15219fbfe5
MC att control: Robustify for throttle scaling
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PX4 can support negative (reverse) throttle and the multicopter controller is not expecting this input range. This hardens it against it.
2021-02-14 11:17:28 +01:00
548e070b91
FW pos control: Robustify for throttle scaling
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PX4 can support negative (reverse) throttle and the fixed wing controller is not expecting this input range. This hardens it against it.
2021-02-14 11:17:28 +01:00
6d489a4b4d
FW att control: Robustify for throttle scaling
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PX4 can support negative (reverse) throttle and the fixed wing controller is not expecting this input range. This hardens it against it.
2021-02-14 11:17:28 +01:00
8a448718b9
RC update: Do not constrain throttle
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If the user calibrated to negative throttle, enable them to use it.
2021-02-14 11:17:28 +01:00
9d20dea3b8
Rover: remove unused parameter
2021-02-14 11:17:28 +01:00
ce552a3364
navigator: RTL don't get invalid params
2021-02-13 00:34:56 +01:00
1981519aad
L1 position controller: use double precision floating point for all lat/lon
2021-02-12 21:59:56 +01:00
31a6edff07
Fixed-wing: remove roll offset param (FW_RSP_OFF)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-02-12 13:57:15 -05:00
a70cf950f4
fw_pos_control_l1: apply pitch setpoint offset centrally
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-02-12 13:57:15 -05:00
f61d8539cb
fw_pos_control_l1: add takeoff minimum pitch parameter
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- remove mavlink mechanism for setting minimum pitch
2021-02-12 13:57:15 -05:00
ce64951578
parameter_update.msg: add basic status info
2021-02-12 08:27:47 -05:00
c3172a91d9
ekf2: try reselecting distance_sensor on timeout
2021-02-12 08:25:27 -05:00
a002a07ed5
sdcardCheck: minor refactor
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I was late for the review.
2021-02-12 00:17:43 -05:00
c63107bb57
uORB: tests increase priorities to minimize failures with stackcheck/debug enabled
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- also relax the maximum mean by 50%
2021-02-11 22:58:57 -05:00
cb7aabf932
fw_pos_control_l1: cleanup body velocity and acceleration usage
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- minimize storing unnecessary state (msg copies)
2021-02-12 00:41:39 +01:00
9d3ff12a94
commander: reword nav failure message
2021-02-11 16:20:30 -05:00
5726e8e0a3
commander: do not fail nav check on GPS position glitch
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In case of a diverge of the nav filter, both position and velocity test
ratios are large. If only one of them is too large, the nav filter is
most likely not diverging but is encountering a GNSS position reset and
it is still safe to fly in position mode.
2021-02-11 16:20:30 -05:00
b1b032d6e1
commander: rework nav failure check
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Allows to recover from a failed test with a stricter test
2021-02-11 16:20:30 -05:00
82d6cc3dba
FlightTasks: use .xy() where possible
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to take the first two elements of a Vector3f.
2021-02-10 15:56:58 +01:00
7686533abb
FlightTaskManualAcceleration: adapt position reset to new structure
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The mapping itself was seprated out into a calls because it was reused
for the experimental nudging implementation.
The position resets which were handled correctly before now
change the wrong setpoints and I adjusted.
The nudging has to be before any filtering, then these member setpoints
which are essentially copies are not needed anymore.
2021-02-10 15:56:58 +01:00
c524e61b97
airspeed_selector: fix timeout check
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I think this check was the wrong way round which meant that we would end
up with an unsigned int overflow and trigger a reset.
2021-02-10 12:58:23 +01:00
a76e429b1a
calibration parameters volatile (offsets and scale factors)
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- anything set vehicle side should be volatile and excluded from the
param hash
2021-02-10 09:01:47 +01:00
ef444da689
BUGFIX Hardfault Commander Calibration
2021-02-09 15:20:50 +01:00
dec353219d
FlightTaskManualAcceleration: smooth position unlock
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The velocity setpoint of the position controller
does a jump when unlocking position with a non-zero position error.
This is solved by using the velocity setpoint feedback to smoothly
take over.
2021-02-09 11:31:35 +01:00
c9eac29d25
StickAccelerationXY: access member setpoints directly
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This is a leftover from before converting the logic into
a completely separate class.
2021-02-09 11:31:35 +01:00
79739c5676
StrickAccelerationXY: name setpoints unambiguous
2021-02-09 11:31:35 +01:00
5a1c60b5a1
component_information: switch from gzip to xz
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Improves compression, e.g. current params file: 62KB to 51KB
There's also a PRESET_EXTREME option, which reduces by another 2KB.
We can revisit that once needed, as it increases mem usage as well.
2021-02-09 09:44:50 +01:00
cedfae9e46
jenkins: upload params.json.gz to S3
2021-02-09 09:44:50 +01:00
f8989fe5aa
mavlink: speed up ftp transfers on POSIX
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Around 900 KB/s - not fast, but should be fast enough for the use-cases.
2021-02-09 09:44:50 +01:00
1f8e7de824
mavlink: implement COMPONENT_INFORMATION
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- implement COMP_METADATA_TYPE_VERSION & add component_version.json.gz to
ROMFS for all targets.
- implement COMP_METADATA_TYPE_PARAMETER (only enabled for SITL currently)
2021-02-09 09:44:50 +01:00
76a447ed0f
fix StickAccelerationXY: avoid setpoint oscillations around 0
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With a higher responsiveness, after centering the stick, the velocity and
acceleration setpoints could oscillate around 0 and never reach 0, due to
discretization.
This also prevented position lock engagement.
2021-02-08 13:51:36 +01:00
1848ac3bc7
mavlink: receiver accept ODOMETRY MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support
2021-02-07 09:51:05 -05:00
f461481548
Revert "mavlink: ODOMETRY handler accept all other estimator_types for now"
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This reverts commit b216714d56
2021-02-07 09:51:05 -05:00
b216714d56
mavlink: ODOMETRY handler accept all other estimator_types for now
2021-02-06 22:32:20 +01:00
8834741be8
gps blending make test to work without templated gps_blending class
2021-02-06 12:59:04 +01:00
8087fac3fc
gps_blending add protection against accessing non-exist array item
2021-02-06 12:59:04 +01:00
a0d500b30a
changing gps_blending to be non-template class
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because there is no multiple instance types on singular machine
2021-02-06 12:59:04 +01:00
d4bea8323f
PreFlightCheck: Detect missing FMU SD card
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-02-05 20:14:48 +01:00
44872807b3
MC auto: add parameter to set the trajectory slow-down
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In some cases e.g.: (VTOL in wind) a good tracking cannot be
achieved. This condition then needs to be relaxed, otherwise the
drone cannot land properly.
2021-02-05 20:13:30 +01:00
6633ff5089
commander: vehicle_status_flags add attitude and angular velocity
2021-02-05 20:11:13 +01:00
a399bb9894
ekf2: fix mismatch between ecl and firmware flag definition
2021-02-05 14:30:09 +01:00
f13c3a7d44
state_machine_helper: stop mission on RC loss
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This allows to still fly missions completely without RC
but reacts if RC is lost during the mission because
the safety pilot expects to be able to take over.
2021-02-04 10:54:52 +01:00
f87dbe57c2
state_machine_helper: don't finish mission if all links are lost except for when no reaction is configured
2021-02-04 10:54:52 +01:00
cd51cf2996
state_machine_helper: handle zero failsafe_timestamp
2021-02-04 10:54:52 +01:00
b44b770972
commander: RC loss delay renaming/reordering
2021-02-04 10:54:52 +01:00
e2e5fc85f8
state_machine_helper: fix infinite delay with intermittent failsafes
2021-02-04 10:54:52 +01:00
1736be41cf
state_machine_helper: only apply delay on manual piloted rc loss cases
2021-02-04 10:54:52 +01:00
e65cc6bd6f
state_machine_helper: do failsafe delay for all modes
2021-02-04 10:54:52 +01:00
26d74bf57d
Commander: enable failsafe delay for position and mission mode
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Instead of directly doing the link loss reaction which by default is RTL a delay
can be configured such that the drone first switches to hold and waits
for the link to be regained.
2021-02-04 10:54:52 +01:00
fa45eacea3
Fix and unify the maximum allowed PDOP references
2021-02-04 10:20:22 +01:00
Lorenz Meier