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12036 Commits

Author SHA1 Message Date
Daniel Agar
6d9bf18ca6 Revert "VTOL: add parameter to prevent flight if roll direction was not checked" 
This reverts commit 5f06c6a1aa1f29f37f373c679a1a02c07412f811.
 2019-06-25 09:26:20 +02:00
Matthias Grob
5002b13bda mc_att_control: Increase default rate integral gain 
@bkueang and me realized that on every frame we tune the integral gain for
the roll and pitch rate controller is much too low. Usually it needs to be
increased to 0.3 or even 0.4 to have better "locked in" flight performance
and 0.2 seems like a good compromise for a safe default.
 2019-06-24 18:26:27 +02:00
Beat Küng
ea31f34d09 mc rate controller: add I term reduction factor 
Reduce the I gain for high rate errors to reduce bounce-back effects after
flips. Up to 200 degrees the gain is almost not reduced (<25%), so this
will only take noticeable effects for large errors (setpoint changes),
where we actually want to have an effect.

This allows to increase the MC_*RATE_I parameters w/o negative effects
when doing flips (i.e. bounce-back after flips).

The 400 degrees limit and the x^2 are empirical.

The better the rate tracking in general (high P gain), the less this is
required (because of the lower tracking error). At the same time it also
does not harm, as the i_factor will always be close to 1.
 2019-06-22 13:23:19 +02:00
JaeyoungLim
4c4bcc5fdb Mavlink: Fill in thrust field correctly for offboard rates setpoints on fixed wing (#12311) 
* Fill in thrust field for rates sp
 2019-06-20 17:17:32 +02:00
SalimTerryLi
e0f3fc8d00 Mavlink receiver SET_ATTITUDE_TARGET fill the correct throttle field by checking its frametype in offboard mode (#12149) 2019-06-18 02:06:41 +02:00
alessandro
2deab6c607 commander: refactored state-machine strings 
- Follow-up changes to https://github.com/PX4/Firmware/pull/11796
 2019-06-17 20:09:05 +02:00
Daniel Agar
136962d125
uORB Subscription callbacks with WorkItem scheduling on publication (#12207) 2019-06-17 16:26:06 +02:00
mcsauder
8811c8315c Modify the update_params() comment to better reflect what is taking place in mavlink_receiver.h. 2019-06-17 09:41:30 +02:00
mcsauder
742c22d099 Rename _param_sub to _param_update_sub and initialize. Re-define and re-implement the update_params() method and only call if parameters have been updated. 2019-06-17 09:41:30 +02:00
mcsauder
c92b8b03cd Move variable initialization from constructor to declarations in MavlinkReceiver class, alphabetize var lists. Added update_params() method to ensure that parameters subscribed to are updated routinely. 2019-06-17 09:41:30 +02:00
Daniel Agar
7c4bf6ddae
Mavlink ODOMETRY (331) support MAV_FRAME_BODY_FLU 2019-06-16 13:23:57 -04:00
JaeyoungLim
d7d0bd2764 Mavlink: Enable gimbal control using SET_ACTUATOR_CONTROL_TARGET while controlling the vehicle offboard (#12146) 
* Stop ignoring setpoints when actuator setpoints are for the gimbal
 2019-06-15 21:35:41 -04:00
Daniel Agar
106ee280c5
land_detector initiate cycle immediately 
- fixes #12190
 2019-06-15 21:30:09 -04:00
Daniel Agar
4e360064d9
commander refactor and cleanup offboard control mode 2019-06-15 20:45:26 -04:00
Daniel Agar
1657b5030a wind_estimator always copy attitude and local position data 2019-06-15 19:42:48 -04:00
Daniel Agar
4910bed45b mavlink send_statustext_critical() remove redundant print 2019-06-15 10:14:41 -04:00
Timothy Scott
c4bb6b53e8 Changed soft stop check 2019-06-13 10:04:26 +02:00
Timothy Scott
21760a5856 Changed constant name to UNMANNED_GROUND_VEHICLE 2019-06-13 10:04:26 +02:00
Timothy Scott
714c90b9db Updated code style to fix confusing if conditions 2019-06-13 10:04:26 +02:00
Timothy Scott
a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00
Timothy Scott
2ca40bfc65 Changed navigator to properly separate xy and z distance to waypoint 2019-06-13 10:04:26 +02:00
Daniel Agar
6816f2a4ce
commander force offboard control update when first entering mode 
- fixes #12241
 2019-06-12 20:25:05 -04:00
Matthias Grob
048cca7bc4 vtol_att_control: apply multicopter takeoff hotfix also for vtol (#12250) 
Please see reference:
https://github.com/PX4/Firmware/issues/12171
 2019-06-12 13:59:29 -04:00
Mark Sauder
ae6fed4f29 Migrate remaining variable initializations from constructor list to declarations in mavlink_main.cpp/h. 2019-06-12 12:53:09 -04:00
Daniel Agar
79d4c09d59
uORB::Publication simplify and cleanup 
- base class is now template
 - drop linked list
 - virtualization no longer required
 2019-06-12 08:48:19 -04:00
Bharat Tak
1ebf5d04d9 logger: add Ulog sync bytes at 1Hz and tagged log message definition (#12144) 2019-06-11 11:00:54 +02:00
Daniel Agar
c223de8a50 vmount move usage() to bottom of file and format 2019-06-08 03:23:50 -07:00
Daniel Agar
933dd1357e navigator move print_usage() to bottom of file 2019-06-08 03:23:50 -07:00
Daniel Agar
d9c5fb0500 mc_att_control move print_usage() to bottom of file and format 2019-06-08 03:23:50 -07:00
Daniel Agar
97c2dba2fa logger move print_usage() to bottom of file and format 2019-06-08 03:23:50 -07:00
Daniel Agar
63d582464e mc_pos_control move print_usage() to bottom of file and format 2019-06-08 03:23:50 -07:00
Julian Oes
d2c824c534 gpssim: don't advertize uninitialized data 
According to valgrind uninitialized bytes were being advertized.
 2019-06-07 17:10:35 -04:00
Daniel Agar
5669df4ca4 mc_pos_control move orb subscriptions to new uORB::Subscription 2019-06-07 09:22:35 -04:00
Daniel Agar
be02ad3514 fw_att_control move orb subscriptions to uORB::Subscription 2019-06-06 20:02:02 -04:00
Daniel Agar
4bef573497 fw_pos_control_l1 move to new uORB::Subscription 2019-06-06 20:00:02 -04:00
Daniel Agar
528d2f61a0 sensors partially move to new uORB::Subscription 2019-06-06 19:07:17 -04:00
Daniel Agar
3796dda209 ekf2 move most orb subscriptions to uORB::Subscription 2019-06-06 08:22:15 +02:00
Daniel Agar
cecd009ddc mc_att_control: fix vehicle_rates_setpoint_poll() error due to merge timing 2019-06-05 21:18:02 -04:00
Daniel Agar
4c42cac380 mc_att_control move most orb subscriptions to uORB::Subscription 2019-06-05 20:37:47 -04:00
Daniel Agar
c0e735c88a vtol_att_control move to new uORB::Subscription 2019-06-05 20:33:20 -04:00
Daniel Agar
71d58c9278 wind_estimator move to new WQ (lp_default) and uORB::Subscription 2019-06-05 20:31:16 -04:00
Daniel Agar
e4ad994763 navigator move to new uORB::Subscription 2019-06-05 20:28:44 -04:00
bresch
ac4458460d FailureDetector - update hysteresis to comply with new interface 2019-06-05 16:53:08 +02:00
bresch
c75f71abc2 IO failsafe - apply failsafe values to outputs when in failsafe. 
This is required because otherwise, IO would output disarmed values if
FMU goes into a disarmed state.
 2019-06-05 16:53:08 +02:00
bresch
96da46d1aa Failsafe - cosmetic changes 2019-06-05 16:53:08 +02:00
bresch
776b1a28de IO mixer - cleanup FMU timeout check (comments and indentation) 2019-06-05 16:53:08 +02:00
bresch
c576c57d7b protocol.h - comment style update 2019-06-05 16:53:08 +02:00
bresch
4b8febf558 Flight termination IO - reword flight termination flag description 2019-06-05 16:53:08 +02:00
bresch
158463d0a0 Flight termination - Rename "flightterm" variables and defines to "flighttermination". 2019-06-05 16:53:08 +02:00
bresch
5becc24a1f Failure detector - in failure detector preflight check, get 
vehicle_status as const type. Also use FAILURE_NONE enum to check for a
failure
 2019-06-05 16:53:08 +02:00