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14493 Commits

Author SHA1 Message Date
Jaeyoung-Lim
6a2ebfc0cc Handle setpoint types properly for fixedwing position control 
Handle setpoint types properly for fixedwing position control
 2021-11-07 19:21:00 -05:00
Silvan Fuhrer
dbd9b88bea FW position controller: only allow switching to AUTO_ALTITDUE or AUTO_CLIMBRATE if pos_sp_curr_valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-07 23:31:21 +01:00
Daniel Agar
2f8cb5a1c2 mavlink: initial support for MAG_CAL_REPORT stream 2021-11-07 16:03:34 -05:00
JaeyoungLim
cda7c6ceaa
Enable offboard actuator setpoints 2021-11-07 15:38:42 -05:00
Daniel Agar
68026eadeb
save significant IMU bias changes learned by the EKF 
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-11-07 15:34:27 -05:00
Jacob Crabill
5969508fa7
mavlink: cmake generate mavlink headers at build time 
- mavlink/mavlink is now directly included as a submodule instead of the generated mavlink/c_library_v2
 - this also switches to mavlink development.xml by default
 2021-11-05 23:01:38 -04:00
Julian Oes
88489ae8bd mavlink: Check target for mavlink shell 
The SERIAL_CONTROL MAVLink message now contains a target_system and
target_component field that we should check.

Without this we might be answering to a command on the network that is
meant for another system.
 2021-11-05 23:48:44 +01:00
RomanBapst
7cb99f521c moved ManualVelocitySmoothing to motion_planning lib 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst
924298e9c3 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst
6e75b7cffd FixedWingPositionControl: push altitude setpoint locking into TECS 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
Silvan Fuhrer
f492fa9d3a fix typo 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
RomanBapst
514cf12c57 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
3bd114bf9f RTL: if vehicle is a VTOL in hover, always consider all safe landing points 
Unless there is already a mission landing in progress,
in that case stay on the mission landing if RTL_TYPE
isn't set to closest.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
1163a52c17 Navigator: remove unnecessary (duplicated) info messages for RTL 
There is already (a more precise) info message on RTL activation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
f4f9b8ebf2 RTL: replace deny_mission_landing logic by getDestinationTypeMissionLanding() 
The rtl instance decides on destination of RTL, and Navigator then switches to
mission mode if required.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
ab08bbdb58 RTL: improve RTL info message 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
775a1eb4b6 RTL: remove unused function and non-informative comments 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
dd987c08a5 RTL: rename enum names for RTLType 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
a012f01dbc Navigator: clean up get_rtl_type() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
8dc6d5f208 RTL: set destination type to mission landing also in MC 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Daniel Agar
9c15be22d6 mc_autotune_attitude_control: add new MC_AT_EN parameter to enable 
- only enabled by default on boards that aren't memory constrained
 2021-11-05 09:52:07 -04:00
bresch
1e94512719 FD: use flags union instead of bitmask 2021-11-05 09:45:52 -04:00
bresch
3f1025fb1e FD: add dedicated topic to log more internal states 
log imbalanced propeller check metric

add failure_detector_status message
 2021-11-05 09:45:52 -04:00
bresch
b8ed457371 Commander: trigger failsafe action if imbalanced propeller detected 2021-11-05 09:45:52 -04:00
bresch
5dfb8e594a FD: add imbalanced propeller check 2021-11-05 09:45:52 -04:00
bresch
bf2fb70d67 vehicleIMU: compute and log accel variance 2021-11-05 09:45:52 -04:00
Silvan Fuhrer
f02786d112 Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL 
- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 12:09:39 +03:00
Silvan Fuhrer
b77487d69c Fixed-wing Position controller: add modes for auto altitude and auto descend 
- bit of clean up
- add GPS failsafe mode auto_altitude, that will keep current altitude with a fixed-bank angle
for some time, then switches to auto_descend that will descend with constant sink rate
of 0.5m/s
- params controlling GPS failsafe are not FW params: NAV_GPSF_R --> FW_GPSF_R and
NAV_GPSF_LT --> FW_GPSF_LT

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 12:09:39 +03:00
Matthias Grob
f55590ce78 FlightTaskOrbit: remove duplicate newlines 2021-11-03 17:37:52 +01:00
Matthias Grob
6cea707330 FlightTaskOrbit: increase acceptance radius from 1 to 2m 
to avoid reaproaching when tracking is not perfect while
acc/deccelerating by stick.
 2021-11-03 17:37:52 +01:00
Matthias Grob
eda9dce033 FlightTaskOrbit: fix direction change via MAVLink command 2021-11-03 17:37:52 +01:00
Thomas Debrunner
d450afead6 FlightTaskOrbit: Direct orbit approach with slowdown at intersection point 2021-11-03 17:37:52 +01:00
Thomas Debrunner
0d0b87e193 Update src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2021-11-03 17:37:52 +01:00
Thomas Debrunner
9bd46be124 Orbit: Switch to PositionSmoothing library. 
This also fixes the bug with altitude not follows and smoothes orbit approach trajectory
 2021-11-03 17:37:52 +01:00
Daniel Agar
8f6fd5f37b sensors/vehicle_angular_velocity: gyro RPM dynamic notch filter handle negative RPM 
- some UAVCAN ESCs report negative RPM for reverse rotation
 - lower hard coded safety limit RPM limit to 10 Hz (600 RPM)
 - avoid disabling notch filters that weren't configured
 2021-11-02 09:36:02 -04:00
Daniel Agar
fec0d6c5ed ekf2: change indication further reduce data precision 2021-11-02 10:21:54 +01:00
bresch
1317b1a6e1 [AUTO COMMIT] update change indication 2021-11-01 13:59:34 +01:00
bresch
9e54c6d1aa ekf2: move generic functions to control.cpp 
these functions aren't specific to GPS fusion
 2021-11-01 13:59:34 +01:00
bresch
e90734881b ekf2_test: add more GPS fusion control tests 2021-11-01 13:59:34 +01:00
bresch
8aae39e82a ekf2: move GPS control logic to separate source file 2021-11-01 13:59:34 +01:00
bresch
689ab12845 ekf2: refactor gps vel/pos fusion control logic 2021-11-01 13:59:34 +01:00
bresch
9afc390552 ekf2: move gps yaw reset in starting function 2021-11-01 13:59:34 +01:00
Daniel Agar
1461eb0e32 logger: increase optimization to ${MAX_CUSTOM_OPT_LEVEL} 
- ${MAX_CUSTOM_OPT_LEVEL} is -O2 on boards that aren't flash constrained
 2021-11-01 09:13:12 +01:00
Thomas Debrunner
32be88404a
commander: Only run estimator navigation checks when armed 2021-10-28 12:06:31 -04:00
Silvan Fuhrer
e715e6c245 Fixed-wing position control: set yaw_sp to yaw_current instead of nav_bearing when not controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 14:35:00 +03:00
Silvan Fuhrer
b53808d11b fixed-wing: set yaw_sp to yaw_current instead of 0 when not controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 14:35:00 +03:00
RomanBapst
eee5f501cd navigator: fix flyaway when altitude change is commanded without a valid 
triplet

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
RomanBapst
bf6a47ba6a navigator: cleanup of set_loiter_item 
Unwraps the set_loiter_item() to solve the issue where the altitdue setpoint
in a MC takeoff wasn't correctly used.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
Silvan Fuhrer
cb78ba34d7 Mission: for tangential loiter exit, set current position setpoint typ to position 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 11:01:13 +03:00
Silvan Fuhrer
4b21c0c49e Fw Pos C: always reset pos_sp type from LOITER to POSITION if far away 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 11:01:13 +03:00