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5a5ef74606d4eef4b364105af801cdf86060074b
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23531 Commits

Author SHA1 Message Date
Daniel Agar 5a5ef74606 drivers/imu: use math::negate on int16 data 
- this handles the size difference between INT16_MIN (-32768) and INT16_MAX (32767)
 2021-10-19 11:23:20 -04:00
Daniel Agar 4cf8eb8226 ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics 2021-10-18 21:39:40 -04:00
Daniel Agar 33954a904f lib/tunes: never play tunes if circuit breaker is set 2021-10-18 21:37:09 -04:00
Tia 6e3e6846f4 Fix srf05 driver. 2021-10-18 21:00:59 -04:00
bazooka joe b35dd86d04 mc_pos_control: remove unused var 2021-10-18 20:37:18 -04:00
bazooka joe c8d6f8f5e5 remove proto for unused function limit_thrust_during_landing() 2021-10-18 20:37:18 -04:00
Daniel Agar 9d7c4596f7 navigator: increase stack 1800 -> 1864 bytes 2021-10-18 20:31:35 -04:00
Beat Küng da1df5352c fix pwm: only update oneshot timers owned by the current pwm_out instance 
This fixes the case where oneshot was enabled with multi-instance pwm_out,
triggering oneshot updates too close to each other and as a result could
lead to spinning motors while disarmed.
 2021-10-18 18:45:19 -04:00
Beat Küng f1686b1abf px4io: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng 837a1066e0 px4io, pwm_out: update pwm default checking 
The defaults changed in the previous commit for per-channel params,
so we make sure that the overall params are still used as long as the
per-channel params are default.
 2021-10-18 18:45:19 -04:00
Beat Küng ab1d76ae7d params: use PWM_MAIN_* instead of PWM_FMU_* 2021-10-18 18:45:19 -04:00
Beat Küng 183ab8bbe7 control_allocator: avoid default argument for virtual method getEffectivenessMatrix 
clang tidy error:
/__w/PX4-Autopilot/PX4-Autopilot/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp:50:34: error: default arguments on virtual or override methods are prohibited [google-default-arguments,-warnings-as-errors]
ActuatorEffectivenessMultirotor::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
 2021-10-18 18:45:19 -04:00
Beat Küng 8b3ab7e36d fix pwm_out: ensure up_pwm_servo_arm() is never continuously called 
This happened with multi-instance, when the second instance did not load
a mixer. Then the first instance would always return false in
update_pwm_out_state, and continuously call up_pwm_servo_arm.
This led to irregular pulses, e.g. with an output set to fixed 1500us, I
saw pulses of e.g. 1800us occationally (they were in a range of
[1500-2100]).
 2021-10-18 18:45:19 -04:00
Beat Küng 44bbe87165 pwm_out_sim: use PWM_FMU for sitl and HIL_ACT for hitl 
We might want to change this later, but for now it allows to use the same
airframe configs for sitl/real, and independent hitl configuration.
 2021-10-18 18:45:19 -04:00
Beat Küng 21c1671693 pwm_out_sim: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng 0871b7974d uavcan_v1: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng ae15ad14a8 tap_esc: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng 35ce6d1b73 pca9685_pwm_out: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng 955179e992 linux_pwm_out: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng c1e5e666f0 pwm_out, dshot: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng 3ff6014a3c uavcan: implement servo outputs 2021-10-18 18:45:19 -04:00
Beat Küng 07fa8c5295 uavcan: reduce sensor status output verbosity 2021-10-18 18:45:19 -04:00
Beat Küng 49f8131f82 uavcan: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng 5f0781b6e9 output modules: add param prefix argument to MixingOutput 2021-10-18 18:45:19 -04:00
Beat Küng f5fbcb0770 dshot: handle telemetry index correctly when dynamic mixer is used 2021-10-18 18:45:19 -04:00
Beat Küng 916447e804 params: add script to parse timer_config.cpp for timer group info 
This allows to generate pwm params in the form of:
module_name: PWM Output
actuator_output:
  output_groups:
    - generator: pwm
      param_prefix: PWM_FMU
      channel_labels: ['PWM Main', 'PWM Capture']
      standard_params:
        disarmed: { min: 800, max: 2200, default: 900 }
        min: { min: 800, max: 1400, default: 1000 }
        max: { min: 1600, max: 2200, default: 2000 }
        failsafe: { min: 800, max: 2200 }
      extra_function_groups: [ pwm_fmu ]
      pwm_timer_param:
        description:
            short: Output Protocol Configuration for ${label}
            long: |
                Select which Output Protocol to use for outputs ${label}.

                Custom PWM rates can be used by directly setting any value >0.
        type: enum
        default: 400
        values:
            -5: DShot150
            -4: DShot300
            -3: DShot600
            -2: DShot1200
            -1: OneShot
            50: PWM50
            100: PWM100
            200: PWM200
            400: PWM400
        reboot_required: true
 2021-10-18 18:45:19 -04:00
Beat Küng 6f01b69f49 mixer_module: add param generation for disarmed, min, max, failsafe 2021-10-18 18:45:19 -04:00
Beat Küng 15daded6b0 refactor output_limit: split output_limit_calc_single into separate function 2021-10-18 18:45:19 -04:00
Beat Küng c55626d2d6 refactor Tools/serial: move non-serial param generation into separate script 2021-10-18 18:45:19 -04:00
Beat Küng a65533b469 mixer_module: add output functions for servos, landing gear, parachute, RC passthrough & gimbal 2021-10-18 18:45:19 -04:00
Beat Küng 4b37a3d017 mixer_module: generate output_functions header from yaml file 2021-10-18 18:45:19 -04:00
Beat Küng fd76e5488e mixer_module: add output functions 2021-10-18 18:45:19 -04:00
Beat Küng ab3fe77f46 mavlink_receiver: publish MAV_CMD_DO_SET_ACTUATOR command 2021-10-18 18:45:19 -04:00
Beat Küng 38fa65a47e control_allocator: remove direct mixer, add actuator_{motors,servos} instead 2021-10-18 18:45:19 -04:00
Beat Küng a51c465b54 control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets 2021-10-18 18:45:19 -04:00
Beat Küng 0c5a79d84d fix mixer_module: use PRIx32 for debug printf 2021-10-18 18:45:19 -04:00
Beat Küng ad1bcfd77c commander: correct lockdown CLI description 2021-10-18 18:45:19 -04:00
Alex Klimaj b482986e8e uavcannode: Add CANNODE_TERM parameter (configure CAN termination on ARK cannodes) 
- adds functionality to enable the built in can termination on the ARK cannodes
 2021-10-15 09:29:56 -04:00
Silvan Fuhrer a66b0829b0 Standard VTOL: add airspeed to back transition logic and refactor it a bit 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer 358c67226e Tiltrotor: backtransition logic improvements 
-use groundspeed in body x for exit condition
-use airspeed for speed exit condition if no valid groundspeed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer cba80a6338 Tiltrotor: front transition: fade out yaw equally to roll 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer 641383cbfb VTOL backtransition improvements 
* vtol_type: only allow positive pitch setpoints during backtransition

* vtol params: set default of VT_B_DEC_FF to 0, as for most frames a FF is not necessary

* Tiltrotor: fix throttle during first part of back transition

* Tiltrotor: only enable all motors in second phase of backtransition (tilting phase)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
RomanBapst af291e2040 FlightTaskTransition: Transition improvements 
- use fw pitch setpoint offset during transition
- take over previous vertical velocity and smooth out over transition

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer d39c32619e Tiltrotor: add minimum throttle of 0.25 during front transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
RomanBapst f61853d428 vtol: implement throttle blending out and into transition 
- blend into TECS throttle after front transition
- blend out of TECS throttle during backtransition

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-15 09:58:48 +02:00
RomanBapst 8dd76050e0 vtol: take fixed wing attitude setpoint during transition if altitude is 
not controlled

- required as there is no flightask running if altitude is not controlled

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-15 09:58:48 +02:00
Daniel Agar 12c7056ae5 drivers/imu: icm20602/icm20649/icm20948 remove timestamp_sample adjustments 2021-10-14 16:37:11 -04:00
Daniel Agar 56823b5ac9 ekf2: EKF control don't allow invalid flow gyro to propagate 2021-10-14 16:31:22 -04:00
Daniel Agar d35cf78e4a commander: PX4_ERR if attitude or angular velocity become invalid 2021-10-14 09:17:50 -04:00
Daniel Agar 4559230de6 drivers/imu/invensense: adjust icm20602/icm20649/icm20948 rescheduling logic 
- this handles the case where the driver might be more than one full
transfer cycle behind
 2021-10-14 09:17:11 -04:00