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Author SHA1 Message Date
Roman 0007096007 updated ecl 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-21 09:28:42 +02:00
Roman 33495e8143 ekf2: added parameters to specify horizontal speed and absolute altitude 
thresholds for range aid mode

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-21 09:28:42 +02:00
Roman b5a94481a8 ekf2_main: support range aid feature 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-21 09:28:42 +02:00
Roman 68c2eb9dec ekf2_params: added range aid parameter 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-21 09:28:42 +02:00
Roman 4bffb1478f ekf2: added parameter for range sensor pitch offset 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 22:21:41 +01:00
Roman 3fdbe13857 updated ecl 2017-02-22 22:21:41 +01:00
Roman 8c9f27bb8a land detector (mc): takeoff throttle should be the same for all manual, 
altitude controlled modes

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-15 15:41:44 +01:00
Roman e916159f5c updated DriverFramework 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-28 20:18:01 +01:00
Roman c065dc1930 bebop bus wrapper: fix logging of rpm and rpm setpoint 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-28 20:18:01 +01:00
Roman 1d4d57c4db bebop bus wrapper: log actual and setpoint motor speed 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-28 20:18:01 +01:00
Roman 0c7c5977ae bebop motor driver: better naming, removed unused header file 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-28 20:18:01 +01:00
Roman b596874b91 ulanding radar: small improvements 
- set measurement of first sample to -1 to indicated that the data
is not valid

- give an estimate of the sensor variance based on the sensor resolution
and experiments

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman 97d106b5f1 ulanding radar: added correct sensor type 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman bb3b2ba52c distance sensor message: added type for radar sensors 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman 0b9da80ec1 ulanding radar: added parsing of buffer 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman 06498ce01a build ulanding radar for Pixhawk version 2 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman 4e71d2e2db ulanding radar from Aerotenna: added driver for NuttX 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman c38e378f59 bebop config: updated some gains for decent performance 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-21 21:36:53 +01:00
Roman d0d9ee373b bebop config: increase logger buffer from 20kB to 200kB 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Roman 5b0a1d4b2a updated DriverFramework: activated dlpf in mpu6050 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Roman daa88f69db bebop2 config: updated some positon control params for decent performance 
- this is not the final tune!!!

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Roman b0bca24526 bebop2 config: use logger instead of sdlog2 
- sdlog2 drops lots of data and logs very, very irregularly

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Roman d221313dfb implemented mapping between desired thrust and applied pwm in 
multirotor mixer.

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-15 23:39:53 +01:00
Roman 3392e3f9f7 bebop2 upload script: create microsd filesystem so that logger does not 
complain

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-15 00:11:13 +01:00
Roman 34d253e4d0 bebop2: let PX4_ROOTFSDIR point to the internal mmc card 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-15 00:11:13 +01:00
Roman 5ce24e82f5 bebop2 apps: start other important apps, use ekf2 as estimator 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-15 00:11:13 +01:00
Roman 8e8336a83f gps drivers submodule: updated after removing unnecessary baud rate 2016-12-12 23:48:15 +01:00
Roman 0acdf32ed5 gps driver: removed unnecessary baud rate 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-12 23:48:15 +01:00
Roman e6cbbac120 gps devices: update submodule 2016-12-12 23:48:15 +01:00
Roman 88f771fc1e bebop2 startup config: start gps driver 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-12 23:48:15 +01:00
Roman d10c4dd824 gps driver: added more baud rates in order to support bebop2 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-12 23:48:15 +01:00
Roman 4fab448000 build gps driver for bebop2 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-12 23:48:15 +01:00
Roman 0c49abbef8 standard vtol: correctly modify attitude for pusher assist 
- fix a bug where the wrong rotation order was used to compute the attitude
setpoint when using the pusher assist feature

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-08 15:05:43 +01:00
Roman aabf753ecb mc_pos_control: do not do tilt compensation when hor velocity is controlled 
- fixed a bug where tilt compensation was done also when the horizontal
velocity was controlled. This is not needed because in this case
the controller outputs a 3D thrust vector.

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-05 16:07:19 +01:00
Roman f8f12ee265 vtol_att_control: removed unnecessary pointers to derived classes 
- we interface over the base class pointer so we don't need any pointers
to the derived classes of VtolType

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-22 10:05:53 +01:00
Roman d77547e7e1 vtol_attitude_control: hotfix, do not update parameters on every iteration 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-22 10:05:53 +01:00
Roman 92a5db92a2 vtol_att_control: initialise pointers and free memory 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-22 10:05:53 +01:00
Roman 912ed98a28 updated ecl 2016-11-21 07:29:21 +01:00
Roman a61b1e089c make sure to update the reset counters every time the topic updates 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
Roman 9f57ee8564 updated ecl for updated gps reset logic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
Roman 76f862de33 fw_pos_control_l1: when doing a position reset just reset position controller 
- do not try to shift the target waypoints when a reset occurs in position
control mode. Just make it lock into the current heading.

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
Roman 7ba49aeb80 fw_pos_control_l1: make TECS handle height ekf height resets properly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
Roman ae7f61b0bf tecs: added method to handle ekf height resets 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
Roman 1e1bf7e4bb ekf2 reset: fix sign of delta altitude for global position topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
Roman 8155044b40 fw_pos_control_l1: put comments for lat/lon wrapping 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
Roman f80b4f8732 fw_pos_ctrl_l1: added wrapping of lat lon coordinate after addition of 
delta reset

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
Roman b3f9114b1c fw_pos_control_l1: added missing alitude reset counter update 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
Roman d4c87d62f1 fixed code style 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
Roman 896118281c TECS: remove logic which shifts or limits integrator during large transients 
- during large transients in pitch demand the pitch integrator value
was shifted such that the final demanded pitch did not violate given
limits. Since this strategy can cause large knock-backs of the pitch
integrator we remove this logic completely. We already have logic in place
which reduces the integrator at the pitch time constant in case the
pitch limits are exceeded so we don't need to limit it further. This
has the advantage that spikes in the specific energy balance error
signal does not lead to integrator knock-back.

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-14 22:43:33 +11:00
Roman 7106881cbc tecs: fix limiting of pitch integrator input, better comments and structure 
- when limiting the pitch integrator input the value was related to
a quantity with different units (specific energy error rate vs delta pitch)
- once the unconstrained pitch demand is larger / smaller than the max/min
allowed pitch angle the integrator input should only be allowed to drag
the integrator into the direction leading to less pitch demand violation

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-14 22:43:33 +11:00
Roman 12ddf9d25e TECS: better handling of the constraint for the pitch integrator 
- if the specific energy balance correction term produced a demanded
pitch value which exceeded the aircraft pitch limits then the pitch
integrator was shifted such that the pitch demand violation was prevented.
However, this meant that the exceeding pitch was just unloaded into the
integrator and caused unexpected behavior of the pitch loop.
In an underspeed condition e.g. this has lead to the plane pulling up it's
nose very quickly shorty after the underspeed condition kicked in.

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-14 22:43:33 +11:00
Roman eec55a0918 TECS: run underspeed detection method before calculating speed demand 
- the method in TECS for detecting an underspeed condition was run after
the method which calculated the airspeed demand. As a result the specific
engergy balance error signal showed a spike when TECS detected an underspeed
condition.

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-14 22:43:33 +11:00
Roman 7a7bf2205d ekf2_replay: compute euler angles for logging 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Roman 17a4b64434 old ekf: fix computation of rotation matrix 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Roman 7c2ebd96a0 lpe: remove usage of euler angles from attitude topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Roman 06931e12cf mc_pos_control_mulitplatform: cleanup of matrix usage 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Roman d086a348aa rover steering example: fixed compile error 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Roman 7cb06c01eb attitude_estimator_ekf: fixed quaternion computation from dcm 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Roman 51941b0af8 rover_steering_control: fixed comment 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Roman a978d61d9a attitude message cleanup: more cleanup 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Roman 3faaeb06d1 attitude setpoint topic: cleanup of matrix class usage 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Roman cf8f484868 mixer class: updated comments on slew rate limit method 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-30 13:55:53 +02:00
Roman c2a511d81d multirotor mixer slew rate limiting: naming and fixes 
- avoid dividing by zero when calculating max delta output
- better comments when calculating max delta output
- better naming of functions and variables

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-30 13:55:53 +02:00
Roman cced6fc8b2 multirotor mixer: use correct version of delete operator for array pointer 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-30 13:55:53 +02:00
Roman 8b889caa33 slew rate limiting: implemented for fmu 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-30 13:55:53 +02:00
Roman 2607769470 slew rate limiting: moved logic to multirotor mixer 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-30 13:55:53 +02:00
Roman 66ddea01d1 implemented slew-rate 2016-09-30 13:55:53 +02:00
Roman ab4731a99f fw_pos_control_l1: for tailsitters we need to rotate the body acceleration 
vector as it has it's reference in the mc frame

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-13 14:32:00 +02:00
Roman Bapst ba047f234d ekf2 replay: added magic values for range min/max distance (#5268) 
- replay was not working without these values as only range measurements
were given to the filter which were between the min/max value

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-08-07 11:30:54 +02:00
Roman 278b607f62 Update ECL library 2016-08-06 10:18:58 +02:00
Roman 1f1839d978 sensors: fixed code style 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-07-29 13:28:09 +02:00
Roman 9ece090dbe vtol_att_control: use transition switch instead of aux1 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-07-29 13:28:09 +02:00
Roman 499d362b8b added transition switch 2016-07-29 13:28:09 +02:00
Roman aea7bd5b47 fw_attitude_control: calculate attitude setpoint for STAB mode 
- attitude setpoint generation for stabilized mode was shifted back
to the fw attitude controller. since the fw position controller is polling
on global position attitude setpoints were not generated when global
position was not published.

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-07-25 08:56:19 +02:00
Roman 6226a0c77d fw_pos_control_l1: fixed code style 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-07-25 08:56:19 +02:00
Roman ec334f7c9b fw_pos_control_l1: limit max roll and pitch setpoints for manual modes 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-07-25 08:56:18 +02:00