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3ca126cc461aae86ded60748fa668d41d8b552b2
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51 Commits
Author SHA1 Message Date
Silvan Fuhrer 3ca126cc46 Commander: improve description of COM_FS EPH, EPV, VEL_EVH params and increase FW and VTOL defaults 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer 4cd7dfa162 MissionFeasibility: add combined takeoff/landing requirement check 
Replace the existing check for the availability of a takeoff mission item with a combined
check for takeoff and landing item (or landing pattern). New param MIS_TKO_LAND_REQ
can be set to require only a takeoff, only a landing, both takeoff and landing, and
both or none. The latter is meant to be set if is e.g. deemed unsafe to start a flight
through a Takeoff WP without though defining a Landing - as then in case of a RTL the
vehicle doesn't follow a pre-defined path but instead only can do default RTL that especially
for FW and VTOL isn't always safe.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-21 18:03:21 +01:00
Daniel Agar 55be169e18 delete remaining PWM_MAIN/PWM_AUX/PWM_EXTRA parameters 2022-09-09 09:14:09 -04:00
Silvan Fuhrer 6ebc88fed7 ROMFS: vtol_defaults: reduce aggressiveness around roll and yaw axis 
For most VTOLs the param defaults for the agressiveness of the MC attitude controller
are too high, as VTOLs usually have high intertia and lot af drag due to wings and
can thus not rotate as fast as MCs.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Silvan Fuhrer 828992adf7 increase default of MPC_Z_VEL_MAX_DN and MPC_Z_V_AUTO_DN from 1 to 1.5 
I think most vehicle can safely decend with at least 1.5m/s, and having this
value too low makes Descents/Landings/RTLs unnecessary long.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Silvan Fuhrer c42667ac64 ROMFS: vtol_defaults: remvoe custom NAV_ACC_RAD, leave at param default (10) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Silvan Fuhrer 4614c1a0b4 ROMFS: vtol_defaults: increase default hover speeds 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Silvan Fuhrer 0d10491b89 ROMFS: vtol_defaults: remove MPC_TKO_SPEED from VTOL defaults 
The VTOL default was set to 1, while the param default is 1.5.
I don't see why it shuold be a different default for VTOLs and thus remove it.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Daniel Agar 98623f69a3 update mavlink submodule to latest 
- update MAV_TYPE VTOL usage for current mavlink
 2022-04-07 20:35:41 +02:00
Daniel Agar 36e6527013 ROMFS: MAV_TYPE cleanup 
- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary
 - cleanup MAV_TYPE param metadata and commander helper to only include
what's currently used in PX4
 2022-03-17 09:28:10 -04:00
bresch 76615f8df3 VTOL: set HTE horizontal speed sensitivity threshold low 2021-09-25 20:07:28 -04:00
Yannick Fuhrer 759a60ac82 Update rc.vtol_defaults 
based on our experience with VTOL it makes sense to change the yaw mode default. You always want your VTOL to yaw in transition direction before starting the transition.
 2021-05-01 10:45:14 -04:00
Daniel Agar c9a2d0ed34 IMU_GYRO_RATEMAX set system default to 400 Hz 
- MC default is still 800 Hz
 2021-03-02 10:08:49 -05:00
Daniel Agar b67aa77d29 ROMFS: use new param default mechanism 2021-02-12 08:27:47 -05:00
bresch 72e34e02ef VTOL defaults: increase tracking tolerance for VTOL planes 2021-02-05 20:13:30 +01:00
Daniel Agar d1a3590aac PWM: transition PWM_{MIN,MAX,DISARMED,RATE} -> PWM_MAIN 2021-02-01 08:53:33 +01:00
Silvan Fuhrer 195a900ecf change default of RTL_LAND_DELAY to 0 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-17 12:05:30 +01:00
Silvan Fuhrer 037c821142 ROMFS: increase max distance between waypoints for VTOL and FW to 5km 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-17 12:05:30 +01:00
Silvan Fuhrer 5382d3b8fb rc.VTOL_defaults: enable wind estimation in EKF by default and remove MPC_LAND_SPEED being, as it's just set to param default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-26 08:50:49 +01:00
Matthias Grob bda072512a rc.vtol_defaults: reduce maximum jerk to 4.5 m/s³ based on testing feedback 
@fury1895 reported very valuable feedback from testing
the acceleration feed-forward on VTOL:
> MPC_JERK_MAX 4.5 (from 5 on it felt too aggressive)
> MPC_JERK_AUTO 4
> some hovering, some transitions, and a mission. Everything good.
> I'd say you feel the difference in position mode and you see it in
> Auto modes. Great improvement!
 2020-03-30 09:58:39 +02:00
Daniel Agar bde36f0f4a ROMFS: rc.vtol_defaults limit inner loop rate (#13196) 
- temporary remedy for https://github.com/PX4/Firmware/issues/13149
 2019-10-16 12:27:06 -04:00
Silvan Fuhrer 536f073d02 VTOL: set RTL_TYPE default for VTOL to 1 (return to home via mission landing if available) 2019-08-21 10:15:06 +02:00
Silvan Fuhrer 9b46c1d8a9 Upated Babyshark VTOL config and vtol_defaults 
Updated the babyshark default  parameters for improved flight performance,
as well as two MPC parameters in vtol_defaults for smoother hovering with VTOLS"

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-07-04 11:26:01 -04:00
Julian Oes 3ebf030a02 ROMFS: change shebang from #!zsh to #!/bin/sh 
This was required for shellsheck.
 2018-12-19 07:36:43 +00:00
Daniel Agar 3a036021ba ROMFS defaults drop floating point decimal 2018-12-04 22:57:53 -05:00
Beat Küng 37338e442f NuttX shell scripts: replace operator == with = 
- NuttX supports both versions
- POSIX shell only supports '='
 2018-09-27 23:39:20 +02:00
Roman e1992a5036 ROMFS: enable weathervane by default for VTOL 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 13:30:32 -04:00
mcsauder 0d0fcb140c Updated rc.vtol_defaults to correct PWM_AUX behavior for VTOL airframes. Added PWM_AUX_RATE to rc.vtol_default and set parameters directly instead of environment variables. 2018-09-17 20:28:09 -04:00
mcsauder 4ea3306ec2 Set parameters directly rather than script variables in VTOL airframe config files and alphabetize lists. 2018-09-04 10:23:27 +02:00
mcsauder 2512f6e30e Format and comment fw, mc, vtol, and ugv vehicle apps and default startup scripts. 2018-07-13 11:02:26 +02:00
Daniel Agar 28d1ec8afe VTOL defaults set MIS_TAKEOFF_ALT 20 and remove tuning (#8481) 2017-12-17 00:58:23 -05:00
Matthias Grob bfb4de0e66 startup scripts/mc_pos_control: renamed parameters after refactor 2017-03-22 15:21:34 +01:00
Lorenz Meier 73689e65ee Update VTOL setup for PWM outputs 2016-12-13 09:18:59 +01:00
Daniel Agar 6d655d2d6e startup remove old EKF PE_ params (#5533) 2016-09-26 22:51:43 +02:00
Mark Whitehorn 545152f676 remove "transitional support" (#5378) 2016-08-24 23:05:39 +02:00
Andreas Antener 433eeb3d09 make landing in RTL default for VTOL capable vehicles 2016-04-21 09:32:33 +02:00
tumbili 7d893703d7 ensure suitable PWM min/max/disarmed param values for multirotor and vtol 2016-03-01 09:45:42 +01:00
tumbili 457dc6a0a4 vtol defaults: use parameters for pwm values 2016-03-01 09:36:23 +01:00
sander 9b03854fda Change MPC_ACC_HOR_MAX default to 2.0 2016-02-28 15:57:21 +01:00
Andreas Antener 770c020117 removed lower default from vtol config, added flight tested Fun Cub parameters 2016-02-17 10:49:28 +01:00
Andreas Antener 570fb97163 updated timeout logic to work only on waypoints with forced headings, updated param docs accordingly 2016-02-15 23:29:47 +01:00
Andreas Antener eb5b8a32ee transition alignment will force heading now and go to RTL if it cannot reach it in time, handle mission failure correctly, reset after mission update, issue message with actual problem 2016-02-15 23:29:38 +01:00
Andreas Antener bb4decfa8b implemented basic heading timeout for waypoint acceptance, added parameter for yaw error on waypoint heading acceptance, set yaw timeout for vtol default 2016-02-15 23:26:28 +01:00
Andreas Antener 4e0559eacf updated mpc parameters for sitl standard vtol 2016-02-08 11:09:12 +01:00
Andreas Antener e2328fcd72 use default acceptance radius for takeoff in MC case, set VTOL radius to 3 2016-02-08 11:09:11 +01:00
Lorenz Meier efcc4f81e2 ROMFS: Do not set gains which are similar between platforms 2015-08-30 19:37:41 +02:00
Lorenz Meier cf4778b662 Update VTOL EKF default params 2015-06-27 11:13:37 +02:00
Lorenz Meier cf56db21a3 Better defaults for filter tuning params 2015-03-15 12:00:48 +01:00
Roman Bapst 0e79cbf234 fixed startup for VTOL -> some variable names were changed lately 2014-12-18 10:43:32 +01:00
tumbili 89e2e08de0 removed white space noise 2014-12-15 22:47:10 +01:00