627ec0df5d
control_allocator: increase STACK_MAIN to 3000
...
It was exceeding 2000
2021-12-24 20:06:13 -05:00
4d38742371
control_allocator: show VT_ELEV_MC_LOCK for vtol mixers in config ui
2021-12-24 20:06:13 -05:00
07306c4be3
control_allocator: add support for Tailsitter VTOL
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-12-24 20:06:13 -05:00
0568cff299
control_allocator: handle thrust allocation for VTOL's properly
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-12-24 20:06:13 -05:00
936f2dff52
logger: log both instances of vehicle_thrust/torque_setpoint
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-12-24 20:06:13 -05:00
4f8e6a9548
control_allocator: do not update params while armed
...
As a precaution
2021-12-24 20:06:13 -05:00
e04b4a8dbf
control_allocator: add 6DOF configuration
2021-12-24 20:06:13 -05:00
4c80adfaf1
control_allocator: implement trim + slew rate limits configuration
2021-12-24 20:06:13 -05:00
301100ce0e
uuv_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
2021-12-24 20:06:13 -05:00
b5c2cdf6c4
vtol_att_control: do not manipulate PWM outputs if SYS_CTRL_ALLOC == 1
...
Not required anymore
2021-12-24 20:06:13 -05:00
8d9e2a28c4
control_allocator: add fixed-wing actuator effectiveness
2021-12-24 20:06:13 -05:00
4d2a403afa
control_allocator: add rover actuator effectiveness
...
This can be generalized later
2021-12-24 20:06:13 -05:00
ed3a115c8f
control_allocator: add status publication rate limitation comment
2021-12-24 20:06:13 -05:00
70e46a194f
control_allocator: major refactoring & additions
...
- allow effectiveness matrix to select control allocator method
(desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
2021-12-24 20:06:13 -05:00
a81f11acdd
mc_rate_control: don't publish thrust + torque sp if vtol
2021-12-24 20:06:13 -05:00
28e995ede2
fw_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
2021-12-24 20:06:13 -05:00
4becd6e4c7
rover: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
2021-12-24 20:06:13 -05:00
5da67e2e28
vtol_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
2021-12-24 20:06:13 -05:00
9c767ff1ee
control_allocator: make effective source name a class member
2021-12-24 20:06:13 -05:00
712353ea56
gyro_calibration: increase required samples (to be more conservative)
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- make sure variance is checked across all available sensors
2021-12-24 19:53:44 -05:00
38731662c6
parameters use bitset for mark_unsaved
2021-12-24 14:32:40 -05:00
b054fc7b8b
navigator: trivial code style fix
2021-12-24 10:55:20 -05:00
0f7c850080
Fix typo(at modules/navigator_main)
2021-12-24 08:54:43 -05:00
7d7d707db9
commander: add COM_HOME_EN parameter to enable/disable home position
2021-12-23 15:46:31 -05:00
f68ae39840
Commander: avoid RC actions during calibration
2021-12-22 09:08:23 -05:00
89974c46b9
mavlink streams: add return in all cases
...
Generally not needed here, but GCC produced an error when compiling with
-finstrument-functions.
2021-12-22 08:47:33 -05:00
47fcdb1fdb
sensors/vehicle_angular_velocity: replace ESC/FFT elapsed perf counters with single cycle perf counter
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- non-trivial perf counters (elapsed & interval) are relatively expensive
- if ESC and FFT notch filtering are enabled this reduces 6 updates (2 per axis) to 1
2021-12-21 14:21:10 -05:00
5894f302b5
mavlink: add test for zero padding
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We want to avoid publishing garbage leftover from earlier publications.
2021-12-21 09:40:36 -05:00
5cfe30fa2e
mavlink: fix include for unit tests
...
This is required to find the include directory for the unit test of the
MavlinkStatustextHandler.
2021-12-21 09:40:36 -05:00
2e0286e6bb
mavlink: support receiving multi-chunk statustexts
...
This adds support for mavlink statustext messages arriving in multiple
chunks.
2021-12-21 09:40:36 -05:00
9686c81f7d
boards: enable flow control on CDCACM
...
This enables flow control on CDCACM for the NuttX boards which fixes a
problem where HITL would stall.
The stall could happen if the hardware would be a bit too slow in
keeping up with the incoming messages. Often, this happened on arming
because the logger would take some time to log all parameters right at
the beginning.
The stall would then not recover due to NuttX bug where the rx interrupt
would not be restored correctly and instead only a slower watchdog would
release the next read. This watchdog takes 200ms which means it's hard
to impossible to get out of the situation without restarting sim and/or
PX4. For more information about the issue, see:
apache/incubator-nuttx#3633
As a workaround, until that bug is fixed, and because it makes sense
anyway, I propose to enable FLOWCONTROL for the serial via USB.
2021-12-21 08:01:38 +01:00
88521b0145
print error only if the mavlink command fails
...
In some cases we printed also the mavlink commands that replied
to be unsupported. This is not an error to show in the log.
2021-12-21 07:37:23 +01:00
9d02851893
vmount: increase stack size to 2100
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-12-20 13:05:15 -05:00
90fe4b7a54
vmount: publish gimbal v2 protocol for v1 gimbals
...
This enables the use case where the gimbal v2 protocol is used
between the ground station and the drone, and the gimbal v1 protocol is
used between the drone and the gimbal.
2021-12-20 13:05:15 -05:00
6d74b390d9
vmount: use absolute angle for location tracking
...
I'm pretty sure it makes more sense to use an absolute angle to track a
lat/lon location.
2021-12-20 13:05:15 -05:00
d88f9353e8
vmount: improve debug message
...
This should help to figure out when gimbal commands don't work.
2021-12-20 13:05:15 -05:00
f7c4034f3c
vmount: fix v1 frames with v2 input
...
It looks like the frames for pitch and roll were not set correctly when
v1 is used in v2 input.
2021-12-20 13:05:15 -05:00
0ce4eae314
vmount: fix v1 frames for v1 input
...
This basically means that we want roll and pitch to be absolute, so
relative to the horizon.
2021-12-20 13:05:15 -05:00
a6431ab8f0
simulator: fix implicit-const-int-float-conversion
2021-12-20 10:56:24 -05:00
019eaf7038
multicopter: minimize dt jitter by using estimate timestamp_sample
2021-12-17 17:52:28 -05:00
89f828fba7
pps_capture: advertise for logging
2021-12-17 07:56:08 +01:00
064a602962
Add PPS capture message to logged topics, simplify timestamp logic and small cleanup
2021-12-17 07:56:08 +01:00
ebb657bcf4
Fix camera trigger via MAVLink when camera capture feedback is enabled
...
- camera_trigger module always publishes the camera_trigger msg (independent of the camera feedback)
- Use camera_trigger msg and set the feedback flag
- Subscribing modules determine if the message is relevant based on the feedback message
2021-12-17 07:56:08 +01:00
ea29b45282
ekf2: enable mag check by default, but commander only warn
2021-12-15 09:43:46 -05:00
3fba7288af
ekf2: selector use hysteresis for healthy flag
...
- require that an instance is healthy continuously for >= 1s before
allowing it to be used
2021-12-14 09:52:36 -05:00
eb69f15d3a
health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message
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Add SYS_STATUS flag for parachute
2021-12-14 09:41:12 -05:00
37099f85b9
mavlink: Update to newest mavlink master
2021-12-14 09:41:12 -05:00
fc17797548
ekf2: delete obsolete _bad_vert_accel_detected
2021-12-13 09:13:39 -05:00
986cf288da
dataman: remove obsolete persistence and reset reason
2021-12-12 12:06:35 -05:00
63189067f6
set the transponder_report message of uavs with no icao address to be their mav id
2021-12-11 15:29:43 -05:00
Beat Küng