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64 Commits
Author SHA1 Message Date
Silvan Fuhrer 2ca4269464 TECS: separate integral gains for throttle and pitch loops 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 01f891618b TECS: move to new control loop architecture 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst d0e8b882a2 TECS: added alpha filter classes to energy rate and tas derivative 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
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
Silvan Fuhrer b58e270fd4 FW Position Control: remove manual climbout mode trigger via pitch stick 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-16 14:41:01 +01:00
Silvan Fuhrer 67a0e1993a FW Position controller: add option to swap throttle and pitch stick 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-02 22:49:05 +01:00
Daniel AgarandRomanBapst c01fabaf11 FW move altitude first order hold (FOH) and loiter to position special cases from navigator to position controller 
Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2020-10-06 16:57:12 -04:00
Daniel Agar 560c22e612 fw_pos_control_l1: pass time through from run 2020-08-10 10:51:52 -04:00
Daniel Agar 9a1ca00285 fw_pos_control_l1: replace sensor_baro with vehicle_air_data 
- controllers shouldn't be accessing raw sensor data directly
 2020-07-17 09:42:19 -04:00
Matthias Grob e9eae1bd76 Refactor: Name manual_control_setpoint the same way everywhere 2020-06-22 12:06:27 -04:00
Daniel Agar 87250ca47f move ecl L1, TECS, and data validator to PX4/Firmware 2020-06-18 19:26:30 -04:00
RomanBapst 2b276a3ad8 FixedWingPositionControl: set waypoint straight ahead for front transition 
- this fixes the case where the navigator publishes a loiter waypoint or any
waypoint which is too close to the vehicle.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-26 22:59:07 -04:00
Daniel Agar 59a7262c31 FW use lpos 2020-03-31 15:03:23 +03:00
Daniel Agar 3dc23afb3e fw_pos_control_l1: move to px4::params 2020-02-02 21:04:21 -05:00
Daniel Agar 21a8d7db7f WorkItem modules: Run() shouldn't be public 2020-01-22 12:03:03 -05:00
Daniel Agar 6630087654 TECS: remove height rate complementary filter 2020-01-16 11:04:28 -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 633469dd8c FixedWingPositionControl: ommit */ with ///< doxygen comments 2019-11-28 11:21:05 -05:00
Silvan Fuhrer ebdc29bc5f Airspeed Selector: enable airspeed_validated in control modules (#12887) 
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
 2019-11-21 14:14:25 -05:00
Beat Küng 3198610f85 src/platforms: move all headers to platforms/common/include/px4_platform_common 
and remove the px4_ prefix, except for px4_config.h.

command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done

Transitional headers for submodules are added (px4_{defines,log,time}.h)
 2019-10-30 11:48:47 +01:00
JaeyoungLim 71fbe58e20 fw_pos_ctrl_l1: enable loiter type offboard position setpoint for Fixedwing vehicles 
* Use NAV_LOITER_RAD when provided offboard position setpoints
 2019-10-28 17:42:27 -04:00
Daniel Agar 26364d44c9 px4_work_queue: command line status output and shutdown empty queues 
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
 * WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
 2019-10-02 12:23:17 -04:00
Daniel Agar c8e59c4e39 parameter_update use uORB::Subscription consistently 2019-09-29 10:49:03 -04:00
Daniel Agar 7162000e80 fw_pos_control_l1: update orb_publish to uORB::Publication<> 2019-09-02 16:20:44 -04:00
Beat Küng f8e0441e7b src/platforms/common: move to platforms/common 
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
 2019-08-30 07:59:44 +02:00
Daniel Agar c66fc85630 fw_pos_control_l1: move to WQ with uORB callback scheduling 2019-08-07 23:13:21 -04:00
Daniel Agar e43e37cc46 fw_pos_control_l1 add new simple min groundspeed 2019-08-07 18:50:42 +02:00
Daniel Agar a917f22b65 sensors: create vehicle_acceleration module (#12597) 2019-08-07 05:05:48 -04:00
Daniel Agar 2ad12d7977 sensors: create vehicle_angular_velocity module (#12596) 
* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
 2019-08-06 12:55:25 -04:00
Daniel Agar 4bef573497 fw_pos_control_l1 move to new uORB::Subscription 2019-06-06 20:00:02 -04:00
Daniel Agar 2c63e335e9 uORB::Subscription subscribe directly to uORB device node object 2019-06-03 17:06:21 -04:00
Daniel Agar ec3bc4ee5b fw_pos_control_l1 reset internal takeoff and landing state when arming 2019-04-03 08:48:30 +02:00
Daniel Agar 45d7165eb3 fw_pos_control_l1 skip wind > max airspeed logic if airspeed invalid 
- cleanup airspeed validity check logic
 2019-01-12 14:19:53 +01:00
Daniel Agar 60f2a92e3d replace <cfloat> with <float.h> 
- <cfloat> isn't available in the NuttX c++ library
 2019-01-06 19:20:57 -05:00
Alvar Martti 63651da309 FW bug in checking if landing point has been passed 
* the bearing difference between the waypoints and aircraft to landing point should be wrap_pi'ed
 2018-12-21 10:03:31 -08:00
Daniel Agar a6dabbbae7 Landing slope move to standalone library 
- this is shared by both the FW position controller and navigator's
   missiong feasibility checker
 2018-08-31 14:43:51 -04:00
Daniel Agar 5207c420c3 generic position controller status/feedback message 2018-08-31 14:43:51 -04:00
Philipp Oettershagen c997159e32 Fixed-wing autoland: Introduce parameter to enable/disable the early activation of the landing configuration 2018-08-24 10:13:07 -04:00
Philipp Oettershagen 4c4f585ad5 Fixed-wing autoland: 1) The landing configuration (flaps, different airspeed) is now already set during the loiter down instead of at the start of the landing approach. This is done to avoid any mode changes (which can cause altitude/airspeed jumps) so close to the gorund. 2) A scaling factor for the TECS throttle time constant was added which allows tighter throttle control during the landing (i.e. close to the ground) than high up in the air 2018-08-24 10:13:07 -04:00
Roman Bapst 8b1381ead9 update ecl l1 and usage for new roll angle setpoint slew rate limit (#10005) 
* added ability to slew rate limit the roll angle output of the l1 controller
* FixedWingPositionControl: this avoids the steps in roll angle setpoint which occur when the controller
switches to a new waypoint
* GroundRoverPositionControl: adapted to new l1 API
 2018-08-01 14:01:41 -04:00
Philipp Oettershagen 753ad0e0df Fixed-wing autoland: Fix bug that could cause a steep pitch increase and thus aircraft stall during the flare (#9674) 2018-06-14 11:29:03 -04:00
Daniel Agar ea3acb7121 cmake remove circular linking and reorganize 
- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link
 2018-04-29 21:48:54 -04:00
Daniel Agar d75fd72c02 stop manually defining physical constants 2018-04-19 07:24:58 +02:00
Daniel Agar a78ab02144 fw_pos_control_l1 don't store TECS and L1 parameters 2018-04-12 00:46:49 -04:00
Daniel Agar 29b3950747 move geo and geo_lookup to PX4/ecl 2018-03-26 23:16:55 -04:00
Beat Küng b512d11e54 refactor fw_pos_control_l1: replace BlockParam* with Param* classes 
Also change naming convention: add _ prefix to class attributes
 2018-03-22 08:19:08 +01:00
Daniel Agar b6b7fddb9f TECS and L1 switch to matrix math library (#9101) 2018-03-19 18:09:54 -04:00
Daniel Agar d1dca4e74c fw_pos_ctrl_l1 move takeoff to control_takeoff() 2018-03-14 16:39:19 -04:00
Daniel Agar c72340e039 fw_pos_ctrl_l1 move landing to control_landing() 2018-03-14 16:39:19 -04:00