a0d8d5ac74
sensors/vehicle_gps_position: untangle and remove unnecessary state
2021-01-13 20:17:49 -05:00
bc8ec5d1f5
uavcannode: support optical_flow
2021-01-13 19:35:28 -05:00
f05599caff
tecs: use speed derivative provided by local position
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
e546584555
tecs: moved trivial getter methods to header file
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
701c105ab6
Update src/lib/tecs/TECS.cpp
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2021-01-13 21:21:07 +03:00
fa559aef43
TECS: stop learing integrator if airspeed is not available, but don't zero it
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
d4d1c0fe01
TECS: some cosmetics
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
97cc1e25dd
TECS: hande pitch and throttle integrator saturation consistently
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- don't decay integrator during saturation but prevent it from being learned
into the direction which causes more actuator saturation
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
77627a08ca
TECS: don't allow speed height weights to be larger than one
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
dca89763b3
TECS: apply FW_LND_THRTC_SC to altitude error time constant
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
3d3ff75495
TECS: update some params to latest results from flight testing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
3102b9f071
TECS: remove throttle integral limits
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
987c320825
TECS: removed unused parameter
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
5c4c2c240c
tecs: dot not clip throttle integrator during saturation but only allow
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it to propagate into a direction which does not saturate
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
2ca4269464
TECS: separate integral gains for throttle and pitch loops
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
72dfb2078a
TECS: adapt params to new control structure
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
01f891618b
TECS: move to new control loop architecture
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
447e14906c
TECS: log more TECS states to enable better analysis
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
8823f5e1ec
TECS: added method to get SKE weighting
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
d0e8b882a2
TECS: added alpha filter classes to energy rate and tas derivative
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
be0f5a7fe4
Fix implicit float->double conversions in tests
2021-01-13 10:26:10 +01:00
2d6758a39d
Cleanup of dataman mocks and check interval definition
2021-01-13 10:26:10 +01:00
a97a4d8bb8
Fix enum and param update
2021-01-13 10:26:10 +01:00
c745c8bb45
Small navigator refactor/cleanup
2021-01-13 10:26:10 +01:00
04d859e36e
Fix test failure from parameter autosave starting WQ
2021-01-13 10:26:10 +01:00
f97dcde4e2
GeofenceBreachAvoidanceTest: added tests for max dist to home
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
3fa15cec91
GeofenceBreachAvoidance: improve behavior when using max dist to home option
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- ensure that the vehicle is loitering with sufficient clearance to the boundary
Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
a5dfa0c803
Add helper function for decel distances
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Co-authored-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 10:26:10 +01:00
0ac597fba8
Use new GeofenceBreachAvoidance from Navigator
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
e536868104
Add GeofenceBreachAvoidance class
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
8622c21496
Move VelocitySmoothing to new motion_planning library
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Co-authored-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 10:26:10 +01:00
3834690c4b
Add parameter to select the set of used GNSS systems
2021-01-13 08:33:07 +01:00
917fef546a
uavcan: Remove single-GNSS limitation from UavcanGnssBridge
2021-01-12 22:04:52 -05:00
a57b9f9381
delete drv_baro.h, drv_mag.h, drv_range_finder.h, drv_device.h and purge UAVCAN CDev usage
2021-01-12 22:04:52 -05:00
daaf8b61dc
drivers: remove ism330dlc
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not used anymore
2021-01-12 09:55:59 -05:00
48f125f150
estimated IMU bias preflight checks
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- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
- ekf2 publish estimated bias limits in estimator_sensor_bias
- preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
2021-01-12 09:09:42 +01:00
cb74cb8692
boards: enable CONFIG_ARMV7M_LAZYFPU everywhere
2021-01-12 09:04:38 +01:00
abec2bd8df
msg: estimator_status_flags shorten fields
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- previously this message exceeded the logger total field length (1500 bytes)
2021-01-11 11:49:51 -05:00
04f9ada500
ekf2: selector improve fallback selection when the primary becomes unhealthy
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- if an ekf instance becomes unhealthy prefer switching to the next best healthy instance on a different IMU
2021-01-11 09:38:26 -05:00
967d35a6b6
rate limit most parameter_update subscriptions
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- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
2021-01-10 21:09:15 -05:00
70e503cb91
rotation: use Dcmf for all rotations that aren't direct swaps
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- increase optimization to ${MAX_CUSTOM_OPT_LEVEL} (max per board)
2021-01-10 18:08:41 -05:00
9b9163813d
avoid re-initiate RTL or land in battery emergency
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if the mode is already running
2021-01-10 21:19:52 +01:00
3cc8e7a210
commander_params: Make multicopter only COM_RC_OVERRIDE more visible
2021-01-10 21:12:09 +01:00
cef3d36af2
simulator: delete PublicationMulti ptrs for sensor_gps
2021-01-10 19:58:54 +01:00
f73d93ef6c
ekf2: selector improve status reporting
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- publish estimator_selector_status at minimal rate or immediately on change
- log all estimator_selector_status updates
2021-01-10 19:25:53 +01:00
2fc212e064
geofence_params: clarify EKF vs baro altitude source
2021-01-10 18:40:58 +01:00
d5c8d0a233
GF_ALTMODE: Update in line with Lorenz feedback
2021-01-10 18:40:58 +01:00
d43444fce7
geofence: GF_ALTMODE clarification
2021-01-10 18:40:58 +01:00
fe7908feb0
Simulator: Added remote host option ( #15443 )
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* Added an option to the Simulator module to connect to remote Gazebo servers.
This is usefull when the Gazebo simulation is running on a different host than the PX4 instance.
For example, we are running instances of PX4 with a companion application in multiple Dockers, for swarming simulations, which then connect to a remote Gazebo server.
A "-t" input argument has been added and can be called from the rcS startup script as: simulator start -t "192.168.178.122" $simulator_tcp_port
* _tcp_remote_ipaddr defaults to nullptr. This way testing against nullptr it can be determined if localhost or remote host is desired by the user.
* Documented the option in usage().
Signed-off-by: Peter Blom <peterblom.mail@gmail.com >
2021-01-10 18:37:37 +01:00
b3257c0bf2
Support relative altitude for offboard global position setpoints
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Previously the coordinate_frame flag for setpoint_target_global_int message was not handled, resulting in the vehicle to not handle altitude correctly. This commit handles the relative altitude correctly.
2021-01-10 17:54:53 +01:00
Daniel Agar