5cdb6fbd8e
control_allocator: add helicopter mixer
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Same logic as the existing mixer.
Untested.
2022-05-10 08:57:39 +02:00
32402f31df
control_allocator: increase max num motors to 12
2022-05-10 08:57:39 +02:00
9f5c5591a2
ActuatorEffectivenessRotors: fix motor count check
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Check during init to avoid out-of-bound access.
2022-05-10 08:57:39 +02:00
15296ab453
cmake: NuttX check that CONFIG_ARCH_BOARD_CUSTOM_DIR is in PX4_BOARD_DIR
2022-05-09 15:23:18 -04:00
5d6c8c986d
Commander: high wind speed handling updates
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- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-05-09 19:09:40 +02:00
1aad82f87d
Commander: add max flight time RTL
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Adds COM_FLT_TIME_MAX param and logic in Commander to enforce RTL when
flight time is above this value. User can only override to LAND mode,
but not proceed flight beyond that.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-05-09 19:09:40 +02:00
2e1cdc9e75
boards: modalai_fc-v1 enable dshot on all outputs
2022-05-09 11:31:31 -04:00
ce4e9f6690
uavcan: use timer 6 by default on stm32f7
2022-05-06 19:45:53 -04:00
9c12c2a152
boards: matek h743 update unified target
2022-05-06 14:57:37 -04:00
76cf4332d9
boards: matek_h743-mini sync all Matek H743 boards
2022-05-06 14:56:20 -04:00
90789be68f
fw pos ctrl: turn back to takeoff point with npfg
2022-05-06 16:36:03 +02:00
3ef5f433b5
fw pos ctrl: add missing guidance control interval setting to control_manual_position()
2022-05-06 16:36:03 +02:00
1ab9fb22ee
fw pos ctrl: fix state switching logic for takeoff and landing
2022-05-06 16:36:03 +02:00
b3776134b8
Commander: ensure diconnected battery is cleared from bit field
2022-05-06 10:32:27 -04:00
113982e3e7
commander: fix incorrect return in set_link_loss_nav_state()
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If both local position and altitude were not valid, then both RC loss and
datalink loss would not trigger any failsafe at all, independently from
the configured action.
2022-05-06 10:14:13 -04:00
a71cf21c28
boards: matek_h743-slim_default try to fit as many modules of all categories as possible into the flash.
2022-05-06 10:13:30 -04:00
87ebf17ab0
boards: matek h743 enable 12 pwm outs on slim and wing V1.0 and V1.5
2022-05-06 10:10:59 -04:00
fc887a23af
boards: matek h743 mini
2022-05-06 10:09:14 -04:00
20400cbb74
ROMFS: reduce FW_SPOILERS_LND to 0.4 to leave ailerons enough control authority
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-05-06 16:05:03 +02:00
843c814fb8
MulticopterPositionControl: allow offboard takeoff also when not landed
2022-05-06 04:12:18 -07:00
fbc109436f
MultiCopterRateControl: refactor setpoint naming
2022-05-06 04:12:18 -07:00
1211a457d7
MulticopterPositionControl: Overwrite vertical acceleration during takeoff rampup only
2022-05-06 04:12:18 -07:00
d9a2fe5226
Revert "MCPosControl: fix invalid setpoint race condition"
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This reverts commit e7a2c1d88e
2022-05-06 04:12:18 -07:00
1f3a78b535
boards: mro ctrl zero classic enable all pwm outs
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* enable all available pwm outs, cause io timer 15 is supported now
2022-05-05 22:39:12 -04:00
2a66be4899
Colocate struct stateSample with other instances of *Sample structs.
2022-05-05 18:41:50 -04:00
a0d9687409
Add c++ style initializers where missing in EKF/common.cpp, standardize tab/space indentation, align comments and format whitespace.
2022-05-05 18:41:50 -04:00
cab477d715
ekf2: optimize KHP computation
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Calculating K(HP) takes less operations than (KH)P because K and H are
vectors.
Without considering the sparsity optimization:
- KH (24*24 operations) is then a 24x24 matrix an it takes
24^3 operations to multiply it with P. Total: 14400 op
- HP (24*(24+24-1) operations) is a row vector
and it takes 24 operations to left-multiply it by K. Total:1152 op
2022-05-05 10:34:17 -04:00
3233272cbb
boards: diatone_mamba-f405-mk2_default fix /dev/ttyS2 name
2022-05-05 09:41:49 -04:00
c890e8bf99
WindEstimator: fix state covariance prediction
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All the states are stationary so the discrete-time process noise Qk can
be directly added to the state covariance matrix P
2022-05-05 11:53:33 +02:00
14a2fdfe55
Removed l1 control slope angle limitation. The maximal approach angle to the line was set to 45°, no the approach angle can be up to 90°.
2022-05-04 21:23:22 -04:00
2bee8bfd45
boards: diatone_mamba-f405-mk2_default
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- change modules still fit to flash, there is no board variant with sd slot
2022-05-04 21:08:44 -04:00
bf8d759d3d
boards: matek h743 slim support v1 and v1.5 IMU variants
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- remove temp compensation to still fit into flash
2022-05-04 14:05:16 -04:00
46fdc28cf8
MulticopterPositionControl: fix typo "descen{d/t}"
2022-05-04 02:22:18 -07:00
7f1bb556e9
Update src/modules/mc_pos_control/MulticopterPositionControl.cpp
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2022-05-04 02:22:18 -07:00
3fb4889ab9
MultcopterPositionControl: fix executing a zero setpoint for 200ms
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This is a combination of the originally introduced delay:
06c10f61c1114e85d260
2022-05-04 02:22:18 -07:00
cb484c5ac7
PositionControl: publish NAN jerk
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because the controller does not read or write jerk
2022-05-04 02:22:18 -07:00
5055fec796
MulticoperPositionControl: explicitly overwrite setpoint timestamp when setpoint is reset
2022-05-04 02:22:18 -07:00
424fd8b304
MulticoperPositionControl: remove time_stamp_now alias for timestamp_sample of the local position
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to make it explicit what is used is not a fresh hrt_absolute_time() call
by this module.
2022-05-04 02:22:18 -07:00
8180f931de
MulticopterPositionControl: rename local_pos -> vehicle_local_position
2022-05-04 02:22:18 -07:00
4ffe796b4d
MulticopterPositionControl: clarify previous position control naming
2022-05-04 02:22:18 -07:00
ad6592f669
mc_pos_control: require current trajectory setpoint to run controller
2022-05-04 02:22:18 -07:00
138772386f
FW Position control: explicitly set spoiler/flaps in every control mode
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-05-03 15:11:21 +02:00
089673ff35
only allow positive spoiler and flap controls
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-05-03 15:11:21 +02:00
64ff31aa08
VTOL: add flap and spoiler support
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- including slew rate limiting
- adds option to set spoiler setting during the Land phase (hover)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-05-03 15:11:21 +02:00
4b8f93de5c
FW: rework spoiler/flap control logic
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- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
The flap settings for takeoff and landing are now specified relative to full range.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-05-03 15:11:21 +02:00
21a2892f47
use actuator_controls[8] for collective tilt for tiltrotor VTOL, instead of [4]
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[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-05-03 15:11:21 +02:00
7e6aa28106
Added LTO targets for CI
2022-05-02 10:07:54 -04:00
108c98a691
Added experimental LTO kconfig option
2022-05-02 10:07:54 -04:00
8da02e2233
dshot: avoid using pwm failsafe params when dynamic mixing is enabled
2022-05-02 07:16:23 +02:00
7784cd1f40
boards: mro_ctrl-zero-classic updates to sync with ctrl-zero-h7-oem
2022-04-30 09:40:52 -04:00
Beat Küng