fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 03:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity
41,509 Commits 852 Branches 161 Tags
4dbdf23346460c8c4c745fa371d4c0285392f2af
Commit Graph
406 Commits
Author SHA1 Message Date
Daniel Agar 9e7db0ed54 merge vehicle_angular_acceleration into vehicle_angular_velocity (#20531) 
- vehicle_angular_velocity and vehicle_angular_acceleration are produced together from the same input data, consumed together, and share the the same metadata (timestamps)
 - individually these topics each have 16 bytes of metadata (2 timestamps) for 12 bytes of data (x,y,z float32)
 2022-11-14 11:03:59 -05:00
Silvan Fuhrer 0d7a029bfc FW Attitude controller params: fix meta data for Acro rates 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-14 16:25:46 +01:00
JaeyoungLim a90857f651 FW separate reset integrals for messages (#20502) 
This commit separates integral resets for attitude and rate control setpoints
 2022-11-01 06:06:27 +01:00
Thomas Stastny 498937c56c fw rate control: initialize rate control resets to false in stabilized mode 
before there was a corner case where if in an auto mode that sets a reset command on the attitude setpoint message (e.g. auto takeoff), if the mode was then switched stabilized, this reset bool would never be changed back to false and the integrators would reset every cycle
 2022-10-28 09:26:51 +02:00
Hamish Willee 96a305322a params/uorb docs: rename mixer to control allocation (#20447) 2022-10-24 13:22:26 +02:00
Silvan Fuhrer 7bc90c7f00 FW rate controller gains: put default for all IMAX gains to 0.4 
The previous default for yaw and roll was 0.2, which is very low, and for wheel was
1, which is very high. A value of 0.4 makes sense to me for all axes.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-10-17 10:27:09 +02:00
Silvan Fuhrer 4bbe8f3c0d FW rate controller gains: open up some limitis for the rate controller gains 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-10-17 10:27:09 +02:00
Silvan Fuhrer e2d1e79614 FW rate controller gains: reduce max FW_YR_I from 50 to 1 
I guess this was a left over from times where the controller had a completely different structure,
a value of 50 is well outside of reasonable range (50x the default).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-10-17 10:27:09 +02:00
Silvan Fuhrer ea44c89366 FW rate controller gains: reduce max FF gains to 1 
The previous max of 10 for the FF gains seems a bit very high for me, well outside
of reasonable reange.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-10-17 10:27:09 +02:00
Silvan Fuhrer 9b3cb6c758 FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body) (#20330) 
* FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FW Attitude controller: do manual control polling before attitude setpoint polling

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-30 13:45:20 +02:00
Silvan Fuhrer 300288b57e FW Attitude Controller: fix polling of rate setpoint for tailsitter 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-22 19:13:36 +02:00
Jaeyoung Lim 9245d71397 Fixedwing att control rate loop cleanup 2022-09-14 13:53:58 +02:00
Silvan Fuhrer e3e021a1c2 FW Attitude Control: rename att_control to angular_acceleration_setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer e595952ed4 FW Attitude Control: add @brief, @param and @return for control_attitude() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer f67d80460f FW Attitude controller: update copyright headers 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim bcdf61b65f Fix format 2022-08-19 09:40:48 +02:00
Silvan FuhrerandMathieu Bresciani b87afb138c Update src/modules/fw_att_control/FixedwingAttitudeControl.cpp 
reduce code duplication

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim 70134296ed Fix parameter description from review comments 
This commit makes the parameter description of the fixewing attitude controller more descriptive
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer c54f62e17a FW attitude control: fix ff terms and constrain outputs to (-1, 1) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer dadd4f39ad FW attitude control: fix yaw rate publishing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 6724e4af26 FW attitude control: manual stick input sets yaw rate setpoint, not rudder directly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 22067a1128 FW attitude control: set FF gains for rate controller to 0 as FF controls is handles outside 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 57e052d02d FW attitdue controller: use allocator status for anti-windup 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer a9b848cae3 FW attitue controller: fix publishing of rate controller status 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 5a2127d026 fixed-wing: update rate controller integrator handling 
-always reset roll/pitch/yaw integrators at the same time
-reset them while waiting for launch or during FW Takeoff before Climbout
-reset wheel rate integrator only when disarmed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer cd080289c6 FW attitude controller: constrain rates correctly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 15c95a7b6a FW attitude controller: improve readability and fix euler rate sp vs. body rate sp 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer e0a998e6ad FW attitude controller: remove unused control_input.scaler 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim 33d068cfb2 Added feedforward terms in fw att control 2022-08-19 09:40:48 +02:00
Jaeyoung Lim 958c61dbba Populate rate control setpoints properly 2022-08-19 09:40:48 +02:00
JaeyoungLimandSilvan Fuhrer 6f24f4cd1c Update src/modules/fw_att_control/fw_att_control_params.c 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim dcff481219 Map derivative gains for rate controls 2022-08-19 09:40:48 +02:00
Jaeyoung-Lim f2877ce585 Replace rate controller with RateControlLibrary 
This commit makes the fw attitude controller take share the rate controller as a library with the mc_rate_control module
 2022-08-19 09:40:48 +02:00
mcsauder 87a5705960 Rename math::gradual() to math::interpolate() and add unit tests to cover additional corner cases. 2022-08-18 14:18:02 +02:00
Silvan Fuhrer d04f21aa16 FW attitude controller: reduce FW_MAN_P_MAX from 45 to 30 
45° is a very large pitch angle, and for me 30° is much more reasonable for
a default value.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Daniel Agar ace80e2b9d fw_att_control: add simple backup scheduling if vehicle_attitude unavailable (or stops) 2022-07-20 00:53:37 -04:00
Thomas Stastny 63e4ea23b7 vehicle_rates_setpoint: log wheel controller yaw rate on common yaw rate channel 2022-07-18 10:49:27 -04:00
Thomas Stastny 721131a135 fw pos/att ctrl: pass manual nose wheel increments during takeoff ground roll 2022-07-18 10:49:27 -04:00
Thomas Stastny fcee314646 fw att ctrl: log the yaw rate command controlled by the wheel 2022-07-18 10:49:27 -04:00
Matthias Grob c8fb7a6990 fw/uuv control: remove duplicated comments, restyle initializers 2022-06-24 10:05:16 -05:00
Chris Seto 285556e463 Re-set param limits for fw tuning values to align with fw tuning guide 2022-06-16 14:22:51 -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
Alessandro Simovic fb71e7587c failure_detector: add motor/ESC failure detection 2022-05-12 07:58:56 +02:00
Silvan Fuhrer 089673ff35 only allow positive spoiler and flap controls 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Silvan Fuhrer 4b8f93de5c FW: rework spoiler/flap control logic 
- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
    The flap settings for takeoff and landing are now specified relative to full range.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
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
Roman BapstandSilvan Fuhrer dc6067ed12 Update src/modules/fw_att_control/fw_att_control_params.c 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 16:34:44 +03:00
RomanBapst 34bb671a73 improve parameter descriptions for fw maximum/minimum roll/pitch angles 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-01-14 16:34:44 +03:00