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Author SHA1 Message Date
bresch df58e161d1 Trajectory auto - Handle EKF xy reset 2019-01-22 17:23:16 +01:00
bresch a2d5485c7f Trajectory manual - Handle EKF xy reset 2019-01-22 17:23:16 +01:00
bresch a2e9d9ffce AutoSmoothVel - Handle NAN in velocity and position properly 2019-01-17 17:55:37 +01:00
bresch 766f911005 beta75 - Reduce MC_YAWRATE_P to avoid oscillations when battery is fully charged 2019-01-14 18:38:31 +01:00
bresch 118848d261 beta75 - Adjust PWM_MIN and set number of cells 2019-01-14 18:38:31 +01:00
bresch 7cc00f41d2 AirModeYaw - Change airmode type from bool to int 2018-12-13 09:50:07 +01:00
bresch be2e80c186 MPC_YAW_MODE - Change max to 3 to enable trajectory alignment 2018-11-30 09:27:40 -05:00
bresch 20f870137b FW auto - Add parameter for flaps setting during landing 2018-11-23 10:40:27 +01:00
bresch 7779c0bd69 MPC - Update velocity integrator definition 2018-11-15 22:08:00 +01:00
bresch d852ce20e6 MPC - Increase max velocity integral gain to 3.0 2018-11-15 22:08:00 +01:00
bresch 0863e95a2c Add "Tracking Anti-Reset Windup" in velocity PID controller 2018-11-15 22:08:00 +01:00
bresch f590137525 Fix HIL 
Revert "pwm_out_sim lazily publish actuator_outputs"

This reverts commit bcad940a9f.
 2018-11-12 19:21:15 +01:00
bresch 90cee2d5ea Manual Smoth Vel - Override reActivate to not reset Z axis (prevented takeoff) 2018-11-06 22:17:00 +01:00
bresch c3a4fff0cd Auto traj - generate heading from trajectory velocity vector if possible 2018-11-06 22:17:00 +01:00
bresch 066d1f50c4 Auto traj - Add dedicated parameter to enable trajectory smoothing in auto mode only 2018-11-06 22:17:00 +01:00
bresch 7205e8f359 Auto traj - Add Trajectory logging 
- move the update after the integration: a new computed jerk has an impact at the next epoch only
- add jerk reduction in case of too large integration time: when a jerk of "min_jerk" during dt is too much
- add jerk reduction if the integration time is larger than the predicted one and that integrating that jerk would lead to an acceleration overshoot
- rename some variables
 2018-11-06 22:17:00 +01:00
bresch 2847ce20b8 Auto traj - Add parameter for gain of trajectory controller 2018-11-06 22:17:00 +01:00
bresch 2c63388fb7 Auto Traj - Disable reActivate "reset" function for AutoLineSmoothVel Flight Task 2018-11-06 22:17:00 +01:00
bresch 0209fa00bf Auto Smooth Vel - Add AutoMapper2 and AutoLineSmoothVel flight tasks 2018-11-06 22:17:00 +01:00
bresch 67c0846068 Vel smooth - Improve position lock/unlock detection 2018-11-06 22:17:00 +01:00
bresch d9edcfdc06 Trajectory - format style 2018-11-06 22:17:00 +01:00
bresch aa586ca327 Trajectory - Overload integrate function to allow for custom integration period 2018-11-06 22:17:00 +01:00
bresch 7073187a48 Trajectory - Add getters for current position and velocity. Move some getters to public section 2018-11-06 22:17:00 +01:00
bresch 6a7ce651bc Trajectory - Add position lock-unlock logic and proper initialization from controller feedback 2018-11-06 22:17:00 +01:00
bresch 84665672ad Vel smooth - Change jerk scheduling strategy 2018-11-06 22:17:00 +01:00
bresch ab7e4436b3 Vel smooth - Add Z trajectory 2018-11-06 22:17:00 +01:00
bresch 4f668c0c2d SITL - update default velocity PID gains 2018-11-06 22:17:00 +01:00
bresch 22780efcd0 Trajectory - Add time synchronization between trajectories. Split update(...) function into updateDurations(...) and integrate(...) to be able to insert time synchronization in between. 2018-11-06 22:17:00 +01:00
bresch d69cba5db9 FW trim - Fix typos in FW_DTRIM_R/P/Y_VMAX 2018-10-09 10:37:22 +02:00
bresch 740e409016 PWM - Add PWM_MIN and PWM_MAX parameters for MAIN and AUX (#10452) 2018-09-16 18:07:29 -04:00
bresch 124a34e8f6 Failure Detector - Add space between Failure and Detector in @group field 2018-08-28 11:23:25 -04:00
bresch 9be0c97346 Failure Detector - use bitmask field instead of boolean in vehicle_status msg (failure_detector_status) and instead of struct in class 2018-08-28 11:23:25 -04:00
bresch 0001031e59 Failure Detector - Rename parameters and change group 2018-08-28 11:23:25 -04:00
bresch 93ba11c218 Failure Detector - Move COM_FAIL_x params to dedicated _param.c file 2018-08-28 11:23:25 -04:00
bresch 92b00ec07e Failure Detector - Do not trigger force_failsafe flag anymore 2018-08-28 11:23:25 -04:00
bresch fea91c96e8 Failure Detector - Use dedicated parameters for attitude checks 2018-08-28 11:23:25 -04:00
bresch 72f2317c95 Failure Detector - move "force_failsafe" flag inside circuit_breaker protection; remove PX4_WARN and send mavlink msg only once 2018-08-28 11:23:25 -04:00
bresch 9a6fef62ab Vehicle_Status_msg - Add attitude_failure flag to vehicle_status message 2018-08-28 11:23:25 -04:00
bresch c4c8e8d2db Failure Detector - Various cleanup and style changes. 
- use pragma once guard in FailureDetector.hpp
- send Commander parent to ModuleParams and remove update_params() method
- simplify attitude checks
- FailureDetector::get_status() (previously named "get") is now a constant method that returns a constant reference
 2018-08-28 11:23:25 -04:00
bresch 04c765f497 Failsafe PWM - Add PWM_MAIN/AUX_FAILx parameters to set "failsafe" values. 2018-08-28 11:23:25 -04:00
bresch b0bbc56d12 NullMixer - Send NAN instead of 0. NAN is mapped to disarmed in fmu and io. A Null mixer can now be used to set a fixed value: "disarmed" if the system is operational or "failsafe" in failsafe mode 2018-08-28 11:23:25 -04:00
bresch 4e1027f292 FailureDetector - Add check for non-zero roll/pitch failure parameters. Rename 'result' into 'updated' 2018-08-28 11:23:25 -04:00
bresch 246b3ebc23 FailureDetector - Update failure detector logic in commander. 2018-08-28 11:23:25 -04:00
bresch 7908f75b8b FailureDetector - New class, first working simple implementation. Outputs PX4_ERR messages if roll or pitch is exceeded. 2018-08-28 11:23:25 -04:00
bresch 81a80e0d56 Airmode - Minor rewording 2018-03-23 10:35:08 +01:00
bresch c9d72c0d07 PWMSim : add MC_AIRMODE support 2018-03-23 10:35:08 +01:00
bresch 7ef3ae8828 Multicopter mixer - Recompute safe roll_pitch_scale if not in air-mode 
If not in air-mode the mixer is not able to apply positive boosting
and roll_pitch_scale is recomputed to apply symmetric - reduced - thrust.
This has the consequence to cut completely the outputs when the thrust is
set to zero.
 2018-03-23 10:35:08 +01:00
bresch 99ce9cc2a8 Airmode - Add support for UAVCAN 2018-03-23 10:35:08 +01:00
bresch 6976232a20 Airmode - Add airmode parameter for multicopter mixer 2018-03-23 10:35:08 +01:00
bresch 851c3657d1 Multicopter mixer - Use already computed value instead of recomputing it 2018-03-23 10:35:08 +01:00
bresch 803eb9ac32 Multicopter mixer - Simplify and correct mistakes of roll-pitch motor saturation handling 2018-03-23 10:35:08 +01:00
bresch 450e7c6774 Multicopter mixer - Remove arbitraty boost gain during saturation 2018-03-23 10:35:08 +01:00
bresch 096e2ec629 Multicopter mixer - Always unsaturate high-saturated motors when possible 2018-03-23 10:35:08 +01:00
bresch df194b1de4 Multicopter mixer - Rewrite unnecessarily complicated conditions 2018-03-23 10:35:08 +01:00
bresch 5da2842dbc Multicopter mixer - Always unsaturate low-saturated motors when possible 2018-03-23 10:35:08 +01:00
bresch aca30fc612 VTOL standard - Remove pitch trim 2018-01-29 09:32:51 -05:00
bresch 920cb7a1a1 VTOL standard - Group multicopter weights in update_vtol_state() 2018-01-29 09:32:51 -05:00
bresch d34767b871 VTOL standatd - Simplify multicopter weight in update_transition_state() 2018-01-29 09:32:51 -05:00
bresch 25bbe76530 FW att ctrl - Fix vehicle_attitude_setpoint timestamp logging when in stabilized (#7803) 2017-08-16 20:38:19 -04:00
bresch 81c46b6f92 VTOL Standard - Disable pusher-for-pitch strategy in manual control 2017-07-10 21:13:28 +02:00
bresch cdd7c57ded Multicopter mixer: When saturating, compute the new yaw value based on 
the reduced thrust value
 2017-05-30 12:01:42 +07:00
bresch 12182ec1fc Increase max yawrate default parameters for standard delta VTOL 
MC_YAWRATE_MAX 20  => 50

Signed-off-by: bresch <brescianimathieu@gmail.com>
 2017-04-06 12:13:14 +02:00
Mathieu Bresciani d67b6efda3 PixHawk Pro: Update mag IDs to have external higher priority 2017-03-07 23:43:28 +08:00