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8720 Commits

Author SHA1 Message Date
Matthias Grob
5f3cbbbbc2 mc_pos_control: changed thrust calculation to 3D projection onto body z axis 
until now the desired thrust was simply the absolute value of the thrust setpoint vector
but a multicopter is only capable of producing thrust in its (negative) body z axis
this leads to excess thrust during attitude tracking errors

one important use case is:
trying to land with minimal thrust in NED z axis against gravity
but the position controller still correcting some small horizontal estimation errors
then this prevents unwanted thrust in a completely wrong direction
 2017-01-16 08:25:26 -08:00
Julian Oes
d63db203ba mc_pos_control: don't publish attitude sp 2x 2017-01-16 08:25:26 -08:00
Matthias Grob
7ab2958757 land_detector: added takeoff throttle threshold 
if we control manually and are still landed, we want to stay idle until the pilot rises the throttle
 2017-01-16 08:25:26 -08:00
Matthias Grob
5529023ec1 mc_pos_control: added feed forward hover thrust 
the velocity controller was misusing the integral part to account for the constant gravitational force offset
the hover throttle from the parameter is now is now directly used as feed forward for the thrust in world z direction
the integrator compensates for inaccurate paarameter but should now be idealy zero
 2017-01-16 08:25:26 -08:00
Lorenz Meier
50002a0ff6 Update EEKF2 to match ecl updates 2017-01-15 01:57:38 -08:00
Lorenz Meier
1c42cea28e MAVLink: Ignore bogus mission item requests silently 2017-01-15 01:47:10 +01:00
Lorenz Meier
d1fcd8dd8e Fix code style for mavlink main 2017-01-14 07:47:03 -08:00
Lorenz Meier
521b89b1ce MAVLink: Protect against illegal length indication of RTCM data 2017-01-14 07:47:03 -08:00
Lorenz Meier
1549f5a5d1 sdlog2: Fix string termination 2017-01-14 07:47:03 -08:00
Lorenz Meier
3eb7caba4f MAVLink param handling: Exclude Coverity false positives 2017-01-14 07:47:03 -08:00
Lorenz Meier
fc2970b309 Helicopter mixer: Fix out of bounds checks 2017-01-14 07:47:03 -08:00
Lorenz Meier
4939e42c0f MAVLink main: Fix resource leak for non-NuttX cases 2017-01-14 07:47:03 -08:00
Lorenz Meier
1155a4725b PX4IO: Fix mixer load corner case in string termination 2017-01-14 07:47:03 -08:00
Daniel Agar
df5d0ba8b9 airspeed cal more descriptive error message (#6324) 2017-01-13 17:26:27 -05:00
Andreas Antener
338804606a Fixed-wing: allow mission takeoff 2017-01-13 00:18:08 -08:00
David Sidrane
79d682e740 Master uavcan mainline (#6313) 
* Update libuavcan to upstream master with PX4 contrib for NuttX 7.16+

* Release any 64B blocks not needed by usavcan after FW server is stopped.

  We simply call the srrink methode after the server stop.
  See https://github.com/PX4/Firmware/pull/3005#issue-111885687
  for backgound
 2017-01-12 13:28:38 -10:00
David Sidrane
ba2efff70f Updated libuavcan submodule with upstream ci fix. 
This commit does not effect PX4 it just points to a commit
   that fixes a CI failure introduced in the changes upstrem to
   support the nuttx upgrade to 7.16+
 2017-01-12 10:53:48 -08:00
Lorenz Meier
a8902472e4 Params: Fix the description text 
The MAIN and AUX outputs had the same description which could confuse users.
 2017-01-12 02:40:56 +01:00
Daniel Agar
751909cd4e clang readability-braces-around-statements (#6298) 2017-01-11 17:01:51 -05:00
Beat Küng
48c5ec54bb commander: make sure all code paths return an (n)ack to MAV_CMD_PREFLIGHT_CALIBRATION 2017-01-11 16:25:04 +01:00
Mark Charlebois
f529069368 Fixed code format issues 
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2017-01-09 15:41:54 -08:00
Mark Charlebois
830eb8528e fixed merge conflict 
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2017-01-09 15:41:54 -08:00
Mark Charlebois
b08e70b65a Enabled topic_unadvertised 
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2017-01-09 15:41:54 -08:00
Mark Charlebois
9834155d09 Removed extra debug 
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2017-01-09 15:41:54 -08:00
Mark Charlebois
b556528984 Fixed wait_for_topic and orb_exists 
orb_exists was not updating the DSP topics on apps proc side

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2017-01-09 15:41:54 -08:00
Mark Charlebois
62a3e07423 orb_exists support for muorb 
Also added builtin command wait_for_topic

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2017-01-09 15:41:54 -08:00
Beat Küng
30f80515ec fix logger: sscanf was used wrong for custom topics file 
using scanf with %s reads until the first whitespace, which included the
comma (as per C standard and tested on linux). Behavior on NuttX differs.

This makes it work on both Linux and Nuttx.
 2017-01-09 11:09:37 +01:00
Daniel Agar
c9956e25b4 mavlink fix code style 2017-01-07 01:03:18 -05:00
Daniel Agar
c280358e32 navigator fix code style 2017-01-07 01:03:18 -05:00
Stephan Brown
67a484ac34 Make parameter generation also depend on the scripts that run. Address some review comments. 2017-01-06 09:58:58 +01:00
Stephan Brown
92b2395ff6 param: Fix another off by 1 error and a formatting issue. 2017-01-06 09:58:58 +01:00
Stephan Brown
bf57e86dc2 param: Fix an off by 1 issue and some style fixes. 2017-01-06 09:58:58 +01:00
Stephan Brown
99228bdeb1 param: Use utarray_find when looking for changed parameters and use a binary search for finding param handles by name. 2017-01-06 09:58:58 +01:00
Daniel Agar
b721f5fc7c fw_att_control init all fields and delete unused 2017-01-04 16:08:20 -05:00
Daniel Agar
ab52bf0391 attq remove unused perf counters 2017-01-04 16:08:20 -05:00
Daniel Agar
525448de93 navigator follow target add harmless float cast 2017-01-04 16:08:20 -05:00
Daniel Agar
61e48e2286 navigator comment fall through in case 2017-01-04 16:08:20 -05:00
Andreas Antener
1de7636fad Tiltrotor: gradually reduce roll control with time or airspeed instead of simply switching it off 2017-01-03 20:32:33 -05:00
Andreas Antener
f2db8d0106 VTOL: added missing open loop time parameter 2017-01-03 20:32:33 -05:00
Andreas Antener
c416fc3fa0 Tiltrotor: 
- added open-loop transition time for airspeed-less flying
- added ramping down the back motors during forwards transition
 2017-01-03 20:32:33 -05:00
Lorenz Meier
2cabc4866a PX4IO: Use mixer header for buffer length 2017-01-03 20:32:33 -05:00
Lorenz Meier
d401252c9e IO firmware: Convert magic numbers to defines 
This is necessary to allow more and better unit testing.
 2017-01-03 20:32:33 -05:00
Lorenz Meier
b3ce3cbaff Simple mixer: Remove incorrect pre-parser and replace with fixed central implementation 2017-01-03 20:32:33 -05:00
Lorenz Meier
dd05ff5156 Multirotor mixer: Remove incorrect pre-parser and replace with fixed central implementation 2017-01-03 20:32:33 -05:00
Lorenz Meier
ff18140cf4 Mixer: add string wconditioning check. 
This introduces a correctly designed pre-check for the input parsers. This fixes the mixer unit test and should fix all issues occuring on real hardware.
;
 2017-01-03 20:32:33 -05:00
Lorenz Meier
8cc261a148 Slight improvements in unit tests 2017-01-03 20:32:33 -05:00
Bart Slinger
a7eed46062 Update vtol_att_control_main.cpp 
Fixes https://github.com/PX4/Firmware/issues/6246
 2017-01-04 00:02:53 +01:00
Beat Küng
ab3b68cf18 ORB_PRIO: set ORB_PRIO_MIN to 1 instead of 0 
This is needed as the sensors app assumes a value of 0 means uninitialized.

Follow-up to 'Sensors app: Fix consistency checks', a6696d339d
 2017-01-03 20:53:26 +01:00
Lorenz Meier
4fcb4cf0fd MAVLink: Fix FTP file path handling 
This was a real issue for long paths and not a flight safety issue for regular users, but could have been an issue for developers trying to use FTP on very deep nested file systems
 2017-01-03 14:44:45 +01:00
Lorenz Meier
66226fb754 Land detector: Harden string handling 
Due to known input this was not a real issue, but bad style.
 2017-01-03 14:44:45 +01:00