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Commit Graph
404 Commits
Author SHA1 Message Date
Hamish Willee e6eed43648 Spelling errors (#19935) 2022-07-27 14:33:16 +10:00
Daniel Agar a73efd9c4f NuttX carry minimal c++ cmath (replacing Matrix stdlib_imports.hpp) 2022-07-12 08:05:06 -04:00
mcsauder 6b0788ff46 Standardize variable naming and formatting across vehicle attitude controller files. 2022-05-21 12:22:18 -04:00
Silvan Fuhrer d8444df11c Set tailsitter flag via vehicle status 
Removes the necessity of including vtol_type.h in other modules.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Daniel Agar 3d590af115 mc_att_control: only apply quat reset if estimate is newer than setpoint 2022-04-25 21:25:29 -04:00
Daniel Agar 6135bb384b cleanup module callback registration failed errors 2022-03-23 20:44:50 -04:00
Jukka Laitinen 9449ed6e66 Add support for protected build in drivers, systemcmds and modules Kconfig 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-18 07:58:58 +01:00
Daniel Agar 019eaf7038 multicopter: minimize dt jitter by using estimate timestamp_sample 2021-12-17 17:52:28 -05:00
Matthias Grob fabf865411 Use backwards compatible manual_control_setpoint instead of manual_control_input 2021-11-09 16:05:25 +01:00
Julian Oes 6a6b8d49fc msg: re-use manual_control_input in setpoint 
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
 2021-11-09 16:05:25 +01:00
Peter van der Perk d5e3e9a7bc [Kconfig] Decompose Kconfig, now each module has its own Kconfig 
Which is better for versioning and decomposability
 2021-10-07 10:09:01 -04:00
bresch 9681f819a8 mc_att: inject identification signal in att control output 2021-10-02 18:12:05 -04:00
Daniel Agar b5430c22c4 AlphaFilter: move from ecl -> mathlib 2021-07-15 10:38:24 -04:00
Beat Küng 629f7ba15b params: ensure short description is only a single line 
So a UI can display it properly
 2021-03-23 12:55:11 -04:00
Jaeyoung-Lim 6b4ccaa53e Handle invalid yaw rate setpoints 2021-03-14 00:01:57 +01:00
Daniel Agar bb12fce66c delete RATTITUDE flight mode 2021-03-09 10:47:00 -05:00
Matthias Grob c96d9a79b8 mc_att_control_params: remove frequency unit from attitude gains 2021-03-08 11:14:01 -05:00
Daniel Agar d0c9a5fc93 OFFBOARD mode architecture overhaul (#16739) 
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
 - FlightTaskOffboard not needed at all
 - bypass position_setpoint_triplet entirely (start removing extraneous fields)
 - simplify offboard_control_mode to map to supported control modes
 2021-03-05 09:39:46 -05:00
Lorenz Meier 15219fbfe5 MC att control: Robustify for throttle scaling 
PX4 can support negative (reverse) throttle and the multicopter controller is not expecting this input range. This hardens it against it.
 2021-02-14 11:17:28 +01:00
Daniel Agar 967d35a6b6 rate limit most parameter_update subscriptions 
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
 - limit modules from updating faster than once per second
 2021-01-10 21:09:15 -05:00
Daniel AgarandPaul Riseborough 0f411d6820 Multi-EKF support (ekf2) 
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
    - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
 - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
 - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
 - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
 - ekf2 single instance mode is still fully supported and the default

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2020-10-27 10:56:11 -04:00
Hamish Willee 979243f38f params: make parameter units more consistent (#15502) 2020-08-24 11:33:08 +02:00
Daniel AgarandMathieu Bresciani b7f9ff6747 mc_att_control: don't use auto for primitive types 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2020-08-10 14:07:42 -04:00
Daniel Agar 0781fdd813 mc_att_control: don't store vehicle_status copy 2020-08-10 14:07:42 -04:00
Daniel Agar 8c42c38650 mc_att_control: don't store full vehicle_land_detected copy 2020-08-10 14:07:42 -04:00
Daniel Agar 41a1675c53 AttitudeControl: only normalize attitude setpoint once on update 2020-08-10 14:07:42 -04:00
Daniel Agar 1c42d12491 mc_att_control: don't keep att copy and avoid unnecessary Quatf construction and copies 2020-08-10 14:07:42 -04:00
Daniel Agar 5e739f66d6 mc_att_control: inline control attitude call and rate publication 
- this makes it clear that we didn't need to keep local copies of the rate setpoint
 2020-08-10 14:07:42 -04:00
Daniel Agar 45ee16d236 mc_att_control: use attitude timestamp for dt 2020-08-10 10:51:52 -04:00
Steve Nogar 48bf9268c3 rename Mixer to MixerBase to resolve case-insensitivity on mac 2020-07-31 09:37:49 -04:00
Matthias Grob 0b391fdcfc mc_att_control: add gradual3 function to cover hover thrust rescaling 2020-07-24 11:31:15 +02:00
Matthias Grob e9eae1bd76 Refactor: Name manual_control_setpoint the same way everywhere 2020-06-22 12:06:27 -04:00
Matthias Grob bcd771d832 Update ecl and adapt to new AlphaFilter location 2020-06-17 09:29:35 -04:00
Daniel Agar 31fe7af454 selectively increase optimization -Os -> -O2 
- targetted at modules/libraries that benefit without drastically
increasing flash usage
 - ignored on boards with CONSTRAINED_FLASH set
 2020-06-04 20:59:52 -04:00
Matthias Grob e482081f91 mc_att_control: grab attitude setpoint before processing estimate reset 2020-05-26 15:07:45 +03:00
Matthias Grob 12ee75700a mc_att_control: adapt setpoint on estimation reset 
There was a gap where the attitude controller already used the estimate
with a new reference but the last known attitude setpoint was still based
on the old reference. This leads to a big glitch on reset because until
the attitude setpoint gets updated the error is wrong and as large as the
attitude delta of the reset.
 2020-05-26 15:07:45 +03:00
Matthias Grob cf658494ad mc_attitude_control: keep last attitude setpoint as member 
The last attitude setpoint that is known from the position controller
is now kept inside the AttitudeControl class such that we don't
keep the whole vehicle_attitude_setpoint struct and always copy over from
there to run an update step.
 2020-05-26 15:07:45 +03:00
Matthias Grob 1a3c692e4e mc_att_control: add an optional stick tilt input filter 2020-05-20 19:30:19 +02:00
Daniel Agar 326d8efc16 move attitude controllers to new wq:attitude_ctrl 2020-04-27 21:34:35 -04:00
Matthias Grob b8576cccc8 AttitudeControlTest: add scale testing for yaw weight 2020-03-28 17:51:59 +01:00
Matthias Grob 96bbc63eb1 AttitudeControl: let the user set yaw weight directly via parameter 
instead of infering the yaw weight from the gains which can lead to
unexpected results depending on the particular vehicle tuning.
 2020-03-28 17:51:59 +01:00
Matthias Grob d313b0417a AttitudeControl: Take advantage of Quaternion.canonical() 
Introduced by @kamilritz in
https://github.com/PX4/Matrix/pull/116/
 2020-03-17 10:01:42 +01:00
Matthias Grob f90d3671c0 vehicle_attitude_setpoint: get rid of unused q_d_valid flag 2020-02-27 09:17:52 +01:00
Daniel Agar 21a8d7db7f WorkItem modules: Run() shouldn't be public 2020-01-22 12:03:03 -05:00
Daniel Agar 22a005c9f4 delete module's redundant print_status() 
- we can already get the running status from ModuleBase and the other misc information is already available through perf or uORB
 2019-11-30 18:22:19 -05:00
Daniel Agar 0cc250194d VTOL: explicitly start all FW & MC controllers in VTOL mode 2019-11-30 12:58:36 -05:00
Matthias Grob 28755d5bbf att_control: remove resetting the attitude setpoint 
since the position controller publishes them again already when disarmed.
 2019-11-24 11:06:03 -05:00
Daniel Agar 75da6e351b mixer: organize by type 2019-11-22 16:48:10 -05:00
Daniel Agar 79dc676c8f mixer: move MixerGroup out of Mixer hierarchy and delete mixer.h header 2019-11-22 15:00:25 -05:00
Daniel Agar 84fe64b1c2 create new multicopter rate controller module (mc_rate_control) split out of mc_att_control 2019-11-19 17:03:11 -05:00