- control allocation module with multirotor, VTOL standard, and tiltrotor support
- angular_velocity_controller
- See https://github.com/PX4/PX4-Autopilot/pull/13351 for details
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
* New NotchFilter methods ahead of RPMFilter implementation.
* Added Direct Form I implementation that support dynamic change of frequencies.
* Added update method to update frequency on an existing filter.
* Added setCoefficients method to easily and efficiently create clones of a filter.
* LowSide, HighSide, Onnotch and array tests testing the applyDF1 method.
- gyro filtering (low-pass and notch) only performed on primary gyro in `sensors/vehicle_angular_velocity` instead of every gyro in `PX4Gyroscope`
- sample rate is calculated from actual updates (the fixed value was slightly wrong in many cases, and very wrong in a few)
- In the FIFO case the array is now averaged and published in `sensor_gyro` for filtering downstream. I'll update this in the future to use the full FIFO array (if available), but right now it should be fine.
* 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
* Use position instead of last setpoint
This calculates the target velocities better taking into account disturbances along
the flight route. Previously entry angles and more were calculated assuming the flight path
originates directly from the direction of the previous waypoint. This corrects this assumption
to instead make the direction come from the vehicle location.
* Allow to specify a final speed given a braking distance.
This is to allow planning to not stop at a waypoint, but instead
to reach the waypoint while maintaining a certain velocity
* Updated src/lib/matrix
* Account for speed at target when determining constraints
* Separate constraints into x/y components
* Use setpoint position, not vehicle position
* Fix whitespace, add documentation
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
- Delete left over identity matrix.
- Corner case with a zero element when using the signum function:
We always need a sign also for zero.
- Corner case with arbitrary yaw but and 180 degree roll or pitch:
Reduced attitude control calculation always rotates around roll
because there's no right choice when neglecting yaw. In that small
corner case it's better to just use full attitude contol and hence
rotate around the most efficient roll/pitch combination.
