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Author SHA1 Message Date
RomanBapst 269ce07cb5 land detector: log more states in order to facilitate debugging ground contact state 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-04 16:43:33 +02:00
RomanBapst cd4378b8c6 vtol: init boolean consistently 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-03 18:58:26 -04:00
RomanBapst 171c26373b land_detector: robustify land detection by using distance to ground info 
- if distance to the ground is available then hysteresis times will be increased
by a factor of 3 if vehicle is higher than 1m above ground

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-04-27 08:19:19 +02:00
RomanBapst f6a34e1e80 vtol_type: reset accel to pitch integrator 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-04-27 07:43:38 +03:00
RomanBapst b66ae5f2d4 tecs: use raw inertial acceleration for true airspeed complementary filter 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-03-31 20:12:40 -04:00
RomanBapst 5b08362ba3 position_controller_status message: added comments regarding NAN 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-03-31 11:23:33 +02:00
RomanBapst 82a2126f97 TECS: add feedforward gain for total energy balance rate 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-03-15 11:47:07 -04:00
RomanBapst b1e442b830 vehicle_local_position: added bitfield for terrain estimate sensor info 
- indicate how the distance to the bottom is estimated as this is important
to know in the context

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-17 12:06:59 +01:00
RomanBapst 96dfa7fc71 ROMFS: set cruise throttle correctly for all gazebo vtol configs 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-14 09:58:37 +03:00
RomanBapst 47364ce8d6 updated tuning for gazebo plane airframe config 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst f05599caff tecs: use speed derivative provided by local position 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst e546584555 tecs: moved trivial getter methods to header file 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Roman BapstandMathieu Bresciani 701c105ab6 Update src/lib/tecs/TECS.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst fa559aef43 TECS: stop learing integrator if airspeed is not available, but don't zero it 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst d4d1c0fe01 TECS: some cosmetics 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 97cc1e25dd TECS: hande pitch and throttle integrator saturation consistently 
- don't decay integrator during saturation but prevent it from being learned
into the direction which causes more actuator saturation

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 77627a08ca TECS: don't allow speed height weights to be larger than one 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 987c320825 TECS: removed unused parameter 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 5c4c2c240c tecs: dot not clip throttle integrator during saturation but only allow 
it to propagate into a direction which does not saturate

Signed-off-by: RomanBapst <bapstroman@gmail.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 447e14906c TECS: log more TECS states to enable better analysis 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 8823f5e1ec TECS: added method to get SKE weighting 
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
RomanBapst f97dcde4e2 GeofenceBreachAvoidanceTest: added tests for max dist to home 
Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
RomanBapst 3fa15cec91 GeofenceBreachAvoidance: improve behavior when using max dist to home option 
- ensure that the vehicle is loitering with sufficient clearance to the boundary

Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
RomanBapst 0ac597fba8 Use new GeofenceBreachAvoidance from Navigator 
Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
RomanBapst e536868104 Add GeofenceBreachAvoidance class 
Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
RomanBapst 0871f0f52d vtol: refactor of maximum pwm value settings for main and alternate motors 
- main motors are the ones which are meant to be used as propulsion in fw mode
- alternate motors are the ones usually meant to be switched off in fw mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 15:32:00 +01:00
RomanBapst 68f27ba7b7 navigator: deactivate line following after backt-ransition and before landing 
- especially when there are strong winds it's better to just go straight
to the landing point instead of trying to follow the planned path

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst b63f756745 navigator: don't execute land pattern if vtol in rotary wing mode 
- if vtol and in rotary wing mode then don't execute the mission landing
because it's designed to be flow as a fixed wing
- if vtol and in rotary wing mode and mission land is available then fly directly
to landing point and don't go home!

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 6c3f413379 mission: reset work_item_type during mission inactivation 
- this fixes a race condition which happens when an RTL is triggered
during the final approach of a mission landing. In that case the mission inactive
method is never called.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst b63f202b3c various fixed for bugs encountered during testing 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst cfb3cdc82f rtl: use math namespace 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 94d3ab28ee rtl: fixed computation of return altitude when mission landing is available 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 12875f7869 mission: when land start marker present, look for loiter to altitude item 
instead of using the previous waypoint as landing target
- the previous waypoint could be miles away

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst e0c394a00b mission: fixed bug in computation of landing altitude 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst a4a03e86da mission: be more intelligent about saying that we are on a mission landing 
- previously the decision of being on a landing pattern was taken by just
looking at the current mission index. However, even if the current mission
index indicates a landing pattern the vehicle could be at an arbitrary location, far
from being established on the pattern.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 29c3ce6d5d reworked RTL cone implementation 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst dad5ce1e41 rtl: set proper acceptance radius for move_to_land item 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 6ff95ae645 RTL: implement proper RTL sequence for VTOL 
- descend to RTL descend altitude
- transition
- move to land waypoint
- loiter and then land

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 197a21a22e rtl: for fixed wing (also vtol) make the descend state of RTL use type 
NAV_CMD_LOITER_TO_ALT

- this allows vtol to track the loiter circle during the transition instead
of trying to fly to the landing position

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst bb2826ad27 rtl: for vtol first desend down to RTL descend altitude before doing a transition 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst e81d5daa66 rtl: if very close to home then do not descend if higher than RTL_DESCEND_ALT 
before reaching home

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst d502292d07 mission: for vtol takeoff don't use next waypoint as target during transition 
- this caused the navigator to use the next waypoint (after the vtol takeoff item)
to be used as target during the transition. If the altitude of that waypoint
was much higher than the takeoff altitude then there were FOH effects
after the transition which caused the vehicle to first descend before
climbing again.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-02 02:18:59 +01:00
RomanBapst fe2e299046 FlightModeManager: small rebase change 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-12-30 10:25:08 -05:00
RomanBapst fd18ba6496 tiltrotor: allow to finish transition if groundspeed is below cruise speed 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-12-11 09:40:47 +03:00
Roman Bapst 842d98d572 AirspeedValidator: fuse true airspeed before sideslip (#742) 
- the states can be initialised more accurately using an airspeed measurement
and the wind estimator uses the first measurement to initialise

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-12-11 09:37:09 +03:00
RomanBapst 355e3ea986 vtol_type: use correct pwm device path in init function 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-08-12 08:55:23 +02:00
RomanBapst 01535a726a vtol_type: reset quadchute filter states if TECS is not running 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-08-12 08:55:23 +02:00
RomanBapst f792cc7b6b publish battery_dangerous message if battery level is dangerous 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-07-10 09:37:23 -04:00
RomanBapst 120f188ada rtl: do not use cone logic for vehicle flying as fixed wing 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-06-25 09:17:23 -04:00
RomanBapst af5c48b869 navigator: always make sure that we set target lat/lon for fixed wing 
takeoff

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-06-05 21:52:12 -04:00
RomanBapst bd154bf33c FixedWingAttitudeControl: removed parachute from gimbal control group 
- parachute is handled separately based on flight termination in px4io

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-05-25 11:44:35 -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
RomanBapst 0779a0502c takeoff: only set _can_loiter_at_sp if takeoff position has been set 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-26 22:59:07 -04:00
RomanBapst 338dd45022 vtol: do not control deceleration during backtransition manual, acro or stabilized 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-14 11:25:09 +02:00
RomanBapst 0d8d4cd6e0 SITL configs: improve L1 tracking and increase backtransition duration 
-decrease L1 period for tighter mission tracking in fw mode
- increase backtransition duration, we can now do this is we have active
deceleration control

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 23:54:48 -04:00
RomanBapst 2522435f9c vtol_att_control: got rid of VT_B_DEC_SP 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 13:45:52 +03:00
Roman BapstandMathieu Bresciani 47f0e91076 Apply suggestions from code review 
Co-Authored-By: Mathieu Bresciani <brescianimathieu@gmail.com>
 2020-04-02 13:45:52 +03:00
RomanBapst 005bc97959 tiltrotor: enable l1 and deceleration control during transition 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 13:45:52 +03:00
RomanBapst a916cc2a26 better comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 13:45:52 +03:00
RomanBapst 0184d8196f vtol_type: calculate backtransition acceleration in forward direction 
- use track angle to calculate the current forward acceleration

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 13:45:52 +03:00
RomanBapst 47b5d51369 vtol_type: added explicit control over deceleration during backtransition 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 13:45:52 +03:00
RomanBapst baf5e86f81 transition flighttask: don't control yaw and altitude during trans 
Signed-off-by: RomanBapst <bapstroman@gmail.com>

# Conflicts:
#	src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
 2020-04-02 13:45:52 +03:00
RomanBapst b6a80253d7 run l1 during transition 2020-04-02 13:45:52 +03:00
RomanBapst 4ddf0f9dc1 ekf2_main.cpp: fixed bug in the calculation of the mag bias calibration time 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-03-10 08:54:04 +01:00
RomanBapst 3ef6eba34c prearmCheck: vtol cleanup 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-01-28 10:14:32 -05:00
RomanBapst 27e9b1e3d4 updated ecl 2020-01-24 16:49:17 +03:00
RomanBapst 0e90448e52 navigator: add position setpoint reset helper with safe defaults 
- use in reset_triplets()
 2020-01-22 18:03:25 -05:00
Roman Bapst fa83f3799a navigator: set acceptance radius even for IDLE position setpoint 2020-01-21 11:14:43 -05:00
RomanBapst 3e90cbe686 mission: explicitly set backtransition mission item altitude 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-01-17 12:59:36 -05:00
RomanBapst 4d4481a384 gazebo_sitl_multiple_run.sh: fixed comment 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-01-10 16:51:33 +01:00
RomanBapst eeb47f6148 gazebo multiple sim script: cleanup 
- make sure to kill all px4 instances and gazebo client when exiting
- add arguments to specify number of vehicles and vehicle model
- exit for now if vehicle model is not iris, since needs changes in
sitl_gazebo submodule

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-12-26 12:03:32 +01:00
RomanBapst 4c35b3aadc navigator: do not use fixed wing acceptance readius if in rotary wing mode 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-12-24 12:52:10 -05:00
RomanBapst 634e8d206a tiltrotor SITL config: increase transition time from 1.5 to 5 seconds 
- avoids tilting the motors forward too fast

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-12-03 13:57:58 +03:00
RomanBapst 133a6e38cc commander: make battery warning state sticky while armed 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-11-29 10:23:08 +03:00
RomanBapst e360dd34f9 battery: make battery states not sticky 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-11-29 10:23:08 +03:00
RomanBapst 216556e7f6 commander_params: mention definition of battery states in the description 
of the battery failsafe mode parameter

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-10-28 16:18:42 -04:00
RomanBapst 06a902f598 rcS: do not wipe next flight UUID parameter when resetting parameters 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-10-23 16:54:17 +01:00
RomanBapst 4cc7bb7296 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-10-21 09:08:27 +03:00
RomanBapst b1a9d4b4c7 updated rtl parameter descriptions. 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-10-21 09:08:27 +03:00
RomanBapst 6bfb50df8a run arm authorization as last pre-arm check, as it used to be implemented 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-10-15 15:44:24 +01:00
RomanBapst cfba41d2f4 posix configs: set trigger interface to mavlink as it's the only one 
supported on posix

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-08-06 08:08:56 +02:00
RomanBapst cd85f584cf camera trigger: do not try to start if interface was not created 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-08-06 08:08:56 +02:00
RomanBapst 43d006aff2 mavlink command sender: give channels more time to request command 
- if a channel receives an ack for a command, do not immediately remove the
command item from the send queue but wait until the next ack timeout occurs.
This gives other mavlink channels time to try to put identical commands into
the send queue.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-08-05 12:07:05 +02:00
RomanBapst 71791fa8f8 mavlink_command_sender: don't try to resend command to instance which 
did not request this command

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-08-05 12:07:05 +02:00
RomanBapst 807cfc8aac mavlink: fix race condition in mavlink_command_sender 
- if we receive an ack for a command through a specific mavlink channel
then do not drop the corresponding command in the queue if this specific
mavlink channel did not issue the command. If we don't do this we can
end up in a situation where we associate an ack coming through a specific
mavlink channel to a command in the queue which was not requested by this mavlink channel.
Moreover, the actual command for which the ack was meant remains in the
queue and eventually triggers a timeout.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-08-05 12:07:05 +02:00
RomanBapst b75d2ce982 set trajectory generating flight task as default (MPC_POS_MODE = 3) 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst a8071589bc increase default fixed wing rate controller I term 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst 77fd290b0c added default expo for yaw and x/y/z velocity demand in position mode 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst 81ae85015f changed defaults of MPC acceleration limit parameters 
- vehicle will fly less aggressive
- it does not make sense to set the lower acceleration limit to something
that exceeds gravity if most of the vehicles do not support reverse thrust

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst a5d3e10c67 MPC_MAN_Y_MAX: changed default from 200 to 150 deg/s 
- we have set the maximum yaw-rate MC_YAWRATE_MAX to 200 degrees and it
makes senses to leave a bit of margin between what the user can demand
and what the limits of the vehicle are

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst f0cdd9be60 MPC_Z_VEL_I: changed default from 0.02 to 0.1 
- generally better attitude tracking
- much better altitude control immediately after takeoff (hover throttle offset)
- faster landing detection

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst c0053409a3 ak09916: fixed driver not reporting magnetometer as external 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-25 13:17:08 +02:00
RomanBapst 2fbb70d9ca mc_att_control: output zero throttle in manual mode when landed 
- MPC_MANTHR_MIN is used as minimum throttle in attitude control mode when
the vehicle is in air. This is useful to retain some control around roll and
pitch axis if airmode is not enabled and the user demands zero throttle.
However, when the vehicle is landed there is not need to keep the throttle
at a higher value than zero.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-23 17:12:45 +02:00
Roman Bapst b54a43fccc UAVCAN driver: support throttle linearization (THR_MLD_FAC parameter) 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-09 15:10:54 -04:00
RomanBapst 7c8fa82e76 rtl cone angle: expose a few values to the user 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-05 18:05:09 +02:00
RomanBapst 81ee40eac8 rtl: implemented RTL based on cone shape 
- user defines a cone half angle which defines the RTL altitude behavior
- if vehicle is outside the cone it will climb until it intersects the cone
and then return at this altitude.
- if vehicle is inside the cone or above the predefined return altitude (RTL_RETURN_ALT)
then it will return at the current altitude

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-05 18:05:09 +02:00
RomanBapst 0b2af5c519 FixedWingAttitudeControl: don't lock integrator during transition 
- airframes that are not well trimmed rely on the integrator to learn
the offset. This change can help improve altitude hold during transitions

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-06-28 09:54:40 -04:00
RomanBapst 7bba5a7287 vtol_configs: replaced VT_MOT_COUNT with VT_MOT_ID 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-06-27 20:14:10 +02:00