Add PWM_*_CENTERx for each servo.
Use a bilinear transform to map actuator_servos to PWM signals.
This solution only works for PWM based servos. Other types of servos are not affected.
* PWM: Add servo trim option
* PWM: Improve documentation of PWM trim feature
* PWM: cleaner clamping and docs typo
* update documentation & safety
* add migration formula
* rename param from trim to center
* docs with center instead of trim
* move clamping and reorder values
* improve documentation
* adress failing range check
* improve documentation
* CA: add event for setting CENTER with TRIM
Signed-off-by: Silvan <silvan@auterion.com>
---------
Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
* rc_update: remove 1% deadzone for all channels
this should be handled higher level.
* Remove all references to the RC{n}_DZ parameters
Regular expression: RC.{0,2}_DZ
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Add new INS driver sbgECom
Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot
Be able to parametrize the serial port, baudrate and the communicating mode
Clone sbgECom library only if sbgecom support is enabled and apply a patch
Be able to send SBG Systems INS settings in several ways when starting sbgecom driver
* Fix sensor airspeed simulator units
* Fix HIGHRES_IMU pressure unit
* Allow HIGHRES_IMU to support 4 IMUs
* sbgECom: Add documentation
* Use submodule instead of fetching sbgECom using CMake
* Remove patch strategy
* Fix dates
* Remove patch file
* Update SBG dev type ID
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
---------
Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
In an effort to reduce configuration space.
I've not seen use for this option.
If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference.
Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.
* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Fix comments from review:
- Switch ssh link to https link in submodule
- Remove mc_nn_control from startup
* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Remove auto start
* Add logging from neural control module
* Fix automatic startup to only be when module is included
* Switch to flight mode registration
* Add docs
* Change min/max/coeff to actual parameters
* add figures to neural network docs
* Switch to e2e network
* Remove toolchain changes and replace with instructions in docs
* Get ready for merge after toolchain upgrade
* switch back to submodule
* Try to figure out cmake
* Get CI working with new toolchain
* Remove fork dependency
* Finalize PR
* fix toolchain inclusion
* Fix ctype_base.h include
* Cleanup includes for TFLM
* Remove redundant std
* Update FW module names in board files
* Fix docs
* Remove cstdlib copy
* Copy header from nuttx
* Prettier, markup, layout
* NeuralControl.msg - update uorb comments to current standard
* Add description to neural topic
* Fix typo
* Typo
* TFLM and Module utitlities
* Neural networks top level
* Update docs
* Add manual control
* Update docs
* Revert the manual control attempt
* Update docs/en/advanced/nn_module_utilities.md
* Add posibility to set trajectory setpoint with manual control
---------
Co-authored-by: Pedro Roque <padr@kth.se>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
Note: Some files are autogenerated and I did not yet
go through each source of generation to fix it there.
Instead I adjusted the filter to only exclude those
such that we can fix things in steps.
* ZMO airframe: update parameters
Including some parameters we found useful during the tests over the
previous months:
- various controller & transition tuning refinements
- remove battery capacity (not reliable enough w battery degradation)
- airspeed scale
- rotor configs:
- remove everything related to rotors 3 and 4 (which don't exist)
- set moment coefficients explicitly even if at default
- Increase roll limit (FW_R_LIM, FD_FAIL_R)
- min and max airspeeds
- tilt servo min and default PWM values
* ZMO airframe: address review
- explicitly set CA_ROTOR3_* to 0 (as these are set in the parent
13100 which describes a quadrotor)
- remove ASPD_SCALE_1 (close enough to default, and better to have
slightly low reading)
- remove MPC_ACC_HOR_MAX (= default)
- remove MPC_TILTMAX_AIR (was temporary)
- remove SENS_EN_SF1XX (= default)
* ZMO airframe: update tilt setup
to describe a setup where tilt servos can provide yaw torque in both
directions in multicopter mode.
* ZMO airframe: wording
* hrt: Fix PPM input on channel 2
The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2,
which was setting bits for channel 1 instead of channel 2. This prevented
PPM input from functioning properly on channel 2.
Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly
configures the CC2S bits for input capture mode on TI2.
This fixes an issue noted in the existing code comment:
"FIXME! There is an interaction in the CCMR registers that prevents
using Chan 1 as the timer and chan 2 as the PPM"
Tested on STM32H743 with PPM input on PC7 (TIM8_CH2).
* rc_input: enable sharing serial and PPM pin
By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to
use the same pin on the STM32 for PPM input as well as serial input.
* boards: Add support for Holybro KakuteH7-Wing
* Docs: add moving platform
documenting the addition in #24471
* Moving platform docs: address review
- Release note, write release in docs
- Describe configuration also in main gazebo sim docs, syntax section
- Tip that plugin can be used in other worlds, linking to plugin readme
* Update docs/en/sim_gazebo_gz/index.md
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
bresch