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25006 Commits

Author SHA1 Message Date
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
6aab44e425 ControlAllocator: publish allocator_status from all active matrices (2 for VTOL, otherwise 1) 
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
JaeyoungLim
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
Thomas Debrunner
44a18acd51
Fix race condition in px4io serial driver (#20005) 
* px4io: prevent memory corruption on corrput io data

* px4io_serial: Prevent race between handling wait timeout case and interrupt posting semaphore
 2022-08-18 17:46:47 +02:00
bresch
02c4e0361c MCPosControl: fix horizontal anti-reset windup algirithm 
Since the horizontal and vertical velocity controllers are now
decoupled, it can be that the horizontal acceleration produced by the
controller is actually greater than the desired one (by design). This
condition would actually make the ARW run "backwards", degrading the
controller performance.
 2022-08-18 14:19:10 +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
bresch
021b23826d wind_replay: allow estimated local vel and GNSS vel sources 
local vel by default, set --gnss to use GNSS vel instead
 2022-08-18 14:09:23 +02:00
bresch
be6acb0a68 wind_est: add python script to replay wind estimator equations 2022-08-18 14:09:23 +02:00
bresch
4d21c90cbb wind_est: generate wind estimator equations for python use 2022-08-18 14:09:23 +02:00
Kalyan Sriram
deb938fcea drivers/uavcan: update libuavcan 2022-08-16 11:05:51 -04:00
Daniel Agar
1c72f86761 Update src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp 
Co-authored-by: Kabir Mohammed  <kabir@corvus-robotics.com>
 2022-08-16 08:40:43 -04:00
Daniel Agar
49d87f1907 adis16470: fix accel and gyro scaling 2022-08-16 08:40:43 -04:00
Junwoo Hwang
d7a962b426 mavlink: fix PX4_DEBUG message formats 2022-08-12 09:43:12 +02:00
Silvan Fuhrer
ffb8fb4383 Allocation: add SteeringWheel type control surface 
Directly use yaw controls for it, and don't add it to the allocation matrix,
as that would have an effect on rudder scaling if the wheel also would have
a yaw effectiveness.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Silvan Fuhrer
9e18b351bc Allocation: add Single Channel Aileron to CS types 
This is the control surface type for airframes that have only a
single aileron servo or have the ailerons on a single output channel.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Silvan Fuhrer
c6d1b1f50f Allocation: add A-tail servo type 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Beat Küng
f454dcef6b ROMFS: set control allocation parameters for airframes 
Removes some airframes:
- 1000_rc_fw_easystar.hil
- 10015_tbs_discovery
- 10016_3dr_iris
- 10018_tbs_endurance
- 13001_caipirinha_vtol
- 13002_firefly6
- 13003_quad_tailsitter
- 13004_quad+_tailsitter
- 13005_vtol_AAERT_quad
- 13006_vtol_standard_delta
- 13007_vtol_AAVVT_quad
- 13008_QuadRanger
- 13009_vtol_spt_ranger
- 13012_convergence
- 13050_generic_vtol_octo
- 14001_tri_y_yaw+
- 14002_tri_y_yaw-
- 15001_coax_heli
- 2105_maja
- 2200_mini_talon
- 3031_phantom
- 3032_skywalker_x5
- 3033_wingwing
- 3036_pigeon
- 3100_tbs_caipirinha
- 4003_qavr5
- 4009_qav250
- 4019_x500_v2
- 4030_3dr_solo
- 4031_3dr_quad
- 4051_s250aq
- 4072_draco
- 4080_zmr250
- 4090_nanomind
- 4100_tiltquadrotor
- 50003_aion_robotics_r1_rover
 2022-08-12 09:43:12 +02:00
Beat Küng
f2db7b8deb control_allocator: hide motor positions for fixed-wings 
should not be set for now
 2022-08-12 09:43:12 +02:00
Beat Küng
923a90d78b control_allocator: set default control surface type to (not set) 
Before it was set to left aileron, but the torque values were all 0.
 2022-08-12 09:43:12 +02:00
Beat Küng
720cf5a485 config: enable dynamic control allocation by default (SYS_CTRL_ALLOC=1) 2022-08-12 09:43:12 +02:00
Oleg
6ea3c6a7d2 mavlink_ftp: fix to correctly trim reply messages 
Clear any not used payload data to correctly trim mavlink ftp message reply to avoid sending long ACK and NACK messages.
 2022-08-12 08:53:33 +02:00
Matthias Grob
1f81101994 mc_att_control_main: do not jump throttle scaling when taking off 
2fbb70d9ca94f442de1345221be18ba738cda952 made the lowest possible
throttle value commanded by stick in Stabilized mode before taking off 0.
The real world problem with this is that when takeoff is detected then
the entire throttle scaling range jumps from
[0, MPC_MANTHR_MIN]
to [MPC_MANTHR_MIN, MPC_MANTHR_MIN].
As a result whenever MPC_MANTHR_MIN is not zero there is a thrust jump
on every takeoff just at the moment takeoff is detected even when the
stick is moved continuously.

Because of this I suggest to revert to having a higher throttle value
from the beginning on because it's less complicated and there's
no obvious value in starting out with zero thrust if anyways not
possible to go back to zero for safety once takeoff is detected.
 2022-08-11 14:18:54 +02:00
Matthias Grob
5b1b6f6080 mc_att_control_main: use gradual() for throttle curve rescale without hover thrust 2022-08-11 14:18:54 +02:00
Matthias Grob
7cb6a47714 TIME_ESTIMATE_TO_TARGET: fill unsupported fields with value representing unavailability 2022-08-11 07:27:04 +02:00
bresch
7996a1a70f ekf2: reset ekf preflight checks on takeoff correctly 
Using the control status flags isn't robust as this part of the code
runs at the EKF update rate while the in_air transition is don at the
prediction rate. It was then likely to miss the transition
 2022-08-10 16:52:28 +02:00
marcirsch
a8b342722e mavlink_main: Add TIME_ESTIMATE_TO_TARGET stream to config, onboard, and onboard_low_bandwidth modes 
Signed-off-by: marcirsch <marcell@auterion.com>
 2022-08-10 09:13:58 +02:00
marcirsch
4bf6ebf4c3 TIME_ESTIMATE_TO_TARGET: Populate TIME_ESTIMATE_TO_TARGET MAVLink message with the estimated time to RTL 
mavlink_messages: Added newly created MAVLink stream
mavlink_main: Enabled stream

Signed-off-by: marcirsch <marcell@auterion.com>
 2022-08-10 09:13:58 +02:00
Daniel Agar
7f2fea1cca mpu9250: try all I2C addresses if not manually specified 2022-08-09 13:06:40 -04:00
Daniel Agar
7c809f034d replay: ReplayEkf2 disable parameter auto save 
- not needed and silences a startup error
 2022-08-08 21:27:47 -04:00
Daniel Agar
34dee09b74 ekf2: replay fixes, don't use HRT for timeout checks 
- this interferes with current ekf2 replay where the latest IMU sample
is effectively the current timestamp
 2022-08-08 21:27:47 -04:00
Daniel Agar
1c49a4349f ekf2: force skip multi-EKF config if replay is enabled 2022-08-08 21:27:47 -04:00
Daniel Agar
66b55d9d0a ekf2: fix yaw estimator velocity accuracy 
- additionally require GPS speed accuracy is within EKF2_REQ_SACC
 2022-08-08 21:27:01 -04:00
bresch
d9d127a237 lightware dist sensor: set min range based on datasheet 2022-08-08 19:32:44 -04:00
Daniel Agar
0bce1ef573 drivers/imu: new TDK IIM-42652 IMU support 2022-08-08 13:51:39 -04:00
Thomas Stastny
0ea347a5c9 fw pos ctrl: fix the touchdown offset on flare, and nudge the wheel directly 2022-08-08 09:32:44 +02:00
Thomas Stastny
02d7a46025 fw pos ctrl: increase landing nudge rate 2022-08-08 09:32:44 +02:00
Daniel Agar
bce4237963 move ekf2 Matrix helper utilities to mathlib 2022-08-05 09:58:07 -04:00
Silvan Fuhrer
a064164c14 FW pos C params: add param group FW Auto Landing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Silvan Fuhrer
b039ae1614 FW pos c params: change grouping of some clearly longitudinal params to TECS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Silvan Fuhrer
45073f000a FW Position control: reduce defaults for max pitch 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +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