* Implemented driver for MCP23017
* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)
* removed some comments
* removed even more comments
* commented out instatntiation of driver since it will not be used with v6x
* removed last useless comments
* re-activated gpio_mcp23009 driver, removed useless comments and empty lines
* removed empty lines at the end of mcp23017.cpp
* removed empty line
* Implemented driver for MCP23017
* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)
* removed some comments
* removed even more comments
* commented out instatntiation of driver since it will not be used with v6x
* removed last useless comments
* re-activated gpio_mcp23009 driver, removed useless comments and empty lines
* removed empty lines at the end of mcp23017.cpp
* removed empty line
* basic working implementation
* first improved driver version with shared code base for MCP23009 & MCP23017 (built as state machine with sanity checks)
* removed unused imports
* changed module name from MCP to MCP230XX
* removed debug print statements
* adjusted auto start command of driver
* removed comments
* -added seperate main functions for both derivative modules (mcp23009 and mcp23017)
* compile common functions as shared library in src/lib/drivers
* fixed cleanup of modules
* ->unclean working version with shared common library
* used make format
* working & cleaned version
* -> Added CallbackHandler to be able to use multiple reading GPIO-expanders simultaneously
-> Removed old mcap23009 calls and pin registrations
-> Adjusted GpioIn.msg to contain MAX_INSTANCES
* ->removed unused imports
->used make format
* Fix: Re-enabled platform_mcp_gpio for accton-godwit, cuav, fmu-v5x
* Fix: enabled platform_mcp_gpio in px4/fmu-v5x
* added depency to fmu-v5x
* Fix: removed new lines
* Fix: fixed linker errors
* removed unused linkage against mcp-library
* Made mcp start calls consistent for fmu-v5x and fmu-v6x
* moved logging of comm errors to read/write function directly
* added perf_count for sanity_check
* removed error message
* ensured member variables follow naming convention
* added retries to probe function
* simplyfied state-logic
* add break to terminate loop early
* ensured clean state when register_gpios() fails
* add registered-flag to pins
* used path from top dir instead of relative path in CMakeLists
* used constexpr to set parameters instead of calculating them at runtime
* style: used make format
* fix: corrected i2c_bus assignment
* style: init input of callbackhandler to 0
* fix: mark pin as registered if successful
* style: made arguments const type
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Co-authored-by: Alexander Lerach <alexander@auterion.com>
* uavcan: collect node info and publish every second
* UORB: Add DeviceInformation Message
Format DeviceInformation.msg with standard comment spaces
* SENS: add getter for device_id
* UAVCAN: add publishing of DeviceInformation based on publised message type, and Node Information
* LOG: add deviceInformation
* MSG:BAT: fix comment to be inline with the max_instaces
* UAVCAN: DeviceInformation, incorporated feedback
* UAVCAN: DeviceInformation, incorporated feedback
* UAVCAN: DeviceInformation, Fixed bug with Powermonitor
---------
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
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>
The collision detection incorrectly used crosstrack_separation
(horizontal radius) for both horizontal and vertical checks.
This resulted in the vertical separation threshold being ignored,
creating a spherical detection zone instead of the intended
cylindrical "hockey puck" shape.
Fixed by using vertical_separation parameter for altitude
difference check on line 80.
The bug was likely introduced as a copy-paste error when creating
the vertical check from the horizontal check template. The existing
unit test uses identical values for both parameters (500.0f),
which masked this bug.
Testing: Code review. The existing unit tests pass, but they don't
catch this bug due to using equal values. Future test improvement
would be to use different crosstrack_separation and vertical_separation
values.
Signed-off-by: Tobias Fenner <tobyrfenner@gmail.com>
-add new NAVIGATION_STATE_ALTITUDE_VOYAGER
-this mode does require manual control to enter
-but you can disable the manual control loss failsafe to continue
flying in case of manual control loss
-for MC: in throttle and yaw are controlled like in Altitude mode,
the tilt is controlled via integrated rate input (similar to Acro,
but with tilt limit)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This was apparently added 10 years ago to store metadata of UAVCAN components within the PX4 binary. The parameters in the xml are mostly early UAVCAN ESC parameters that are presumably out of date and not used. Also it does not scale to maintain metadata for all the possible UAVCAN components and it causes confusion when users read the metadata documentation because these parameters are not available in PX4. That's why I suggest to remove it.
* 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>
dshot: fix motor test on CANnode
Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver
This fixes a number of issues with uavcan ESC control.
- Motor Testing when using a CANnode as a PWM expander now works by allowing the FunctionMotors class to perform prearm control
- The esc.RawCommand message is now always published for configured uavcan ESC outputs. Previously prior to arming the message would be published empty, which causes certain ESCs to enter an error state.
- Useless and redundant code has been removed and small name changes have been applied.
Phil-Engljaehringer