fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-13 08:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity
31,279 Commits 852 Branches 161 Tags
62d06357dfc2159a8288d5e98f86f764be9fad45
Commit Graph

31279 Commits

This Branch
This Branch
All Branches
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