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31d7328f4d8d2bebe5d8bcd4220a858c840eb9bd
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24046 Commits

Author SHA1 Message Date
Silvan Fuhrer 31d7328f4d Tailsitter: invert roll (make it NED-correct) for filling vehicle_torque_setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 1ad66e606b ControlAllocation: introduce convention for control surface deflection sign 
- horizontal control surfaces: up=positive deflection
- vertical control surfaces (rudder): right=positive deflection
- mixed (V-Tail): up=positive deflection

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng 5259877b1b control_allocator: update matrix normalization 
- only normalize rpy for MC matrices
- for thrust use the 3D vector, so it works for FW and tilt rotors as well

This keeps MC unchanged.
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 460a0df850 tiltrotor: fill out thrust_setpoint[0] also in hover, based on tilt and hover thrust 
In the tiltrotor case, beside an F_z thrust setpoint also a F_x setpoint must be passed
to the allocator as the matrix has non-zero thrust-x effectiveness when tilts are applied.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng 09200b994d airship_att_control: publish thrust + torque setpoint 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 478724c9fe EffectivenessTiltrotor: fix logic for matrix update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng 8e04934eab commander: consider COM_MOT_TEST_EN for COMMAND_ACTUATOR_TEST as well 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 39d441317a ActuatorEffectivenssTailsitterVTOL: only enable MC yaw control if more than 3 rotors 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 426aa76a59 CA/VTOL: change description of VT_ELEV_MC_LOCK as it applies to not just elevons 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 18008b2de7 CA module.yaml: add motor direction function also to UI for Tailsitter an Tiltrotor 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng 8c782b7cd9 control_allocator: add Custom + MC with tilts effectiveness 
The param group is changed to Geometry, as this reflects the naming in the
QGC UI.
 2021-12-24 20:06:13 -05:00
Beat Küng 627ec0df5d control_allocator: increase STACK_MAIN to 3000 
It was exceeding 2000
 2021-12-24 20:06:13 -05:00
Beat Küng 4d38742371 control_allocator: show VT_ELEV_MC_LOCK for vtol mixers in config ui 2021-12-24 20:06:13 -05:00
Beat Küng 28c4d0b7df mixer_module: add unit tests 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 07306c4be3 control_allocator: add support for Tailsitter VTOL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 0568cff299 control_allocator: handle thrust allocation for VTOL's properly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 936f2dff52 logger: log both instances of vehicle_thrust/torque_setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng 4f8e6a9548 control_allocator: do not update params while armed 
As a precaution
 2021-12-24 20:06:13 -05:00
Beat Küng e04b4a8dbf control_allocator: add 6DOF configuration 2021-12-24 20:06:13 -05:00
Beat Küng 4c80adfaf1 control_allocator: implement trim + slew rate limits configuration 2021-12-24 20:06:13 -05:00
Beat Küng 301100ce0e uuv_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng b5c2cdf6c4 vtol_att_control: do not manipulate PWM outputs if SYS_CTRL_ALLOC == 1 
Not required anymore
 2021-12-24 20:06:13 -05:00
Beat Küng 8d9e2a28c4 control_allocator: add fixed-wing actuator effectiveness 2021-12-24 20:06:13 -05:00
Beat Küng 4d2a403afa control_allocator: add rover actuator effectiveness 
This can be generalized later
 2021-12-24 20:06:13 -05:00
Beat Küng ed3a115c8f control_allocator: add status publication rate limitation comment 2021-12-24 20:06:13 -05:00
Beat Küng 70e46a194f control_allocator: major refactoring & additions 
- allow effectiveness matrix to select control allocator method
  (desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
  to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
 2021-12-24 20:06:13 -05:00
Beat Küng a81f11acdd mc_rate_control: don't publish thrust + torque sp if vtol 2021-12-24 20:06:13 -05:00
Beat Küng 28e995ede2 fw_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng 4becd6e4c7 rover: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng 5da67e2e28 vtol_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng d1abdd0f8d output drivers: add option to generate a separate output range reversing param 
Makes it a bit easier to configure. Reversing by setting MIN > MAX is still
supported.
 2021-12-24 20:06:13 -05:00
Beat Küng 1901edf13c actuator_motors.msg: add reversible flags & implement in mixer_module 2021-12-24 20:06:13 -05:00
Beat Küng 9c767ff1ee control_allocator: make effective source name a class member 2021-12-24 20:06:13 -05:00
Beat Küng 20d96f3bd9 metadata: fix BOARD_WITH_IO detection 
Wasn't correctly updated during a rebase.
 2021-12-24 20:06:13 -05:00
Daniel Agar 712353ea56 gyro_calibration: increase required samples (to be more conservative) 
- make sure variance is checked across all available sensors
 2021-12-24 19:53:44 -05:00
Daniel Agar 3f3836afa8 parameters: simplify import mark_unsaved and don't fail bson decode unnecessarily 2021-12-24 14:32:40 -05:00
Daniel Agar d1cd4904dc parameters: param_value_is_default avoid locking if value unchanged 2021-12-24 14:32:40 -05:00
Daniel Agar c0b8f2952c parameters: param_get_default_value avoid locking if value is static default 2021-12-24 14:32:40 -05:00
Daniel Agar 27a113ecab parameters: param_get avoid locking if value is static default 2021-12-24 14:32:40 -05:00
Daniel Agar cd8ce4d01e parameters: remove obsolete perf_end 2021-12-24 14:32:40 -05:00
Daniel Agar 38731662c6 parameters use bitset for mark_unsaved 2021-12-24 14:32:40 -05:00
Daniel Agar b054fc7b8b navigator: trivial code style fix 2021-12-24 10:55:20 -05:00
seungjo0109 0f7c850080 Fix typo(at modules/navigator_main) 2021-12-24 08:54:43 -05:00
Daniel Agar 00eae055ac lib/sensor_calibration: don't save uninitialized priority parameter immediately 2021-12-23 17:49:11 -05:00
Daniel Agar e694fa906b tinybson: add more error output on node name overflow 2021-12-23 17:45:50 -05:00
Daniel Agar 38af93085b linux_pwm_out: use PWM_MAIN parameter prefix 
- this keeps things simpler for now across the old and new output
configuration
 2021-12-23 15:57:11 -05:00
Daniel Agar a5f58d321e boards: emlid_navio_default fix missing drivers/modules 2021-12-23 15:57:11 -05:00
Daniel Agar 7d7d707db9 commander: add COM_HOME_EN parameter to enable/disable home position 2021-12-23 15:46:31 -05:00
Matthias Grob f68ae39840 Commander: avoid RC actions during calibration 2021-12-22 09:08:23 -05:00
Beat Küng 89974c46b9 mavlink streams: add return in all cases 
Generally not needed here, but GCC produced an error when compiling with
-finstrument-functions.
 2021-12-22 08:47:33 -05:00