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Author SHA1 Message Date
Jaeyoung-Lim
5857461dc7 Update sitl_gazebo 2021-11-25 13:14:46 +01:00
Jaeyoung-Lim
495721b350 Add airframe configuration and make target for believer 
This commit adds an airframe configuration and make target for believer
 2021-11-25 13:14:46 +01:00
RomanBapst
0588d5f88e TECS: enable direct height-rate control 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-25 13:14:32 +01:00
RomanBapst
a81515f50b FixedWingPositionControl: control only height rate when using pitch stick 
in manual altitude controlled modes

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-25 13:14:32 +01:00
Silvan Fuhrer
545bf1e977 rename FW_T_CLIMB_R_SP to FW_T_CLMB_R_SP 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 13:14:32 +01:00
RomanBapst
4f6c1d9c00 FixedWingPositionControl: use target climb/sink rate parameters as maximum 
rates in manual altitude controlled modes

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-25 13:14:32 +01:00
RomanBapst
ba13bb73c3 tecs: propagate altitude setpoint based on target climb/sink rate 
- avoids tecs always climbing and sinking and max rates and allows to fine tune these rates
- avoid numerical calculation of feedforward velocity using derivative, this
 was prone to jitter in dt

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-25 13:14:32 +01:00
RomanBapst
f73cf4870d FixedWingPosControlL1: added target climb and sink rate parameters 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-25 13:14:32 +01:00
JaeyoungLim
8d864f64e9 Enable offboard actuator setpoints 2021-11-24 09:40:19 +01:00
Jaeyoung-Lim
1469342125 Handle negative path curvature for feedforward acceleration calculations 2021-11-24 08:19:19 +01:00
Jaeyoung-Lim
3213be28a8 Log npfg status as default 2021-11-24 08:19:19 +01:00
Jaeyoung-Lim
788e9c92f8 Remove unused variable from npfg 
This commit fixes the clang tidy check on the build test CI
 2021-11-10 13:11:12 +01:00
Thomas Stastny
78d7ddbec7 ramp in curvature dependent lower period bound 2021-10-01 10:43:50 +02:00
Thomas Stastny
b0dc3a4f51 add option to disable use of wind estimates with npfg 2021-10-01 10:43:50 +02:00
Thomas Stastny
493bae1e09 fix publish wind est valid 2021-10-01 10:43:50 +02:00
Thomas Stastny
dd89665cd6 multiply track error boundary by scale factor in calculation of waypoint switch distance 2021-10-01 10:43:50 +02:00
Thomas Stastny
0b40586803 organze npfg member variables in header, rename min ground speed command -> desired 2021-10-01 10:43:50 +02:00
Thomas Stastny
4dce637ab7 new bearing feasibility for handling zero airspeed 
- simpler bearing feasibility function
- get rid of wind ratio
- replace wind ratio buffer with airspeed buffer
 2021-10-01 10:43:50 +02:00
Thomas Stastny
5398428683 update default gains for npfg (now that accel command bug was fixed) 2021-10-01 10:43:50 +02:00
Thomas Stastny
8641cabeec npfg: fix incorrect extra multiplication of airspeed to acceleration reference 2021-10-01 10:43:50 +02:00
Thomas Stastny
c70df1e324 npfg: rearrange eval method, handle case in front of starting point of path segment 2021-10-01 10:43:50 +02:00
Thomas Stastny
4d11b4e06c npfg: header formatting 2021-10-01 10:43:50 +02:00
Thomas Stastny
e9b0a3eb66 npfg: create const adaptPeriod method and update control params outside 2021-10-01 10:43:50 +02:00
Thomas Stastny
0b705c6c6d mavlink: add npfg_status, regenerate headers 2021-10-01 10:43:50 +02:00
Thomas Stastny
d240ee9448 fw_pos_control_l1: integrate optional use of npfg 
uorb: npfg_status msg
 2021-10-01 10:43:50 +02:00
Thomas Stastny
ef2cc9abb7 add npfg lib 2021-10-01 10:43:50 +02:00
Thomas Stastny
cd6e2b7a07 switch back to standard dialect 2021-10-01 10:43:50 +02:00
Thomas Stastny
8928cb6331 move sensor_airflow_angles to common xml, regenerate mavlink headers 2021-10-01 10:43:50 +02:00
Jaeyoung-Lim
53b182cc0a Try setting the throttle channels properly 2021-09-29 19:42:03 +02:00
Jaeyoung-Lim
e001ccec24 Set disarmed pwm value to 1500 2021-09-29 19:42:03 +02:00
Jaeyoung-Lim
cf318a4b6c Add dual motor mixer 2021-09-29 19:42:03 +02:00
Jaeyoung-Lim
fea99faf4a Add ASL Believer airframe config 2021-09-29 19:42:03 +02:00
Florian Achermann
a0efc3eb00
Merge pull request #26 from ethz-asl/feature/firmware_update 
Feature/firmware update
 2021-08-23 16:11:41 +02:00
Florian Achermann
9424d17164 Change boot order to make sure the adis mag is the priority one 2021-07-27 13:57:46 +02:00
Florian Achermann
117150979e Switch order booting up the internal/external sensors 2021-07-27 10:46:41 +02:00
Florian Achermann
77bd43ead3 Fix compilation error 2021-07-27 10:46:12 +02:00
Florian Achermann
6b00008dba Change SPI chipselect order 
- The ADIS driver by default only selects the first chipselect
 2021-07-27 10:13:39 +02:00
Daniel Agar
a65a591638 adis16448: add additional delay after transfer in case of back to back transcations 
- add verified register read method
 2021-07-27 10:07:23 +02:00
Florian Achermann
01307a43fe
Merge pull request #23 from ethz-asl/pr-fix-rtps-builds 
Add airflow_slip and airflow_aoa to rtps message definitions
 2021-07-06 16:41:55 +02:00
Jaeyoung-Lim
83d8d8d710 Add airflow_slip and airflow_aoa to rtps message definitions 2021-07-06 16:36:23 +02:00
Jaeyoung-Lim
4a590c5fd6 Specify orientaiton of ADIS16448 IMU for EZG from autostart script 
Specify orientaiton of ADIS16448 IMU for EZG from autostart script
 2021-07-06 16:31:39 +02:00
JaeyoungLim
0f4eaec6c1
Merge pull request #17 from ethz-asl/feature/add_hall_effect_sensor 
[WIP!!!] Feature/add hall effect sensor
 2021-06-24 13:27:02 +02:00
JaeyoungLim
2b4540aa64
Merge pull request #18 from ethz-asl/pr-port-vanes 
Port si7210 driver with new driver framework
 2021-06-24 13:25:56 +02:00
Jaeyoung-Lim
389a096ace Add SENSOR_AIRFLOW_ANGLES mavlink stream to config mode 2021-06-24 13:15:21 +02:00
Jaeyoung-Lim
81b860c37e Add SENSOR_AIRFLOW_ANGLES mavlink stream 2021-06-24 13:10:09 +02:00
Jaeyoung-Lim
7fcad68c9d Remove probe override for si7210 driver 
This commit removes the probe override for the si7210 driver, which seems to help with improving reliability of driver startup
 2021-06-24 10:22:10 +02:00
Jaeyoung-Lim
66ad2fd586 Address review comments 
Remove crc
 2021-06-21 10:34:22 +02:00
Florian Achermann
4f87cb0b76 Fix format 2021-06-21 08:47:45 +02:00
Florian Achermann
042b48aadf Add si7210 to fmuv3 2021-06-21 08:47:45 +02:00
Florian Achermann
69aaa9bad2 Fix getting the aoa and slip hall id 2021-06-21 08:47:45 +02:00