29:58 +02:00
David Sidrane 68aa5664b0 px4io:Use manifest query mechanism 2018-07-20 18:29:58 +02:00
David Sidrane 840b3ae985 px4fmu-v5:manifest add initial query mechanism 2018-07-20 18:29:58 +02:00
David Sidrane a0cc4dc345 Fix typo 2018-07-20 18:29:58 +02:00
David Sidrane f2cb7b0ade board_common:Add underpinning for board manifest query 2018-07-20 18:29:58 +02:00
David Sidrane 5b4da90d60 fmuv2:Added State information for FMUv2 questionable hardware 
This HW does not respond to the GPIO query consistantly
   and should be treated like regular FMUv2
 2018-07-20 18:29:58 +02:00
David Sidrane 7524a318cc px4fmuv5:Fix display order to ver rev 2018-07-20 18:29:58 +02:00
David Sidrane 7a4ac739f1 Fix Stack warning 2018-07-20 18:29:58 +02:00
Daniel Agar 345f6367a5 av-x remove mc_pos_control_tests 2018-07-20 09:26:18 +02:00
Dennis Mannhart 18a3c08659 mc_pos_control: idle to armed state delay controlled by parameter MPC_IDLE_TKF 2018-07-20 09:26:18 +02:00
Dennis Mannhart ab1ae1fb4e mc_pos_control_main: trigger failsafe if no setpoint along D-direction is valid 2018-07-20 09:26:18 +02:00
ChristophTobler 9362f844f4 position control: fix failsafe thrust 
invert direction to point upwards and increase to 70% of throttle range between min and hover
 2018-07-20 09:26:18 +02:00
ChristophTobler 7cc85885a4 position control: set _skip_controller before calling _interfaceMapping() 
Without this failsafe will be overwritten
 2018-07-20 09:26:18 +02:00
ChristophTobler 80867343ab mc_pos_control: trigger failsafe if no pos, vel or thrust pair is valid 2018-07-20 09:26:18 +02:00
Dennis Mannhart 260284571d mc_pos_control: move failsafe logic into method 2018-07-20 09:26:18 +02:00
Dennis Mannhart ac2c49218d mc_pos_control: remove mavlink_log_info 2018-07-20 09:26:18 +02:00
Dennis Mannhart f11a65a74f mc_pos_control: fix overwrite for state velocity 2018-07-20 09:26:18 +02:00
Dennis Mannhart f2d559a4c2 mc_pos_control: minor refactor 2018-07-20 09:26:18 +02:00
Matthias Grob cc0bc05156 mc_att_control: remove useless parameter MC_YAW_FF 
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.
 2018-07-20 09:26:18 +02:00
Dennis Mannhart b5731e0ccd FlightTaskOffboard: only start task if control mode flags are met 2018-07-20 09:26:18 +02:00
Dennis Mannhart bf4ac7a9d6 mc_pos_control: for terrain following use range sensor climbrate for velocity estimate 2018-07-20 09:26:18 +02:00
Dennis Mannhart eb7139bc56 FlightTaskManualAltitude: respect maximum altitude if there is a valid distance sensor 2018-07-20 09:26:18 +02:00
Dennis Mannhart c907e7a9dc FlighttaskManualAlititude: replace SENS_FLOW_MINRNG with hagl_min 2018-07-20 09:26:18 +02:00
Dennis Mannhart 4af9d79986 FlighttaskManualPosition: check if estimator velocity maximum is finite 
before applying limits
 2018-07-20 09:26:18 +02:00
MaEtUgR efed766919 FlightTasks: small rebase naming and typo fixes 2018-07-20 09:26:18 +02:00
Dennis Mannhart e51e1bbe74 mc_pos_control: replace legacy refactor 
Until now we replaced legacy position controller functionality inside
the flight task architecture to split up the huge position control
module into the different tasks and have a modular setup with a clear
setpoint interface. This commit removes all the legacy code and hard
switches to using the flight task architecture for multicopter.

This is done because maintaining and testing everything in parallel is
not sustainable. The architecture is by now tested to cover all basic
legacy functionality and missing corner cases can be fixed a lot easier
with the new architecture.
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 29fb5089bd FlightTasks: construct all tasks in constructor 2018-07-20 09:26:18 +02:00
Dennis Mannhart b1530d1a81 FlightTasks: create struct that contains FlightTask and FlightTaskIndex 2018-07-20 09:26:18 +02:00
Dennis Mannhart 83cc2b0e72 FlightTaskAuto: reset lock position to NAN 2018-07-20 09:26:18 +02:00
Dennis Mannhart c12dcb4eed FlightTaskAuto: take care of case when triplet.lat/lon are invalid, which corresponds 
to position lock.
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 65ad6edaf0 ManualSmoothingXY: remove empty lines 2018-07-20 09:26:18 +02:00
Dennis Mannhart b9d5189fe5 ManualSmoothing: direction change with maximum acceleration 2018-07-20 09:26:18 +02:00
Dennis Mannhart a5e8eb23ad PositionControl: saturate thrust integral 2018-07-20 09:26:18 +02:00
Dennis Mannhart 5ffcb6af01 PositionControl: set vel_dot to 0 if NAN 2018-07-20 09:26:18 +02:00
Dennis Mannhart 33d0a4e8ed FlightTaskAuto: replace target with destination for checks 2018-07-20 09:26:18 +02:00
Dennis Mannhart 92e93639d3 FlightTaskAuto: require valid position in 3D 2018-07-20 09:26:18 +02:00
Dennis Mannhart c4c01358b9 FlightTaskManualAltitude: do terrain following when distance sensor active and 
below minimum distance to ground.
 2018-07-20 09:26:18 +02:00
Dennis Mannhart bd85f5f993 FlightTask: set min_distance_to_ground to NAN as default and when 
distance sensor is used to SENS_FLOW_MINRNG
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 80775d588b vehicle constraints: minimum distance to ground. currently used when distance sensor 
is available
 2018-07-20 09:26:18 +02:00
Dennis Mannhart ee7d5c3f38 FlightTaskAuto: remove unused member variable 2018-07-20 09:26:18 +02:00
Dennis Mannhart 7b13803e2c PositionControl: for thrust setpoints only use MPC_MANTHR_MIN for minimum thrust 2018-07-20 09:26:18 +02:00
Dennis Mannhart f30bf215db MulticopterLanddetector: adjust minimum throttle if climb-reate is not enabled 2018-07-20 09:26:18 +02:00
Dennis Mannhart e408870857 FlightTaskManual: remove unused override 2018-07-20 09:26:18 +02:00
Dennis Mannhart be6f3a5b48 FlightTaskOffboard: valid position and velocity is required 2018-07-20 09:26:18 +02:00
Dennis Mannhart bd2de0e585 FlightTaskAuto: valid target is required and valid reference 2018-07-20 09:26:18 +02:00
Dennis Mannhart 4713f47668 FlightTaskManualPosition: valid position/velocity in xy required 2018-07-20 09:26:18 +02:00
Dennis Mannhart 72a213aff7 FlightTaskManualAltitude: valid altitude/climb-rate is required 2018-07-20 09:26:18 +02:00