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Author SHA1 Message Date
Silvan Fuhrer 57e6dcc8ff FW Position Control: improve Eco parameter description 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer b0b8055f5c FW Position Control: bit of clean up after review 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer 4fab9c8345 FW Position Control: remove global variable _current_speed_mode and instead pass it as argument 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer 810c69d6ab FW Position Control: Clean up speed mode params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer 55809e809c FW Position Control: add Eco mode in TECS and separate Eco climbrate 
Separate settings in Eco mode (beside airspeed):
- FW_T_CLMB_R_SP_E (slower climb for more efficiency)
- FW_T_ALT_TC_E (larger to reduce motor action due to altitude errors)
- FW_T_SPDWEIGHT_E (more weight to airspeed to reduce motor action due to altitude errors)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer 024777ec7c FW Position Control: add airspeed offset based on wind in Eco mode 
setpoint = FW_AIRSPD_MIN + FW_LND_AIRSPD_SC * wind

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer 8c42b7178d FW Position Control: add reset function for global variables used in auto modes 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer 9f1f8348f5 FW Position Control: centralise airspeed setpoint adaptions for auto flight in single function 
Adapt the airspeed setpoint by:
- speed mode (ECO/NORMAL/DASH --> airspeed MIN, TRIM, MAX)
- if position setpoint contains valid airspeed setpoint use that instead
- increase setpoint if groundspeed gets low
- increase setpoint if close to MIN and banking (compensate higher load factor)

There is a slew rate limiting in place that allows max 1m/s/s rate of change of
the airspeed setpoint.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer af394e6ebd FW Position Control: simplify underspeed disabling logic for tecs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer 09e415c142 FW Position Control: add logic for speed modes Eco and Dash 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer faf06ea42a FW Pos Control: add wind_mode to adapt airspeed setpoint based on wind 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer 99e1e9deac TECS: add flight_phase field in tecs_status (Level, Climb, Descend) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer e76734fa5e TECS: directly publish tecs_status from within TECS instance 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Matthias Grob c5fb68b7a1 Commander: force disabling the arm stick gesture when arm switch is in use 2021-11-25 07:56:35 +01:00
David Sidrane e76dda545c hardfault_log:Fix formatting 2021-11-24 15:00:38 -05:00
Sander Swart 462b572172 Fixed mavlink_ftp read 
Instead of always reading the max data length, it now properly respects the requested amount of bytes (as per documentation)
 2021-11-24 17:51:29 +01:00
David Sidrane 8e3ee9f6cd omnibus_f4sd:Fit in Flash added No Help 2021-11-24 09:46:23 -05:00
David Sidrane b1b948f4bc modalai_fc-v2:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 6327953fe9 modalai_fc-v1:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 83885b0304 cuav_x7pro:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 48b617ee5e cuav_nora:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 2fb615d7e2 holybro_kakutef7:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 04df95436d holybro_pix32v5:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane c4ccde51df holybro_durandal-v1:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane daa1d76909 spracing_h7extreme:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 1922310404 matek_h743-slim:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 5b30d1cd41 av_x-v1:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane d30ef0cac8 atl_mantis-edu:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 511e87f966 mro_ctrl-zero-f7-oem:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 2799a7f436 mro_x21-777:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 5ff96fc77e mro_ctrl-zero-h7-oem:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane a097cb11cd mro_pixracerpro:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 0d203deb34 mro_ctrl-zero-f7:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 376e78b801 mro_ctrl-zero-h7:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane bbe0ed8646 cubepilot_cubeyellow:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane e34aacd520 cubepilot_cubeorange:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 228a0ac5ed px4_fmu-v6u:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 3f67ece322 px4_fmu-v5:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 53b579a79d px4_fmu-v5x:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane c391d6793c px4_fmu-v6x:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32 2021-11-24 09:46:23 -05:00
David Sidrane 3cf901b29c NuttX Apps with backport CONFIG_MKFATFS_BUFFER_ALIGMENT 2021-11-24 09:46:23 -05:00
Matthias Grob ea3b99e964 navigator: Remove deprecated RangeRTL unit tests 2021-11-24 14:10:24 +01:00
Matthias Grob c522a8b15a Compute RTL time and react if lower than flight time 
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
 2021-11-24 14:10:24 +01:00
Matthias Grob 5489005e0b Commander: call battery_status_check on update instead of early return 2021-11-24 14:10:24 +01:00
Beat Küng 5bec3004c3 omnibus/f4sd: disable RGBLED to reduce flash 2021-11-24 11:41:33 +01:00
Jukka Laitinen 5dbbddb13f EKF2: Use _distance_sensor_subs vector directly 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen b66270f8a8 Inline uORBDeviceNode::copy for performance improvement 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen 3f884c5d24 Inline deviceNodeExists and getDeviceNode in uORB DeviceMaster 
This gives a small performance improvement

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen d9498ade32 EKF2: Allocate distance sensor subscriptions as member variables 
Just create the subscriptions and keep them, instead of
re-creating them continuously

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen bb307cd462 Fix comparing orb_metadata in uORB::DeviceNode::publish 
Don't compare pointers to metadata, but the metadata contents.

In protected/kernel build there are two sets of metadata, on on kernel
side and another in user side. Thus the comparison of pointers would just
always fail. Compare orb_id instead

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00