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Author SHA1 Message Date
Matthias Grob 02c0f08060 flashfs: fix alignment ambiguity 
Instead of ignoring the warnings.
Thanks to @Ole2mail and @yuhaim for the suggestions.
 2021-01-18 14:19:29 +01:00
Matthias Grob 031bbb7f3e FlightModeManager: handle commands all the time 
Moving the command handling to a separate function that gets called
whenever a vehicle command is available to always react on commands
and not just when already a task is running.

This solves e.g. commanding an Orbit when in Staibilized.
 2021-01-17 15:46:30 +01:00
Matthias Grob df54f938ef FlightModeManager: correct setpoint struct initialization 
It is important that setpoints get initialized with NAN and not overwritten
if specifically set by a successful flight task execution. It's then
clear if any setpoints were intentionally and successfully set.
Crucial for the position controller's emergency failsafe and the
seamless setpoint handover to the next flight task.
 2021-01-17 15:46:30 +01:00
Matthias Grob 63db61a700 FlightModeManager: correct acceleration setpoint feedback naming 
The variable was never renamed correctly in this in between layer when
we switched from normalized thrust to acceleration setpoints.
 2021-01-17 15:46:30 +01:00
Matthias Grob 8a7878f65c arch.sh: update zsh support, latest ARM GCC, gazebo AUR 2021-01-17 10:58:39 +01:00
Matthias Grob 3cc8e7a210 commander_params: Make multicopter only COM_RC_OVERRIDE more visible 2021-01-10 21:12:09 +01:00
Matthias Grob 2fc212e064 geofence_params: clarify EKF vs baro altitude source 2021-01-10 18:40:58 +01:00
Matthias Grob 537ee5b19b FlightTaskOrbit: smooth yaw like in missions 2021-01-07 13:31:05 +01:00
Matthias Grob 44606ca872 FlightTaskOrbit: further simplify circling yaw setpoint calculation 
The whole angle adding and pi wrap was just necessary because the
correct atan2 arguments were never completely thought through.
 2021-01-07 13:31:05 +01:00
Matthias Grob f435bea57c state_machine_helper: orbit failsafe just with data link loss 
RC is like the comment says not required.
 2021-01-07 13:31:05 +01:00
Matthias Grob 6b8fa417e1 SlewRate: Add SlewRateYaw handling [-pi,pi] wraps 2021-01-07 13:31:05 +01:00
Matthias Grob e92795b474 Temporary logging addition to debug CI 2020-12-30 10:25:08 -05:00
Matthias Grob fafbb687d8 FlightModeManager: fix integral reset on ground 
This information could also be used for yaw and integral
resets of the lower level controllers.
 2020-12-30 10:25:08 -05:00
Matthias Grob 7de288877a MulticoperPositionControl: 3rd pass get rid of zombie members 2020-12-30 10:25:08 -05:00
Matthias Grob 62ada2e2dc FlightModeManager: restore weathervane calls 
I had to do an extra subscription to the vehicle attitude.
I don't know how to test this.
 2020-12-30 10:25:08 -05:00
Matthias Grob aa888223f0 FlightModeManager: fix takeoff state in stabilized mode 2020-12-30 10:25:08 -05:00
Matthias Grob 8edb06e94f FlightModeManager: make sure emergency failsafe works 2020-12-30 10:25:08 -05:00
Matthias Grob 8329208b84 FlightModeManager: fix takeoff ramp from zero 2020-12-30 10:25:08 -05:00
Matthias Grob 88c274b3cd MulticopterPositionControl: 2nd pass to move to FlightModeManager 2020-12-30 10:25:08 -05:00
Matthias Grob f52bad87e2 mc_pos_control: separate out flight_tasks (into FlightModeManager) 2020-12-30 10:25:08 -05:00
Matthias Grob 7545249215 Add flight_mode_manager to all targets with mc_pos_control 2020-12-30 10:25:08 -05:00
Matthias Grob fa7170bc4f Add FlightModeManager 
to separate out setpoint generation from controllers
 2020-12-30 10:25:08 -05:00
Matthias Grob 25c113a527 StickAccelerationXY: boost low speed brake 2020-12-03 18:19:42 +01:00
Matthias Grob badaf1eae0 Functions: add squareroot linear function 2020-12-03 18:19:42 +01:00
Matthias Grob 3f3a82e034 FlightTaskManualAcceleration: reset position lock on reactivation 
to prevent having a fixed position lock while moving the vehicle
on the ground before flying.
 2020-12-03 18:19:42 +01:00
Matthias Grob 66f8fc08c0 FlightTasks: refactor to use isAnyTaskActive() 2020-12-03 18:19:42 +01:00
Matthias Grob de66616341 MulticopterPositionControl: don't switch out of Orbit task 
when it got started via vehicle_command
 2020-12-01 10:00:46 -05:00
Matthias Grob 8f40558f41 MulticopterPositionControl: reset task when switching mode 
to make sure the state is clean between auto mode switches.
 2020-12-01 10:00:46 -05:00
Matthias Grob ce8f4dece2 rc_update_params: clarify failsafe channel and threshold 2020-11-26 10:55:35 +01:00
Matthias Grob 65e1b702c9 GPS_GLOBAL_ORIGIN: simplify send logic 2020-11-19 19:00:37 +01:00
Matthias Grob 0ca63120eb mavlink_messages: add GPS_GLOBAL_ORIGIN 
sending out local position reference.
Only send as anser to a request message command or
when the origin was changed from externally to verify.
 2020-11-19 19:00:37 +01:00
Matthias Grob 41b56f20b8 mavlink_messages: fix raw rpm message size 2020-11-19 19:00:37 +01:00
Matthias Grob c845265b1b mavlink_receiver: use SET_GPS_GLOBAL_ORIGIN to set the origin 
The message GPS_GLOBAL_ORIGIN is meant as a telemtry information message
to send out the components reference and not to set it. I had to switch
to listen to SET_GPS_GLOBAL_ORIGIN such that I can implement sending out
GPS_GLOBAL_ORIGIN.
 2020-11-19 19:00:37 +01:00
Matthias Grob fabeb22ae4 mavlink_receiver: remove unused decode_switch_pos function 2020-11-17 19:48:01 -05:00
Matthias Grob ff801fbc08 FlightTasks: remove FlightTaskManualPositionSmooth 
alias first smooth position control version from 2017.

RIP it served well.
 2020-11-11 21:16:18 +01:00
Matthias Grob e6338d8a2f MulticopterPositionControl: default cases with unsupported POS_MODE 2020-11-11 21:16:18 +01:00
Matthias Grob 0b8f092d2b Add acceleration stick mapping for position mode 2020-11-11 21:16:18 +01:00
Matthias Grob 8e710294b3 FlightTaskManualAltitudeSmoothVel: fix parameter inheritance chain 2020-10-26 15:55:21 +01:00
Matthias Grob 7ba93d5452 FlightTasks: fix reActivate not calling the parent overrided method 2020-10-26 15:55:21 +01:00
Matthias Grob 1fb4f960cd FlightTaskAuto: Lock down yaw when waypoint is reached 
This is done to prevent yawing 180 degrees when switching
to hold mode with high velocity and the overshoot causing a 180°
yaw turn.

The yaw is unlocked on waypoint updates and the yaw
setpoint generation had to be put at the end because otherwise the
first yaw calculation is with the old waypoint and immediately
locks again.
 2020-10-23 20:54:01 +02:00
Matthias Grob 4378254182 Fix NuttX build under Cygwin 
after NuttX 9.1.0+ upgrade #15139
 2020-10-23 06:56:31 -07:00
Matthias Grob bcbc761bf6 Revert "Change defaults for MPC_LAND_ALT" 
This reverts commit 59bd3e9f6e.
 2020-09-24 19:18:58 +02:00
Matthias Grob 5d47a4c9e0 Commander: fix rc override threshold scaling (#15807) 
Improve parameter description for threshold
and lower the threshold a bit.
 2020-09-24 14:52:19 +02:00
Matthias Grob bf248746ce mavlink_messages: cast rotation types for assert 2020-09-23 09:08:23 -04:00
Matthias Grob c6e2722b8f param: remove reset_nostart 
Since we have reset_excludes and SYS_AUTOSTART and SYS_AUTOCONFIG
can be excluded like every other parameter.
 2020-09-08 12:03:41 +02:00
Matthias Grob ce9954a919 param: enable reseting specific parameters from shell 
Renaming previous "param reset" to "param reset_all".
 2020-09-08 12:03:41 +02:00
Matthias Grob f70dda12a6 failureDetectorCheck: remove string manipulation 2020-09-08 11:42:30 +02:00
Matthias Grob 5eba25d2b5 Commander: remove duplicate flag changes 2020-09-08 11:42:30 +02:00
Matthias Grob ab17b6bad4 failureDetectorCheck: revise messageing 2020-09-08 11:42:30 +02:00
Matthias Grob 981e05c633 FailureDetector: move esc topic check into esc status update 2020-09-08 11:42:30 +02:00
Matthias Grob c180e09b9a FailureDetector: replace resetAttitudeStatus 2020-09-08 11:42:30 +02:00
Matthias Grob 390edb770d Commander: separate failure detector cases 
One case could lead to the action for the other!
 2020-09-08 11:42:30 +02:00
Matthias Grob f47bb95b26 FailureDetector: remove obsolete bit switch checks 2020-09-08 11:42:30 +02:00
Matthias Grob c9b81eaf08 FailureDetector: simplify updated/changed check 2020-09-08 11:42:30 +02:00
Matthias Grob 2bb5917188 FailureDetector: refactor naming, member order 2020-09-08 11:42:30 +02:00
Matthias Grob 25cdb383c6 Commander: simplify main failure detector condition 2020-09-08 11:42:30 +02:00
Matthias Grob 1d562aaf4a battery: switch to PublicationMulti for battery_status 2020-09-01 10:25:03 +02:00
Matthias Grob d06425d131 analog_battery: fix missing stdio include 
This was not a problem before because battery.h
included the adc driver and implicitly snprintf
was defined through there.
 2020-09-01 10:25:03 +02:00
Matthias Grob 5bc1df60a2 commander_params: remove some double spaces 2020-09-01 10:25:03 +02:00
Matthias Grob 180c6faf4a syslink_main: remove empty lines and struct keyword 2020-09-01 10:25:03 +02:00
Matthias Grob d82f325f8d ina226/voxlpm: make sure parameter sub is reset 
The subscription to parameter updates has to get
copied otherwise the change detection will not get
reset for next time.
 2020-09-01 10:25:03 +02:00
Matthias Grob 9c4e26c00c battery: fix parameter migration and clarify 2020-09-01 10:25:03 +02:00
Matthias Grob 0db4881413 BatterySimulator: remove SimulatorBattery 
It loads the battery parameters but then overwrites them
with hardcoded values and it breaks the ModuleParams
parent/child hierarchy. Both is undesired.
 2020-09-01 10:25:03 +02:00
Matthias Grob 16776ff6fb MultirotorMixer: hotfix [-1,1] scaling 
After it was mistakenly rescaled in
26bac78eaf274cf58aacbc239cc8f2e865ba864c#diff-899d35a48340c6065702d4fa77b70f0d
#15563
 2020-08-26 20:52:16 -04:00
Matthias Grob d4296dbd3f thoneflow: remove unsupported parameter from getopt optsting 2020-08-26 20:25:31 -04:00
Matthias Grob a6777e2650 Subscription: correct doxygen comment 2020-07-30 09:56:01 -04:00
Matthias Grob 400d97e60c math: add unit tests for everything in Functions.hpp 2020-07-24 11:31:15 +02:00
Matthias Grob 0b391fdcfc mc_att_control: add gradual3 function to cover hover thrust rescaling 2020-07-24 11:31:15 +02:00
Matthias Grob 5c5005fa58 ROMFS: remove remaining RC_FLT_CUTOFF 
The parameter was removed in #14896 and I forgot to remove it from
all the configurations.
 2020-07-21 11:28:18 -04:00
Matthias Grob aad7e88af2 setup scripts: install dmidecode before using it 
On normal desktop distributions dmidecode is preinstalled
and I was assuming it's part of the core tools. Thanks to a hint
https://github.com/PX4/Firmware/pull/15241#issuecomment-659395458
I found out it's not and am installing the package before using it.
 2020-07-21 10:22:52 -04:00
Matthias Grob 9ba2539e60 FlightTaskOrbit: reset approach if radius gets changed 2020-07-21 10:27:05 +02:00
Matthias Grob e9498064ef StraightLine: allow resetting reached flag 2020-07-21 10:27:05 +02:00
Matthias Grob 5823101f07 FlightTaskOrbit: reset reached when new parameters are set 
such that they get applied to the straight line trajectory class
and the drone starts approaching the new orbit.
 2020-07-21 10:27:05 +02:00
Matthias Grob 8e4509c0a9 FlightTaskOrbit: simplify tangential yaw_setpoint and pi wrap 2020-07-21 09:44:21 +02:00
Matthias Grob 4d0aadbcd0 FlightTaskOrbit: set initial heading for every new command 2020-07-21 09:44:21 +02:00
Matthias Grob abf6f4fa0a FlightTaskOrbit: move start_to_circle to more local scope & const reference parameters 2020-07-21 09:44:21 +02:00
Matthias Grob b8b46f8493 FlightTaskOrbit: use yaw setpoint from Altitude task with RC yaw mode 2020-07-21 09:44:21 +02:00
Matthias Grob 1b7349339e FlightTaskOrbit: move line break causing comments before 2020-07-21 09:44:21 +02:00
Matthias Grob ed7732eaec rc_loss_alarm: remove unimplemented declaration 2020-07-20 09:36:47 -04:00
Matthias Grob 987826f1d4 mixer_module/tap_esc: fix usage of constrain() on input 
I changed the input constraint in #15349 but screwed up the usage
because I was convinced it's püass by reference. I'll double check
for sure next time.
 2020-07-20 09:23:42 +02:00
Matthias Grob 413cf8b7c4 FlightTasks: Sticks methods naming refactor according to comments 2020-07-16 19:01:22 +02:00
Matthias Grob 0d56035a46 FlightTaskAutoMapper: clarify influence of sticks 2020-07-16 19:01:22 +02:00
Matthias Grob 079c5a11c2 FlightTaskAuto: allow rc assist to stop descend 
Before the autohority was only enough to slow down the descend but not
stop to zero vertical velocity.
 2020-07-16 19:01:22 +02:00
Matthias Grob 91c0f19121 FlightTaskAuto: use new Sticks class for assisted land speed 2020-07-16 19:01:22 +02:00
Matthias Grob 4366898f11 FlightTasks: make gear switch independent of sticks 2020-07-16 19:01:22 +02:00
Matthias Grob 4667693f37 mixer_module: use math:constrain 2020-07-16 16:55:33 +02:00
Matthias Grob 1e56eed2aa Remove FlightTaskManual from the inheritance structure 2020-07-14 18:07:09 +02:00
Matthias Grob 9daff24e79 FlightTasks: move stick handling into library 2020-07-14 18:07:09 +02:00
Matthias Grob ced91f135b posix rcS: remove various SITL custom settings 
because we need to have SITL simulation as realistic as possible
compared to a real flight with default settings such that we
either fix the problems or adjust the defaults already in SITL testing.
 2020-07-14 09:58:46 -04:00
Matthias Grob 624d8a58e9 FlightTaskOrbit: correct acceleration feed-forward 
The acceleration setpoint gets implicitly inherited from the altitude
flight task since #14212. This feed-forward adds an unwanted
acceleration when the right stick is deflected. Instead I'm using it
to command the expected centripetal acceleration when flying
in a circle for better orbit tracking.
 2020-07-14 09:02:38 +02:00
Matthias Grob 40883a06cf Commader: save 53 unnecessary characters of output string 2020-07-13 10:34:17 -04:00
Matthias Grob 480cd5ed4e mavsdk_tests: load all os environment variables for gazebo client 
such that OpenGL options are also used for mavsdk_tests when the GUI
is enabled.
 2020-07-09 16:43:34 +02:00
Matthias Grob 03735f12a2 FlightTask: correct activate() doxygen comment 2020-07-04 12:29:10 +02:00
Matthias Grob 547bd4c667 ubuntu.sh: add fix for gazebo's OpenGL problem in VMs 
That makes gazebo crash in VMWare 3D graphics accelration.
 2020-06-29 19:21:56 -04:00
Matthias Grob 9fed9f534e ubuntu.sh: style, 20.04 comment and message wording 2020-06-29 19:21:56 -04:00
Matthias Grob c9b82ad184 ubuntu.sh: source .profile before checking for ARM GCC 
to avoid downloading and installing ARM GCC again if the script is
reran immediately after e.g. because it failed the first time.
 2020-06-29 19:21:56 -04:00
Matthias Grob c8d7027546 ubuntu.sh: don't upgrade pip outside of system package manager 
This can lead to inconsistency with the installed package.
E.g. also if the package is remove the upgraded pip stays
but the symbolic links are gone.
 2020-06-29 19:21:56 -04:00
Matthias Grob 47de2419a3 setup: don't require exact matplotlib version 
Because this older version fails to install on Ubuntu 20.04
and makes the entire setup script fail.
 2020-06-29 19:21:56 -04:00
Matthias Grob e9eae1bd76 Refactor: Name manual_control_setpoint the same way everywhere 2020-06-22 12:06:27 -04:00
Matthias Grob 588d551098 mc_pos_control_params: set the ground slow down speed to the default maximum speed 
This results in no change with defaults but a slow down to 10m/s if the maxiumum speed is set higher than that.
 2020-06-17 11:47:41 -04:00