597372bec9
Gather RSSI data from Spektrum Telemetry receivers
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On SPM4649T receivers with firmware versions at least 1.1RC9, the
serial data will contain an rssi value in dbm, as outlined in the
Remote Receiver Interfacing document section 8.3.1.
If the value received is greater than or equal to zero, the receiver
does not support rssi data, and the incoming value will be ignored.
However, if the value is negative, we can use the rssi value.
When we have a valid rssi, it gets mapped to a percentage from 0 to
100 as expected by mavlink. This mapping is constructed as a
logarithmic function over Spektrum's published minimum and maximum
rssi values, -92dBm to -42dBm as 0 to 100:
100 Log10[1 + (x - min) * (9 / (max - min))]
This change updates all calls to the dsm input rountes to return
the rssi value.
Note that one place this doesn't work with the px4io enabled.
There is a comment left in the absence of analog rssi that:
"we do not actually get digital RSSI regs[PX4IO_P_RAW_RC_NRSSI]".
This restriction has been left in place, as removing it exposes a
problem where the frequency of the control tick is greater than
that of valid dsm frames so the rssi isn't valid every cycle.
2018-07-22 08:42:30 +02:00
b5731e0ccd
FlightTaskOffboard: only start task if control mode flags are met
2018-07-20 09:26:18 +02:00
eb7139bc56
FlightTaskManualAltitude: respect maximum altitude if there is a valid distance sensor
2018-07-20 09:26:18 +02:00
c907e7a9dc
FlighttaskManualAlititude: replace SENS_FLOW_MINRNG with hagl_min
2018-07-20 09:26:18 +02:00
4af9d79986
FlighttaskManualPosition: check if estimator velocity maximum is finite
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before applying limits
2018-07-20 09:26:18 +02:00
efed766919
FlightTasks: small rebase naming and typo fixes
2018-07-20 09:26:18 +02:00
29fb5089bd
FlightTasks: construct all tasks in constructor
2018-07-20 09:26:18 +02:00
b1530d1a81
FlightTasks: create struct that contains FlightTask and FlightTaskIndex
2018-07-20 09:26:18 +02:00
83cc2b0e72
FlightTaskAuto: reset lock position to NAN
2018-07-20 09:26:18 +02:00
c12dcb4eed
FlightTaskAuto: take care of case when triplet.lat/lon are invalid, which corresponds
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to position lock.
2018-07-20 09:26:18 +02:00
65ad6edaf0
ManualSmoothingXY: remove empty lines
2018-07-20 09:26:18 +02:00
b9d5189fe5
ManualSmoothing: direction change with maximum acceleration
2018-07-20 09:26:18 +02:00
33d0a4e8ed
FlightTaskAuto: replace target with destination for checks
2018-07-20 09:26:18 +02:00
92e93639d3
FlightTaskAuto: require valid position in 3D
2018-07-20 09:26:18 +02:00
c4c01358b9
FlightTaskManualAltitude: do terrain following when distance sensor active and
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below minimum distance to ground.
2018-07-20 09:26:18 +02:00
bd85f5f993
FlightTask: set min_distance_to_ground to NAN as default and when
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distance sensor is used to SENS_FLOW_MINRNG
2018-07-20 09:26:18 +02:00
ee7d5c3f38
FlightTaskAuto: remove unused member variable
2018-07-20 09:26:18 +02:00
e408870857
FlightTaskManual: remove unused override
2018-07-20 09:26:18 +02:00
be6f3a5b48
FlightTaskOffboard: valid position and velocity is required
2018-07-20 09:26:18 +02:00
bd2de0e585
FlightTaskAuto: valid target is required and valid reference
2018-07-20 09:26:18 +02:00
4713f47668
FlightTaskManualPosition: valid position/velocity in xy required
2018-07-20 09:26:18 +02:00
72a213aff7
FlightTaskManualAltitude: valid altitude/climb-rate is required
2018-07-20 09:26:18 +02:00
fc4fa169df
FlightTaskManualStabilized: valid yaw is required
2018-07-20 09:26:18 +02:00
2af253fa9f
FlightTaskManual: sticks not to be finite
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activation method not needed
2018-07-20 09:26:18 +02:00
6a7a7d7ff7
FlightTask: check if states are valid. if not valid, set them to NAN
2018-07-20 09:26:18 +02:00
b2af9c3f58
FlightTasks: error to char string message
2018-07-20 09:26:18 +02:00
afd02aca92
FlightTask: fail activation if required states are not available
2018-07-20 09:26:18 +02:00
3ea7f8783f
FlightTaskManualAltitude: fix comment
2018-07-20 09:26:18 +02:00
a0c3c80b37
FlightTaskManualStabilized make reset counter for heading static
2018-07-20 09:26:18 +02:00
68dd2d739a
ManualSmoothingXY indent
2018-07-20 09:26:18 +02:00
1317844a94
ManualSmoothingXY fix comments and style
2018-07-20 09:26:18 +02:00
250afd49a9
ManualSmoothingZ: update comments
2018-07-20 09:26:18 +02:00
216279b576
FlightTask: activate tasks with setpoints in use
2018-07-20 09:26:18 +02:00
389f897b04
mc_pos_control: member initialization during deceleration
2018-07-20 09:26:18 +02:00
46f91154a4
Smoothing: initialize ModuleParam in body of constructor because of compiler error
2018-07-20 09:26:18 +02:00
742e9f7b15
FlightTaskManualStabilzied: check for absolute yaw
2018-07-20 09:26:18 +02:00
cfa412b55f
make format
2018-07-20 09:26:18 +02:00
afbeafebd8
replace heading_reset_counter
2018-07-20 09:26:18 +02:00
9ec47f2b74
replace reset counter logic for estimator reset for manual controlled mode
2018-07-20 09:26:18 +02:00
70802ba15a
FlightTaskManual: Yaw lock with deadzone and expo
...
More than a year ago I started the easy to use math::Functions to handle
the always used mathematical SISO functions to be tested and available.
I switched x, y and z stick input to the freesh programmed deadzone and
exponential functions from the library to unify and clarify their use.
I just realized yaw was left over because it lead to a drift problem in
certain new use cases.
Now I'm just adding the yaw stick to the already well working method.
2018-07-20 09:26:18 +02:00
2017e394b3
speed limitation during auto-takoff: remove from legacy and add to FlightTask
2018-07-20 09:26:18 +02:00
dcdbdbd8eb
FlightTaskAuto: need to remove check for yaw valid since there is a
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bug in the navigator where this flag is not correctly set.
2018-07-20 09:26:18 +02:00
740f1f284f
FlightTaskOffboard: enable triplet type takeoff, land etc
2018-07-20 09:26:18 +02:00
1099dd8c7d
FlightTaskOffboard: first commit similar in logic to legacy code
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FlightTaskOffboard: ensure supported offboard setpoints
2018-07-20 09:26:18 +02:00
dca378fbfd
FollowMe: legacy implementation. NOTE: FOLLOW-ME is already broken on legacy code.
2018-07-20 09:26:18 +02:00
547cdc051c
FlightTask: apply gear switch depending on task
2018-07-20 09:26:18 +02:00
c637ccb65f
FlightTaskAutoLine: move altitude above ground computaiton to method
2018-07-20 09:26:18 +02:00
3ea0a53192
FlightTask: set landing gear up boolean to false
2018-07-20 09:26:18 +02:00
7d7a2dffbf
Smoothing-classes: initialize to parameters
2018-07-20 09:26:18 +02:00
5ef2a61be5
ManualSmoothingXY: ensure that maximum speed is correctly propagated to the smoothing class
2018-07-20 09:26:18 +02:00
Kurt Kiefer