2b9ad179a2
Standardize class member variable naming convention in the FixedWingLandDetector class.
2019-06-26 14:06:56 -04:00
7ba658d573
MAVLink module: Add additional IMUs as default outputs
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This simplifies setup and verification of systems, as all three sensors can be looked at in a graph view.
2019-06-26 10:24:16 -04:00
d7cfebe0a3
Add check_params(true) call to the LandDetector start() method. Break out _update_total_flight_time() method in the LandDetector class.
2019-06-26 09:23:02 +02:00
f783982edb
Revert changes to the check_params(const bool force) declaration/definition to match current PX4:master.
2019-06-26 09:23:02 +02:00
0ec7efcfc4
Delete _measure_interval and redundant parentheses in LandDetector.h.
2019-06-26 09:23:02 +02:00
faa3c3dc6f
Refactor the LandDetector class to
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- Reduce duplicate code in LandDetector _check_params() method.
- Standardize naming cases.
- Implement DEFINE_PARAMETERS() macro.
2019-06-26 09:23:02 +02:00
6d9bf18ca6
Revert "VTOL: add parameter to prevent flight if roll direction was not checked"
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This reverts commit 5f06c6a1aa
2019-06-25 09:26:20 +02:00
5002b13bda
mc_att_control: Increase default rate integral gain
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@bkueang and me realized that on every frame we tune the integral gain for
the roll and pitch rate controller is much too low. Usually it needs to be
increased to 0.3 or even 0.4 to have better "locked in" flight performance
and 0.2 seems like a good compromise for a safe default.
2019-06-24 18:26:27 +02:00
ea31f34d09
mc rate controller: add I term reduction factor
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Reduce the I gain for high rate errors to reduce bounce-back effects after
flips. Up to 200 degrees the gain is almost not reduced (<25%), so this
will only take noticeable effects for large errors (setpoint changes),
where we actually want to have an effect.
This allows to increase the MC_*RATE_I parameters w/o negative effects
when doing flips (i.e. bounce-back after flips).
The 400 degrees limit and the x^2 are empirical.
The better the rate tracking in general (high P gain), the less this is
required (because of the lower tracking error). At the same time it also
does not harm, as the i_factor will always be close to 1.
2019-06-22 13:23:19 +02:00
4c4bcc5fdb
Mavlink: Fill in thrust field correctly for offboard rates setpoints on fixed wing ( #12311 )
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* Fill in thrust field for rates sp
2019-06-20 17:17:32 +02:00
e0f3fc8d00
Mavlink receiver SET_ATTITUDE_TARGET fill the correct throttle field by checking its frametype in offboard mode ( #12149 )
2019-06-18 02:06:41 +02:00
2deab6c607
commander: refactored state-machine strings
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- Follow-up changes to https://github.com/PX4/Firmware/pull/11796
2019-06-17 20:09:05 +02:00
136962d125
uORB Subscription callbacks with WorkItem scheduling on publication ( #12207 )
2019-06-17 16:26:06 +02:00
8811c8315c
Modify the update_params() comment to better reflect what is taking place in mavlink_receiver.h.
2019-06-17 09:41:30 +02:00
742c22d099
Rename _param_sub to _param_update_sub and initialize. Re-define and re-implement the update_params() method and only call if parameters have been updated.
2019-06-17 09:41:30 +02:00
c92b8b03cd
Move variable initialization from constructor to declarations in MavlinkReceiver class, alphabetize var lists. Added update_params() method to ensure that parameters subscribed to are updated routinely.
2019-06-17 09:41:30 +02:00
7c4bf6ddae
Mavlink ODOMETRY (331) support MAV_FRAME_BODY_FLU
2019-06-16 13:23:57 -04:00
d7d0bd2764
Mavlink: Enable gimbal control using SET_ACTUATOR_CONTROL_TARGET while controlling the vehicle offboard ( #12146 )
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* Stop ignoring setpoints when actuator setpoints are for the gimbal
2019-06-15 21:35:41 -04:00
106ee280c5
land_detector initiate cycle immediately
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- fixes #12190
2019-06-15 21:30:09 -04:00
4e360064d9
commander refactor and cleanup offboard control mode
2019-06-15 20:45:26 -04:00
1657b5030a
wind_estimator always copy attitude and local position data
2019-06-15 19:42:48 -04:00
4910bed45b
mavlink send_statustext_critical() remove redundant print
2019-06-15 10:14:41 -04:00
c4bb6b53e8
Changed soft stop check
2019-06-13 10:04:26 +02:00
21760a5856
Changed constant name to UNMANNED_GROUND_VEHICLE
2019-06-13 10:04:26 +02:00
714c90b9db
Updated code style to fix confusing if conditions
2019-06-13 10:04:26 +02:00
a134da6e12
Removed is_rotor_wing, replaced with vehicle_type
2019-06-13 10:04:26 +02:00
2ca40bfc65
Changed navigator to properly separate xy and z distance to waypoint
2019-06-13 10:04:26 +02:00
6816f2a4ce
commander force offboard control update when first entering mode
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- fixes #12241
2019-06-12 20:25:05 -04:00
048cca7bc4
vtol_att_control: apply multicopter takeoff hotfix also for vtol ( #12250 )
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Please see reference:
https://github.com/PX4/Firmware/issues/12171
2019-06-12 13:59:29 -04:00
ae6fed4f29
Migrate remaining variable initializations from constructor list to declarations in mavlink_main.cpp/h.
2019-06-12 12:53:09 -04:00
79d4c09d59
uORB::Publication simplify and cleanup
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- base class is now template
- drop linked list
- virtualization no longer required
2019-06-12 08:48:19 -04:00
1ebf5d04d9
logger: add Ulog sync bytes at 1Hz and tagged log message definition ( #12144 )
2019-06-11 11:00:54 +02:00
c223de8a50
vmount move usage() to bottom of file and format
2019-06-08 03:23:50 -07:00
933dd1357e
navigator move print_usage() to bottom of file
2019-06-08 03:23:50 -07:00
d9c5fb0500
mc_att_control move print_usage() to bottom of file and format
2019-06-08 03:23:50 -07:00
97c2dba2fa
logger move print_usage() to bottom of file and format
2019-06-08 03:23:50 -07:00
63d582464e
mc_pos_control move print_usage() to bottom of file and format
2019-06-08 03:23:50 -07:00
d2c824c534
gpssim: don't advertize uninitialized data
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According to valgrind uninitialized bytes were being advertized.
2019-06-07 17:10:35 -04:00
5669df4ca4
mc_pos_control move orb subscriptions to new uORB::Subscription
2019-06-07 09:22:35 -04:00
be02ad3514
fw_att_control move orb subscriptions to uORB::Subscription
2019-06-06 20:02:02 -04:00
4bef573497
fw_pos_control_l1 move to new uORB::Subscription
2019-06-06 20:00:02 -04:00
528d2f61a0
sensors partially move to new uORB::Subscription
2019-06-06 19:07:17 -04:00
3796dda209
ekf2 move most orb subscriptions to uORB::Subscription
2019-06-06 08:22:15 +02:00
cecd009ddc
mc_att_control: fix vehicle_rates_setpoint_poll() error due to merge timing
2019-06-05 21:18:02 -04:00
4c42cac380
mc_att_control move most orb subscriptions to uORB::Subscription
2019-06-05 20:37:47 -04:00
c0e735c88a
vtol_att_control move to new uORB::Subscription
2019-06-05 20:33:20 -04:00
71d58c9278
wind_estimator move to new WQ (lp_default) and uORB::Subscription
2019-06-05 20:31:16 -04:00
e4ad994763
navigator move to new uORB::Subscription
2019-06-05 20:28:44 -04:00
ac4458460d
FailureDetector - update hysteresis to comply with new interface
2019-06-05 16:53:08 +02:00
c75f71abc2
IO failsafe - apply failsafe values to outputs when in failsafe.
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This is required because otherwise, IO would output disarmed values if
FMU goes into a disarmed state.
2019-06-05 16:53:08 +02:00
mcsauder