2cc18d2d52
mc_att_control: move the board_rotation computation to the parameters_update
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It's not necessary to do this computation in each loop iteration.
2017-10-01 15:36:21 +02:00
27f020af05
mc_att_control: remove the hardcoded max throttle limit of 0.9 for ACRO
2017-10-01 15:36:21 +02:00
b4755297ec
delete control_state and cleanup vehicle_attitude ( #7882 )
2017-09-21 16:24:53 -04:00
26f00609ac
multirotor_motor_limits only publish for MC
2017-09-19 02:25:30 +01:00
b26c771ea6
MC attitude controller: Use default scheduling order
2017-08-02 21:18:35 +02:00
d8cc38728d
Multicopter attitude controller: Run at maximum priority.
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This allows for a quicker update from sensors if the estimator runs at the default priority of the estimator class. If there is no direct sensor pass-through then it will wait for an estimator update.
2017-08-02 21:18:35 +02:00
d6e9287f51
mc_att_control comment out unused rates_i_scaled
2017-06-08 22:03:08 -04:00
c5e0bf1c2f
uORB combine VTOL FW and MC virtual topics ( #7008 )
2017-04-09 13:17:20 -04:00
3f6783fce7
mc_att_control: make sure to update the polling fd when the selected gyro changes
2017-03-04 05:59:10 +08:00
ec33607912
mc_att_control_main: make sure to initialize at least one gyro sensor
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in HIL mode, gyros are published after mc_att_control started.
2017-03-04 05:59:10 +08:00
11484b0d51
Rattitude: set default threshold for multicopter rattitude mode to 0.8 which enables it right away when selecting it
2017-02-18 08:03:19 +01:00
96e51f7c59
clang-tidy remove redundant
2017-02-01 22:15:50 -05:00
e927f3e040
clang-tidy modernize-use-nullptr
2017-02-01 22:15:50 -05:00
c07fd1a360
mc_att_control_main: fix style
2017-02-01 08:40:23 +01:00
21070b069b
mc_att_control_main: fix {x,y,z} variables (copy-paste mistake)
2017-02-01 08:40:23 +01:00
f890c82c97
mc_att_control_main: remove unnecessary memset for _sensor_correction
2017-02-01 08:40:23 +01:00
add298c0b5
mc_att_control: use legacy offset and scale definition (+2 squashed commits)
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Squashed commits:
[f81a8b0] mc_att_control: remove unnecessary initialisers
[f3d3f48] mc_att_control: accommodate changes to sensor_correction topic
2017-02-01 08:40:23 +01:00
c1b1d03515
mc_att_control: use a maximum of 3 gyros
2017-01-19 19:24:52 +01:00
21a3e4d36a
mc_att_control: fix out-of-bounds access if system has multiple gyros
2017-01-19 19:24:52 +01:00
f6f145cbe8
sensors & mc_att_control: increase stack sizes due to recent changes
2017-01-19 19:24:52 +01:00
e1ff6af792
mc_att_control_main: initialize _sensor_corrections properly
2017-01-19 19:24:52 +01:00
7d5cd02c70
mc_att_control_main: fix bound check for gyro instance
2017-01-19 19:24:52 +01:00
0765ed552c
sensor_correction.msg rename {gyro,accel,baro}_select to match uORB convention
2017-01-19 19:24:52 +01:00
00d26b75e9
MC att control: Harden against incorrect indices
2017-01-19 19:24:52 +01:00
eac6dfed3c
mc_att_control: Sync attitude loops to gyro data
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Sync the attitude controller to the raw gyro data to remove the latency in the rate loops caused by the sensor and estimator modules.
Attitude data latency will increase as it will be from the previous EKF update, however attitude loops are less latency sensitive.
Thermal compensation and bias data will be from the previous frame.
2017-01-19 19:24:52 +01:00
3a17c07b1e
Implement RC and DL failsafe action handling for multirotors
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Move RC and DL failsafe actions handling from navigator to commander (credits to @AndreasAntener)
Separate manual kill switch handling via manual_lockdown to prevent override and release of software lockdown by RC switch
Other changes:
Add failsafe tune
Fix LED blinking for Pixracer
Return back support for rc inputs in simulator but now it is configurable via cmake
2016-12-27 00:38:13 +01:00
b2d48f65bf
MC att ctrl: Properly initialize members
2016-12-13 16:14:15 +01:00
27d5ecaaa9
Fix multirotor code style
2016-12-13 16:14:15 +01:00
eb67686b11
mc_att_control: Improve integrator wind-up protection
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Use reporting from the motor mixer to only restrict integrator growth when it will result in increased saturation of the control axis concerned.
Enable absolute integrator limits to be set by parameter
2016-12-13 16:14:15 +01:00
a2c0391bcc
Rework TPA to have per-component setup and use more stable and intuitive function
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This also adds a ZMR250 config.
2016-12-10 12:42:47 +01:00
2799c0fae2
Change MC_BAT_SCALE_EN to boolean
2016-11-19 14:55:52 +01:00
a634c14582
Scale throttle outputs by battery level. Fixes #4751
2016-11-19 14:55:52 +01:00
2fff2ab9ac
Add switch for landing gear, pass it to actuators
2016-10-20 23:17:05 +02:00
a12780c88f
Remove attitude setpoint matrix from attitude setpoint topic
2016-10-19 10:17:41 +02:00
8ff237c69f
Remove size optimization for individual modules
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It makes more sense to set the optimization flags on a platform basis
instead of individually for each module. This allows for different
optimization options for SITL, NuttX, Snapdragon, etc.
2016-09-30 08:11:51 +02:00
7f04e3c759
Helicopter aiframe and basic PID control ( #5339 )
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* Helicopter aiframe and basic PID control
* codestyle
* Blade 130x gains working but not optimal
* Changed behaviour of feedforward for all multicopter
2016-08-19 22:20:59 +02:00
f1a1c9d7da
add breakpoint and slope params for TPA
2016-08-17 23:15:36 +02:00
5c78af0f36
simple linear throttle PID attenuation test
2016-08-17 23:15:29 +02:00
d4196f7f0c
mc_att_control fix and enforce code style
2016-08-07 10:40:17 +02:00
11f1a11934
Lock yaw integral if we hit a yaw limit
2016-07-31 14:14:55 +02:00
25e749de77
use MC auto rates always in AUTO
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removed duplicate weathervaning limit
2016-07-01 11:31:57 +02:00
8032787faa
MC att control: Be more efficient
2016-05-29 16:27:01 +02:00
76387b1693
uorb autogeneration
2016-05-14 11:27:07 +02:00
95faba391a
accel control in pos controller
2016-04-22 10:31:52 +02:00
ce810542e2
simple NED acceleration control interface
2016-04-22 10:31:52 +02:00
cf7145c8d9
calculate large error rotation correclty in attitude controller
2016-04-18 18:44:14 +02:00
967e4dd127
Modified cmake to use STACK_MAX and STACK_MAIN
2016-04-14 13:36:36 -04:00
1ad0ee0fae
mc_att_control: don't use main state for RATTITUDE
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Instead of the state use the boolean flags.
2016-04-11 18:01:48 +02:00
7a9427bc34
param remove empty @unit
2016-03-14 09:12:34 +01:00
55b33e97b3
mc_att_control param @unit
2016-03-14 09:10:29 +01:00
Beat Küng