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Author SHA1 Message Date
Azarakhsh Keipour 62d06357df Tilt-Hex: Added dynamic limits to the hexa tilt model 2020-01-21 18:23:07 -05:00
Azarakhsh Keipour 8bfdf29055 Tilt-Hex Pos-Ctrl: (WIP) Started code for attitude setpoint generation for omni vehicles 2020-01-21 18:23:07 -05:00
Azarakhsh Keipour a0a0c2280b Bug Fix: Fixed the number of controls in the actuators_controls message to account for the 3D-thrust controls 2020-01-21 18:23:07 -05:00
Azarakhsh Keipour 400f8ea4be Bug Fix(es): 3D-thrust ranges fixed to -1..1 and manual z maps to negative z-thrust now 
- The range for 3D-thrust in the 6-DOF multirotor mixer is changed to -1 to 1 now (fixed from 0 to 1)
- The Z thrust in the 6-DOF multirotor mixer is mapped to the Z-thrust command now (fixed from thrust command)
- The manual Z command in the rate controller maps to the negative Z-thrust (fixed from positive Z)
- The variable _thrust_body_sp in the rate controller renamed to _thrust_sp to be compatible with the older variable removed in the last commit
- The code tested in TakeOff, Manual, Hold, Position and Land modes on both tilted hex and iris

Accepting and working with 3D thrust commands now
 2020-01-21 18:23:07 -05:00
Azarakhsh Keipour 3a321302f0 (WIP) MC-Att-Ctrl: Added 3d thrust set point to the 6-Dof attitude and rate controllers 2020-01-21 18:23:07 -05:00
Azarakhsh Keipour de9942b204 Tilt-Hex SITL: P gains for rpy changed to make the simulated flight smoother 
- Also enabled logging for the simulated tilt-hex drone
 2020-01-21 18:23:07 -05:00
Azarakhsh Keipour 0f40eb953d Bug Fix: The absolute value of Z thrust is used in the 6-Dof mixer now 
- Tilt-Hex flies like a normal hex but with the new 6-dof mixer now (with some jitters)
- Some minor parameter changes in the hexa_x_tilt definition to make the simulated flight smoother
 2020-01-21 18:23:07 -05:00
Azarakhsh Keipour b2bc14f706 Bug Fix: Fixed the name of the tilt hex airframe in the CMakeLists 
- Also added some commands to 6101_hexa_x_tilt.post
 2020-01-21 18:23:07 -05:00
Azarakhsh Keipour a878d6823d Mixer: Added 3D thrust capability to the multirotor and 6-dof mixers 
- Added 3D thrust definitions to actuator controls and multirotor motor limits messages
 2020-01-21 18:23:06 -05:00
Azarakhsh Keipour d7f61e41d8 Mixer 6-DoF: Airmode and saturation enabled 
- More info at https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
- The drone is still not flying stably, has vibration and flies away.
 2020-01-21 18:23:06 -05:00
Azarakhsh Keipour 0d7d567c4b Mixer 6DoF (WIP): Added a special S mixer for 6-DoF multirotors 2020-01-21 18:23:06 -05:00
Azarakhsh Keipour 1af1b40733 Mixer Generation: Generate normalized 6-DoF mixer matrices 2020-01-21 18:23:06 -05:00
Azarakhsh Keipour c53923d1d3 Mixer Generation: Generate mixers for a new MultirotorMixer6dof class for 6-DoF vehicles 2020-01-21 18:23:06 -05:00
Azarakhsh Keipour 4bcf796a89 Added mixer and gazebo model for the tilted-arm hexarotor 2020-01-21 18:23:06 -05:00
Azarakhsh Keipour 6b8fbc3c45 Hex TOML: Changed to reflect the omni-8 for now 2020-01-21 18:23:06 -05:00
Azarakhsh Keipour e49fb5bf50 Tilt-Hex: Completed mixer definitions (for now) 2020-01-21 18:23:06 -05:00
Azarakhsh Keipour ceb21657c0 Tilt-Hex: Added tilt hex definition files to CMakeLists 2020-01-21 18:23:06 -05:00
Azarakhsh Keipour 82d52d96c5 Defined the new tilted hex airframe 2020-01-21 18:23:06 -05:00
Daniel Agar cf195b0755 commander: safety button disarm require land detector 
- landed, maybe_landed, or ground_contact required before the safety
button is able to disarm
 - this reduces the risk of a faulty safety button triggering in regular
flight
 2020-01-21 23:35:25 +01:00
Daniel Agar 4f868fc565 commander: use arm_disarm() helper for safety button disarm 2020-01-21 23:35:25 +01:00
Claudio Micheli 624fcc3adb v5x target: Fix wrong FD for TELEM3 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-01-21 23:27:59 +01:00
Daniel Agar 350268ee68 navigator: mission WORK_ITEM_TYPE_MOVE_TO_LAND altitude isn't relative 2020-01-21 23:27:22 +01:00
Daniel Agar fcbf8b6bcd platforms/nuttx: fix fmu-v4pro jlink debug device helper 2020-01-21 22:24:58 +01:00
Daniel Agar b2f4dae2c4 boards: fmu-v2/v3 limit rate loop by default 2020-01-21 19:16:27 +01:00
Roman Bapst fa83f3799a navigator: set acceptance radius even for IDLE position setpoint 2020-01-21 11:14:43 -05:00
kamilritz 04e09d772e Add missing mag calibration biases 2020-01-21 13:36:08 +03:00
kamilritz a3d2254e44 Move mag downsampling to ECL lib 2020-01-21 13:36:08 +03:00
kamilritz 4e8665082e Move baro downsampling and dynamic pressure comp to ECL lib 2020-01-21 13:36:08 +03:00
Daniel Agar 6704c90354 px4/fmu-v4: restore SPIDEV integers from stable v1.10 (and earlier) 2020-01-20 22:31:30 -05:00
Daniel Agar dc05ceaad2 create temperature_compensation module 
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
 - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
 2020-01-20 21:42:42 -05:00
PX4 BuildBot dedb4e8267 Update submodule sitl_gazebo to latest Tue Jan 21 00:39:16 UTC 2020 
- sitl_gazebo in PX4/Firmware (635ceccfdb): https://github.com/PX4/sitl_gazebo/commit/a5b33417f72be371843e12c5ea77cd32733684f4
    - sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/2f4b32723c68a3424d24fd99fa4ef305a7c5ad49
    - Changes: https://github.com/PX4/sitl_gazebo/compare/a5b33417f72be371843e12c5ea77cd32733684f4...2f4b32723c68a3424d24fd99fa4ef305a7c5ad49

    2f4b327 2019-10-21 Martina Rivizzigno - typhoon sonar fix rotation such that the reported orientation metches the gazebo model
7db52d7 2019-10-18 Martina Rivizzigno - typhoon_h480: rotate sonar such that is forward facing
 2020-01-20 21:01:45 -05:00
Daniel Agar e863dd317e Update submodule ecl to latest Tue Jan 21 00:39:21 UTC 2020 
-  ecl in PX4/Firmware (ac205456f93857f447595eb0005c954a78461778): https://github.com/PX4/ecl/commit/011b4c2e4e9c39723250ed6805daa5b0aac3a1d4
    - ecl current upstream: https://github.com/PX4/ecl/commit/950e75e484519a6f719cbfd9d2ca2a29bfd06bfa
    - Changes: https://github.com/PX4/ecl/compare/011b4c2e4e9c39723250ed6805daa5b0aac3a1d4...950e75e484519a6f719cbfd9d2ca2a29bfd06bfa

950e75e 2020-01-18 Matthias Grob - EKF_ringbuffer: minor missing space for style
26125c2 2020-01-17 kamilritz - Switch from jenkins to github actions
 2020-01-20 21:01:02 -05:00
Daniel Agar 635ceccfdb land_detector: relax data timeouts uniformly 
* if we're hitting these timeouts there are much larger problems in the system
 2020-01-20 17:14:00 -05:00
Daniel Agar d1260aa28c logger: add safety (switch) at minimal rate 2020-01-20 14:30:24 -05:00
stmoon 44cac04abe fix the bug for none of recv_topics 2020-01-20 12:33:47 +00:00
Daniel Agar c270e75156 vehicle_local_position: delete unused and redundant dist_bottom_rate 2020-01-18 12:50:57 -05:00
Julian Oes 98f0ba33d2 setup: prevent prompt during install 
This should prevent debconf from asking questions during install.
Presumably, the exported env variable DEBIAN_FRONTEND is not taken into
account in a sudo command, hence we need to add it every time.
 2020-01-18 11:10:55 +01:00
Julian Oes 09c3fc3e71 setup: add pyros-genmsg, sort list 2020-01-18 11:10:55 +01:00
Julian Oes ca7327056c setup: prevent debconf asking about tzdata 2020-01-18 11:10:55 +01:00
Julian Oes 83ccc4e61e setup: fix script fail if check fails 2020-01-18 11:10:55 +01:00
Julian Oes 7a0ba7f0ca setup: remove duplicate 2020-01-18 11:10:55 +01:00
Julian Oes 26d4169b7c setup: remove unused dependencies 2020-01-18 11:10:55 +01:00
Julian Oes 8353d609cb setup: don't forget to install wheel 2020-01-18 11:10:55 +01:00
Julian Oes d764cfcb6d setup: remove unusual Python dependencies 
As far as I know these dependencies are only ever required when doing
analysis in ECL. At that point developers should be confident to add
what is required.
 2020-01-18 11:10:55 +01:00
Julian Oes fcbf2e8f9e setup: remove Python 2 requirements for Ubuntu 2020-01-18 11:10:55 +01:00
Julian Oes ac6d7e6730 setup: another try to install pip dependencies 2020-01-18 11:10:55 +01:00
Julian Oes 8112a5c417 setup: fix call to pip/pip3 
This should prevent the error:
Traceback (most recent call last):
  File "/usr/bin/pip3", line 9, in <module>
      from pip import main
      ImportError: cannot import name 'main'

As described in:
https://github.com/pypa/pip/issues/5447#issuecomment-407693701
 2020-01-18 11:10:55 +01:00
Julian Oes bac4854424 setup: stop on error 2020-01-18 11:10:55 +01:00
Julian Oes 126b7a5642 setup: we need a newer pip 2020-01-18 11:10:55 +01:00
Julian Oes bf62b0f5e6 setup: use pip as user, don't forget python3-dev 
In my opinion we should not mess with someones system Python
dependencies.
 2020-01-18 11:10:55 +01:00