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1469342125d007e7b951e599956a5d1e3774bbe1
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22745 Commits

Author SHA1 Message Date
Jaeyoung-Lim 1469342125 Handle negative path curvature for feedforward acceleration calculations 2021-11-24 08:19:19 +01:00
Jaeyoung-Lim 3213be28a8 Log npfg status as default 2021-11-24 08:19:19 +01:00
Jaeyoung-Lim 788e9c92f8 Remove unused variable from npfg 
This commit fixes the clang tidy check on the build test CI
 2021-11-10 13:11:12 +01:00
Thomas Stastny 78d7ddbec7 ramp in curvature dependent lower period bound 2021-10-01 10:43:50 +02:00
Thomas Stastny b0dc3a4f51 add option to disable use of wind estimates with npfg 2021-10-01 10:43:50 +02:00
Thomas Stastny 493bae1e09 fix publish wind est valid 2021-10-01 10:43:50 +02:00
Thomas Stastny dd89665cd6 multiply track error boundary by scale factor in calculation of waypoint switch distance 2021-10-01 10:43:50 +02:00
Thomas Stastny 0b40586803 organze npfg member variables in header, rename min ground speed command -> desired 2021-10-01 10:43:50 +02:00
Thomas Stastny 4dce637ab7 new bearing feasibility for handling zero airspeed 
- simpler bearing feasibility function
- get rid of wind ratio
- replace wind ratio buffer with airspeed buffer
 2021-10-01 10:43:50 +02:00
Thomas Stastny 5398428683 update default gains for npfg (now that accel command bug was fixed) 2021-10-01 10:43:50 +02:00
Thomas Stastny 8641cabeec npfg: fix incorrect extra multiplication of airspeed to acceleration reference 2021-10-01 10:43:50 +02:00
Thomas Stastny c70df1e324 npfg: rearrange eval method, handle case in front of starting point of path segment 2021-10-01 10:43:50 +02:00
Thomas Stastny 4d11b4e06c npfg: header formatting 2021-10-01 10:43:50 +02:00
Thomas Stastny e9b0a3eb66 npfg: create const adaptPeriod method and update control params outside 2021-10-01 10:43:50 +02:00
Thomas Stastny 0b705c6c6d mavlink: add npfg_status, regenerate headers 2021-10-01 10:43:50 +02:00
Thomas Stastny d240ee9448 fw_pos_control_l1: integrate optional use of npfg 
uorb: npfg_status msg
 2021-10-01 10:43:50 +02:00
Thomas Stastny ef2cc9abb7 add npfg lib 2021-10-01 10:43:50 +02:00
Thomas Stastny cd6e2b7a07 switch back to standard dialect 2021-10-01 10:43:50 +02:00
Florian Achermann 77bd43ead3 Fix compilation error 2021-07-27 10:46:12 +02:00
Daniel Agar a65a591638 adis16448: add additional delay after transfer in case of back to back transcations 
- add verified register read method
 2021-07-27 10:07:23 +02:00
Jaeyoung-Lim 4a590c5fd6 Specify orientaiton of ADIS16448 IMU for EZG from autostart script 
Specify orientaiton of ADIS16448 IMU for EZG from autostart script
 2021-07-06 16:31:39 +02:00
JaeyoungLim 0f4eaec6c1 Merge pull request #17 from ethz-asl/feature/add_hall_effect_sensor 
[WIP!!!] Feature/add hall effect sensor
 2021-06-24 13:27:02 +02:00
Jaeyoung-Lim 389a096ace Add SENSOR_AIRFLOW_ANGLES mavlink stream to config mode 2021-06-24 13:15:21 +02:00
Jaeyoung-Lim 81b860c37e Add SENSOR_AIRFLOW_ANGLES mavlink stream 2021-06-24 13:10:09 +02:00
Jaeyoung-Lim 7fcad68c9d Remove probe override for si7210 driver 
This commit removes the probe override for the si7210 driver, which seems to help with improving reliability of driver startup
 2021-06-24 10:22:10 +02:00
Jaeyoung-Lim 66ad2fd586 Address review comments 
Remove crc
 2021-06-21 10:34:22 +02:00
Florian Achermann 4f87cb0b76 Fix format 2021-06-21 08:47:45 +02:00
Florian Achermann 69aaa9bad2 Fix getting the aoa and slip hall id 2021-06-21 08:47:45 +02:00
Florian Achermann 111321082f Add hall_poll to the main loop in the sensors module 2021-06-21 08:47:45 +02:00
Florian Achermann 736514dc98 Implement handling the hall measurements in the sensors module 2021-06-21 08:47:45 +02:00
Florian Achermann e9772b10ac Implement the SENSOR_AIRFLOW_ANGLES mavlink stream 2021-06-21 08:47:45 +02:00
Florian Achermann 514cb8e4fa Switch to the ASLUAV dialect 2021-06-21 08:47:45 +02:00
Florian Achermann ba72e93ffb Fill in the instance of the hall sensor msg with the i2c address 2021-06-21 08:47:45 +02:00
Daniel Agar 54cc96f66a drivers ADIS16448 misc fixes 
- increase SPI stall time slightly
 - tolerate mag self test failure (could be due to local magnetic field)
 - register configuration compatible with older ADIS16448AMLZ
 - don't publish duplicate accel/gyro
 - only allocate CRC perf counter if using CRC
 2021-05-27 12:19:27 +02:00
Jaeyoung-Lim e62a569f63 Port si7210 drivers to new driver framework 
This commit ports the si7210 hall sensor to the new driver framework
 2021-05-07 11:17:08 +02:00
Amir Melzer b3ce86f45f update the sensors list with the hall sensor dev 2021-04-14 16:15:21 +02:00
Amir Melzer 2e73460ad0 add hall sensor drv 2021-04-14 16:14:03 +02:00
Amir Melzer a5c61eeb4f add si7210 driver files 2021-04-14 16:12:50 +02:00
Amir Melzer f4551faa6b add si7210 make file 2021-04-14 16:07:18 +02:00
Daniel Agar c6a0161047 commander: COM_PREARM_MODE disable by default 2021-04-03 20:15:05 +02:00
Jaeyoung-Lim 01083cecfc Enable adis16448 with parameter 
This commit adds enabling adis16448 with a parameter
 2021-04-03 13:58:25 -04:00
Nidhish Raj 01d8c3da3d vtol_att_control: occasional tailsitter forward transition failure issue solved 
Tailsitter VTOLs very occasionally gets stuck with zero roll and pitch angle in multicopter mode after
a forward transition command is issued.
This very rare behavior is triggered by the following events:
1> a forward transition is triggered either in auto or manual mode.
2> in the vtol_att_control main loop, if multicopter and fixed wing attitude setpoints are not updated, transition state is not updated
3> the commander changes the vehicle status to transition mode.
4> multicopter pos controller initiated  Transition flight task. This results in zero roll and pitch setpoint due to zero acceleration setpoint
5> now vtol_att_control executes and updates the transition state. Specifically, _q_trans_start and _q_trans_sp are set with zero roll and pitch sp
6> tilt is evaluated to be NaN, despite _q_trans_sp being normalized. This happens for 25% of all yaw angles when using float datatype. This can be
   verified using the matrix library
7> once tilt is evaluated to be NaN, _q_trans_sp is never updated again and is stuck in this state for ever.

This has been fixed by constraining the cos(tilt) within +1 to -1 range
Further, _q_trans_start and _q_trans_sp are immedietly initialized after a transition event is triggered.
 2021-04-03 19:19:48 +02:00
Daniel Agar b30f3917d3 sensors/vehicle_imu: periodically send mavlink critical message if clipping 2021-04-03 10:32:16 -04:00
Daniel Agar 588883f663 uavcan: quiet server output 
- remove verbose UAVCAN command bridge prefix
 - disable many normal PX4_INFO messages entirely (kept as PX4_DEBUG)
 - properly exit when arming (silently)
 2021-04-03 10:07:50 -04:00
PX4 BuildBot 9a02141d0d Update submodule ecl to latest Fri Apr 2 12:39:10 UTC 2021 
- ecl in PX4/Firmware (744cd1182e183b62a0ab4b2f3e4e3c4aa6f5c15f): https://github.com/PX4/PX4-ECL/commit/6f2dec726adeedcb53aad9a77a8fcdfc8f7b3054
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/5d34d7a24ef72b826c320a3259ee0ec68b1936df
    - Changes: https://github.com/PX4/PX4-ECL/compare/6f2dec726adeedcb53aad9a77a8fcdfc8f7b3054...5d34d7a24ef72b826c320a3259ee0ec68b1936df

    5d34d7a 2021-03-31 Eike - Height source vision: Fallback to rangefinder if available (#994)
da06f25 2021-03-28 PX4BuildBot - [AUTO COMMIT] update change indication
85fcf93 2021-03-28 PX4 BuildBot - Update geo_lookup WMM  to latest Sun Mar 28 11:48:06 UTC 2021
 2021-04-02 11:46:19 -04:00
Lorenz Meier 1ec8ce58c7 Commander: Increase auto-disarm timeout to 25 seconds after arming 2021-04-02 09:37:40 +02:00
Lorenz Meier 82f319a84a Commander: Add support for pairing via commandline 2021-04-01 09:56:09 -04:00
Daniel Agar 9171a84324 IMU_DGYRO_CUTOFF increase default 10 -> 20 Hz 2021-04-01 08:30:09 -04:00
Jaeyoung-Lim 19c4fdd7c5 Add support for 3D body thrust setpoint for offboard attitude control 
This adds support for filling up the 3D thrust setpoint using SET_ATTITUDE_TARGET message
Update mavlink submodule
 2021-04-01 13:58:04 +02:00
Nico van Duijn 8d3335906a v5x: use low bandwidth mavlink mode 
This changes the default mavlink message set from onboard to
onboard_low_bandwidth, which drastically reduces the bandwidth required to get a
usable connection.
 2021-04-01 07:28:43 +02:00