65b8bcae12
mc_pos_control: always require takeoff setpoint
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Problem: The drone started taking off in LOITER (HOLD) mode even if on
ground and did not do a proper takeoff jump. The effect was mostly a
hovering close above ground or tilting/flipping because of integrator
wind-up.
Solution: Stay at minimum throttle until a takeoff setpoint is issued.
2016-12-15 10:17:03 +01:00
c64b8c7095
mc_pos_control: always use fabsf and not fabs
2016-12-15 10:17:03 +01:00
e01eaf172a
Add body/NED frame for offboard velocity control
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This adds the possibility to use offboard velocity control in the body
frame and not just the NED (world) frame.
The frame is set in the set_position_target_local_ned message and passed
on to mc_pos_control in the position_setpoint topic.
2016-12-15 10:17:03 +01:00
e3aecc0762
state_machine_helper: remove unused const var
2016-12-15 10:17:03 +01:00
5b132aef70
mc_pos_control: hold position at offboard vel 0
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If velocity offboard control is used, it makes sense to lock/hold
position if the velocity input is 0. If this is not done, we will slowly
drift because nothing is integrating to keep the UAV at its position.
2016-12-15 10:17:03 +01:00
0b02a6e0f7
state_machine_helper: warn about offboard lost, not RC
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When offboard input stops and we're in OFFBOARD mode, we should complain
about offboard being lost and not RC because we probably never even had RC.
2016-12-15 10:17:03 +01:00
454cd33a5e
mc_pos_control: move stuff where it belongs
2016-12-15 10:17:03 +01:00
0b37272d75
mc_pos_control: further reshuffling
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Should not have any functional change
2016-12-15 10:17:03 +01:00
61fff54cbe
mc_pos_control: copy triplet in one place only
2016-12-15 10:17:03 +01:00
432824d603
mc_pos_control: move attitude setpoint to function
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Again, no functional change, just refactor.
2016-12-15 10:17:03 +01:00
c200e581c3
mc_pos_control: move control into functions
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This is only a refactor with no functional change
2016-12-15 10:17:03 +01:00
3ac056924c
navigator: increase stack
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The stack size was generally ok but seemed to get exhausted in the case
of a waypoint which is too far away and therefore exercises some more
code in the mission feasability checker.
Generally, we should have more margin in the navigator stack size
because there are a bunch of different code paths that can happen.
2016-12-15 09:05:02 +01:00
a096b97455
Revert "navigator: increase stack"
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This reverts commit 6a6e9d02a3
2016-12-15 09:05:02 +01:00
08d36fe2af
move initial pwm trim update to pwm_ioctl load case
2016-12-15 00:13:59 +01:00
6a6e9d02a3
navigator: increase stack
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The stack size was generally ok but seemed to get exhausted in the case
of a waypoint which is too far away and therefore exercises some more
code in the mission feasability checker.
Generally, we should have more margin in the navigator stack size
because there are a bunch of different code paths that can happen.
2016-12-15 00:12:54 +01:00
8a6af658f3
navigator: don't omit printf value
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There was a mismatch between the printf arguments and what was defined
in the fmt.
2016-12-15 00:12:54 +01:00
34d253e4d0
bebop2: let PX4_ROOTFSDIR point to the internal mmc card
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Signed-off-by: Roman <bapstroman@gmail.com >
2016-12-15 00:11:13 +01:00
1c2194c600
gps: fix cli parsing
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The gps driver did not give feedback if a non-existing verb was used
such as `gps foo`. Also, the goto out was ugly and the usage always
marked as an error when it's really an info. This cleans it up a bit.
2016-12-15 00:10:27 +01:00
12c5ed39ae
gps: fix faking so that ekf2 initializes
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This changes the faked GPS values in order to get ekf2 to initialize.
2016-12-15 00:10:27 +01:00
ed2d28d5dc
Use time-stamped integrator in Posix MPU6050 driver
2016-12-15 00:09:07 +01:00
f6c573e882
mavlink: don't send uninitialized bytes
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Valgrind did not approve uninitialized bytes from either home or
vehicle global position to be sent.
2016-12-14 22:08:26 +01:00
66925bc065
voted_senors_update: fix style after rebase
2016-12-14 19:57:54 +01:00
d4da626e78
sensors: move sensors with voting into a separate class
2016-12-14 19:57:54 +01:00
f9b3b5a799
sensors: break off parameters initialization into separate source file
2016-12-14 19:57:54 +01:00
c5e485bdd7
sensors: break off RC handling into its own class
2016-12-14 19:57:54 +01:00
4e2d0500a1
sensors: use orb_publish_auto where possible
2016-12-14 19:57:54 +01:00
4b0647d9c0
Condition the GPS check always on the commander GPS prearm check param ( #6055 )
2016-12-14 15:30:24 +01:00
17990cf5dc
geofence fix combined simple and polygon logic
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- require being inside both fences, not either
2016-12-14 08:49:13 +01:00
bce7ecb0f6
Iridium driver and support
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Mavlink module implement HIGH_LATENCY (Iridium)
2016-12-14 08:20:01 +01:00
b2d48f65bf
MC att ctrl: Properly initialize members
2016-12-13 16:14:15 +01:00
c9b7b6bbb5
TAP ESC: Secure being the first publisher of all outputs / reports
2016-12-13 16:14:15 +01:00
ac3aa3e85c
FMU driver: Avoid trashing existing publicacations for RC, motor outputs, etc.
2016-12-13 16:14:15 +01:00
c23378e70d
Update heli mixer, not reporting saturation yet
2016-12-13 16:14:15 +01:00
da6d4398e9
px4fmu: publish mixer saturation data to uORB
2016-12-13 16:14:15 +01:00
ca6f67fd3b
tap_esc: publish mixer saturation status to uORB
2016-12-13 16:14:15 +01:00
27d5ecaaa9
Fix multirotor code style
2016-12-13 16:14:15 +01:00
8b55c8ec55
systemlib mixer: Add public method for multi_rotor saturation status
2016-12-13 16:14:15 +01:00
eb67686b11
mc_att_control: Improve integrator wind-up protection
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Use reporting from the motor mixer to only restrict integrator growth when it will result in increased saturation of the control axis concerned.
Enable absolute integrator limits to be set by parameter
2016-12-13 16:14:15 +01:00
efb7131186
px4io: improve multi-rotor motor saturation status reporting
2016-12-13 16:14:15 +01:00
57a6faf8a2
px4iofirmware: remove unused defines
2016-12-13 16:14:15 +01:00
c4ccfeae0d
mixer: improve multirotor motor limits reporting
2016-12-13 16:14:15 +01:00
cc92339602
pwm command: Fix off-by-one in param parsing
2016-12-13 09:18:59 +01:00
7d0db35e90
Update PWM params to match standard usage in system
2016-12-13 09:18:59 +01:00
8e8336a83f
gps drivers submodule: updated after removing unnecessary baud rate
2016-12-12 23:48:15 +01:00
0acdf32ed5
gps driver: removed unnecessary baud rate
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Signed-off-by: Roman <bapstroman@gmail.com >
2016-12-12 23:48:15 +01:00
e6cbbac120
gps devices: update submodule
2016-12-12 23:48:15 +01:00
d10c4dd824
gps driver: added more baud rates in order to support bebop2
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Signed-off-by: Roman <bapstroman@gmail.com >
2016-12-12 23:48:15 +01:00
1926c7bca7
Revert "Implement the way to run posix simulator directly from IDE without the need to reconfigure command lines, but use runner created via CMake"
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This reverts commit fff4934743
2016-12-12 22:32:34 +01:00
4cb9903561
UAVCAN: Be less verbose on boot
2016-12-12 16:11:21 +01:00
4c714f0e46
Load mon: Be less verbose on boot
2016-12-12 16:11:21 +01:00
Julian Oes