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15daded6b012d8fa147b9af01ec25cfa477a8dcb
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23504 Commits

Author SHA1 Message Date
Beat Küng 15daded6b0 refactor output_limit: split output_limit_calc_single into separate function 2021-10-18 18:45:19 -04:00
Beat Küng c55626d2d6 refactor Tools/serial: move non-serial param generation into separate script 2021-10-18 18:45:19 -04:00
Beat Küng a65533b469 mixer_module: add output functions for servos, landing gear, parachute, RC passthrough & gimbal 2021-10-18 18:45:19 -04:00
Beat Küng 4b37a3d017 mixer_module: generate output_functions header from yaml file 2021-10-18 18:45:19 -04:00
Beat Küng fd76e5488e mixer_module: add output functions 2021-10-18 18:45:19 -04:00
Beat Küng ab3fe77f46 mavlink_receiver: publish MAV_CMD_DO_SET_ACTUATOR command 2021-10-18 18:45:19 -04:00
Beat Küng 38fa65a47e control_allocator: remove direct mixer, add actuator_{motors,servos} instead 2021-10-18 18:45:19 -04:00
Beat Küng a51c465b54 control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets 2021-10-18 18:45:19 -04:00
Beat Küng 0c5a79d84d fix mixer_module: use PRIx32 for debug printf 2021-10-18 18:45:19 -04:00
Beat Küng ad1bcfd77c commander: correct lockdown CLI description 2021-10-18 18:45:19 -04:00
Alex Klimaj b482986e8e uavcannode: Add CANNODE_TERM parameter (configure CAN termination on ARK cannodes) 
- adds functionality to enable the built in can termination on the ARK cannodes
 2021-10-15 09:29:56 -04:00
Silvan Fuhrer a66b0829b0 Standard VTOL: add airspeed to back transition logic and refactor it a bit 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer 358c67226e Tiltrotor: backtransition logic improvements 
-use groundspeed in body x for exit condition
-use airspeed for speed exit condition if no valid groundspeed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer cba80a6338 Tiltrotor: front transition: fade out yaw equally to roll 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer 641383cbfb VTOL backtransition improvements 
* vtol_type: only allow positive pitch setpoints during backtransition

* vtol params: set default of VT_B_DEC_FF to 0, as for most frames a FF is not necessary

* Tiltrotor: fix throttle during first part of back transition

* Tiltrotor: only enable all motors in second phase of backtransition (tilting phase)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
RomanBapst af291e2040 FlightTaskTransition: Transition improvements 
- use fw pitch setpoint offset during transition
- take over previous vertical velocity and smooth out over transition

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer d39c32619e Tiltrotor: add minimum throttle of 0.25 during front transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
RomanBapst f61853d428 vtol: implement throttle blending out and into transition 
- blend into TECS throttle after front transition
- blend out of TECS throttle during backtransition

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-15 09:58:48 +02:00
RomanBapst 8dd76050e0 vtol: take fixed wing attitude setpoint during transition if altitude is 
not controlled

- required as there is no flightask running if altitude is not controlled

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-15 09:58:48 +02:00
Daniel Agar 12c7056ae5 drivers/imu: icm20602/icm20649/icm20948 remove timestamp_sample adjustments 2021-10-14 16:37:11 -04:00
Daniel Agar 56823b5ac9 ekf2: EKF control don't allow invalid flow gyro to propagate 2021-10-14 16:31:22 -04:00
Daniel Agar d35cf78e4a commander: PX4_ERR if attitude or angular velocity become invalid 2021-10-14 09:17:50 -04:00
Daniel Agar 4559230de6 drivers/imu/invensense: adjust icm20602/icm20649/icm20948 rescheduling logic 
- this handles the case where the driver might be more than one full
transfer cycle behind
 2021-10-14 09:17:11 -04:00
Daniel Agar ef4d4c3093 sensors/vehicle_imu: fix timestamp_sample increasing check 2021-10-14 09:12:45 -04:00
Jaeyoung-Lim 4535b18a80 Set setpoint type as const 2021-10-14 11:18:02 +02:00
Jaeyoung-Lim 07d72f8604 Fix comments 2021-10-14 11:18:02 +02:00
Jaeyoung-Lim 443666199e Move setmode outside of control_position 
This commit moves the position controller mode handling outside of the control_position method.

The control_method is renamed to control_auto
 2021-10-14 11:18:02 +02:00
Jaeyoung-Lim ae9e91f90c FW Pos controller: fix format in new switch 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-14 11:18:02 +02:00
Silvan Fuhrer c3e961a1ed FW Pos C: move setting of control_mode_current to separate function and minor clean ups 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-14 11:18:02 +02:00
Silvan Fuhrer 0cf3ef87e3 FW Position Controller: move nav_speed_2d calculation to function 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-14 11:18:02 +02:00
Jaeyoung-Lim 581ec224be Encapsulate loiter and position setpoint handling 
This commit encapsulates the position setpoint and loiter setpoint handling into a single method, in order to make the code easier to understand
4be452
 2021-10-14 11:18:02 +02:00
Thomas Debrunner f08f2a340d motion_planning: In VelovitySmoothing, mark const functions const 2021-10-13 21:25:43 -04:00
Thomas Debrunner fed234de81 flight_mode_manager: Extracted position trajectory motion planning into a library 
Extract the functionality to plan smooth position motion trajectories into a
motion planning library, such that it can be used in other parts of the code as well.
 2021-10-13 21:25:43 -04:00
Peter van der Perk 07303af8f8 UAVCANv1 Fix typo in #define 2021-10-13 21:22:15 -04:00
Peter van der Perk ed394027b1 UAVCANv1 Include Kconfig & Fix #18396 2021-10-13 21:22:15 -04:00
Matthias Grob 8b37db7825 Functions: fix corner case x_low == x_high == value resulting in NAN 
and added unit test to cover it
 2021-10-13 17:24:16 -04:00
alexklimaj f5e1da5b0f Fix broadcom afbrs50 build 2021-10-13 17:22:26 -04:00
Jukka Laitinen 351f679c2f parameters: Use px4::atomic_bool instead of px4::atomic<bool> 
This enables us to define the actual atomic bool type in px4_platform

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-10-13 15:01:26 -04:00
Jukka Laitinen e6658547cf sensors/vehicle_imu: Fix compiler warning for implicit INFINITY double->float cast 
This pops up on some newer compilers

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-10-13 15:01:26 -04:00
Jukka Laitinen 5509235517 commander: Fix implicit NaN conversion from double to float compiler warning 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-10-13 15:01:26 -04:00
Mathieu Bresciani 56b0c46444 ekf2: improve optical flow angular rate compensation 2021-10-12 13:17:29 -04:00
Daniel Agar fab053d33b mavlink: receiver battery_status prevent out of bounds access 
- fixes https://github.com/PX4/PX4-Autopilot/issues/18385
 2021-10-12 09:20:40 -04:00
Silvan Fuhrer 801ef2d520 VTOL main: add local variable for int(vehicle_command.param1 + 0.5) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-11 18:15:18 +02:00
Silvan Fuhrer 342e9900f8 vtol main: only guard against transition to FW in certain flight modes, never to MC 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-11 18:15:18 +02:00
RomanBapst 8f8304f31e FixedWingPositionController: Set l1 variables to NAN if no l1 guidance 
took place

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-11 16:41:42 +02:00
RomanBapst ae5d3103f4 fw l1 controller: added a flag to indicate if navigation has updated 
- can be used to check if l1 controller ran during a cycle

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-11 16:41:42 +02:00
Shubham Shah 99b098f608 Update FixedwingAttitudeControl.cpp 2021-10-09 19:39:43 -04:00
Shubham Shah c92cd65831 Update EKF2.cpp 2021-10-09 19:39:43 -04:00
Shubham Shah 6576e1fda9 Update battery_status.cpp 2021-10-09 19:39:43 -04:00
Shubham Shah b56bd7cb21 Update AirspeedValidator.cpp 2021-10-09 19:39:43 -04:00