- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
The flap settings for takeoff and landing are now specified relative to full range.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.
This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
* FW attitude control scaling fixes and cleanup
This commit aligns the scaling better with the derivations in
https://dev.px4.io/master/en/flight_stack/controller_diagrams.html#airspeed-scaling
Integrator terms now scale with IAS^2 (all three axes)
To match the roll and pitch controllers:
- Yaw integrator scale is now applied during accumulation, not to
integral value (so now FW_YR_IMAX is respected more intuitively)
- Yaw FF term now scale with IAS instead of IAS^2
Also made a number of small changes to make the three files
(roll, pitch, yaw) 3-way diffable to be clearer about what the
differences among them are.
* Remove unused yaw coordination method
- "Coordination method" open vs. closed code removed, since closed
is never used and not actually implemented.
- No change to behavior
* Remove PX4_WARN messages
Co-authored-by: george <george@campsix.com>
The EAS is the calibrated airspeed corrected with a scaling factor to account for sensor error/placement of pitot.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- ecl/attitude_fw was never maintained as a standalone library
- moving ecl/attitude_fw library into the fw_att_control module to ease further development
Thomas Stastny