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Author SHA1 Message Date
Beat Küng 70e46a194f control_allocator: major refactoring & additions 
- allow effectiveness matrix to select control allocator method
  (desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
  to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
 2021-12-24 20:06:13 -05:00
Beat Küng a81f11acdd mc_rate_control: don't publish thrust + torque sp if vtol 2021-12-24 20:06:13 -05:00
Beat Küng 28e995ede2 fw_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng 4becd6e4c7 rover: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng 5da67e2e28 vtol_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng d1abdd0f8d output drivers: add option to generate a separate output range reversing param 
Makes it a bit easier to configure. Reversing by setting MIN > MAX is still
supported.
 2021-12-24 20:06:13 -05:00
Beat Küng 1901edf13c actuator_motors.msg: add reversible flags & implement in mixer_module 2021-12-24 20:06:13 -05:00
Beat Küng ccc1f0e8fa generate_actuators_metadata: minor additions (index_offset, item_label_prefix) 2021-12-24 20:06:13 -05:00
Beat Küng 81cef522fd generate_params.py: fix bitmask param type 2021-12-24 20:06:13 -05:00
Beat Küng 5bcc5d3a13 generate_actuators_metadata.py: add mixer rules support 2021-12-24 20:06:13 -05:00
Beat Küng 230aae580f ROMFS: add control_allocator to all types 2021-12-24 20:06:13 -05:00
Beat Küng 86aa9f9336 Makefile: exclude src/lib/crypto/libtommath from validate_module_configs 2021-12-24 20:06:13 -05:00
Beat Küng 9c767ff1ee control_allocator: make effective source name a class member 2021-12-24 20:06:13 -05:00
Beat Küng 20d96f3bd9 metadata: fix BOARD_WITH_IO detection 
Wasn't correctly updated during a rebase.
 2021-12-24 20:06:13 -05:00
Beat Küng 89974c46b9 mavlink streams: add return in all cases 
Generally not needed here, but GCC produced an error when compiling with
-finstrument-functions.
 2021-12-22 08:47:33 -05:00
Beat Küng e29759d877 WorkQueueManager: explicitly convert PTHREAD_STACK_MIN to int 
fixes a compiler error on GCC 11.2.1:
error: no matching function for call to ‘max(long int, int)’
 2021-12-22 08:47:33 -05:00
Beat Küng f6ced71d26 pps_capture: make it configurable via output functions 2021-12-17 07:56:08 +01:00
Beat Küng f76086ffa1 microRTPS_agent_CMakeLists.txt.em: add install section 2021-12-10 09:03:08 -05:00
Beat Küng a9e918c7b2 fix ina226: use shunt param value 2021-12-10 09:03:08 -05:00
Beat Küng a4ca298ee9 simulator_mavlink: handle MAV_TYPE_VTOL_RESERVED3 2021-12-10 09:03:08 -05:00
Beat Küng 7aed8c4f47 sd_bench: print errno on write failure 2021-12-10 09:03:08 -05:00
Beat Küng 80300c36b4 parameter units: add 'A' (Ampere) 2021-12-10 09:03:08 -05:00
Beat Küng 10f49c99ef px4_add_gtest.cmake: add optional COMPILE_FLAGS, INCLUDES, EXTRA_SRCS and LINKLIBS 2021-12-10 09:03:08 -05:00
Beat Küng 87ec8839c4 px4/fmu-v5x: remove unused base_phy_DP83848C build variant 2021-12-10 09:03:08 -05:00
Beat Küng aa96e39306 kconfig: do not inherit for recovery.px4board from default.px4board 2021-12-10 09:03:08 -05:00
Beat Küng ca6df035b4 px4/fmu-v5x: add arch_io_pins dependency (required in init.cpp) 2021-12-10 09:03:08 -05:00
Beat Küng 0d1d454a4c mavlink: add missing 'sensor_calibration' lib dependency 2021-12-10 09:03:08 -05:00
Beat Küng cbd6e735ad fix console_buffer: avoid potential deadlock when using dmesg over MAVLink shell 
dmesg was locking the console buffer, then writing to stdout (a pipe in
the case of the MAVLink shell).
This might block, waiting for mavlink to read from the pipe. If however
mavlink tries to write to the console at that time, the lock is already
taken.
This patch avoids nested locking by using a separate buffer.
 2021-11-30 08:49:52 -05:00
Beat Küng 5bec3004c3 omnibus/f4sd: disable RGBLED to reduce flash 2021-11-24 11:41:33 +01:00
Beat Küng 99d3b2a4e4 omnibus/f4sd: disable modules to reduce flash 2021-11-23 12:40:22 -05:00
Beat Küng db2a1e5fee px4/fmu-v2: disable modules to reduce flash 2021-11-23 12:40:22 -05:00
Beat Küng 950767f1af holybro/kakutefy: disable modules to reduce flash 2021-11-23 12:40:22 -05:00
Beat Küng 4c03def6e9 boards: add CONTROL_ALLOCATOR + ACTUATOR_TEST 2021-11-23 12:40:22 -05:00
Beat Küng 312d84ca23 metadata: run json schema validation for actuators + parameter metadata 2021-11-23 12:40:22 -05:00
Beat Küng 2809dd8944 control_allocator: remove min/max/scale params 2021-11-23 12:40:22 -05:00
Beat Küng b29d9db7f1 control_allocator: limit status publication rate to 200Hz 
Reduces CPU load by ~3.5% on F4 @2khz.
And compute getAllocatedControl as needed (~1.5% CPU reduction)
 2021-11-23 12:40:22 -05:00
Beat Küng 93a54ee63d metadata: fix generic param metadata generation 
Adds the module.yaml params that was previously split into a separate file.
 2021-11-23 12:40:22 -05:00
Beat Küng bcba3dfe52 control_allocator,angular_velocity_controller: run on rate_ctrl wq 2021-11-23 12:40:22 -05:00
Beat Küng a0e43bca96 msg: remove unused vehicle_actuator_setpoint topic 2021-11-23 12:40:22 -05:00
Beat Küng 52a2ef34fd mixer_module: add THR_MDL_FAC for SYS_CTRL_ALLOC=1 2021-11-23 12:40:22 -05:00
Beat Küng 357a16aca6 pwm_out_sim: split module.yaml into HIL+SIM files 2021-11-23 12:40:22 -05:00
Beat Küng b94c5db55d component_information: add actuators json generation & CI deployment 2021-11-23 12:40:22 -05:00
Beat Küng 70b1b19902 uavcan: add configuration parameter to actuator metadata 2021-11-23 12:40:22 -05:00
Beat Küng 19b89e1d35 output_functions: add notes to camera trigger + capture & exclude from testing 2021-11-23 12:40:22 -05:00
Beat Küng 4346ac4a37 control_allocator: add mixer metadata 2021-11-23 12:40:22 -05:00
Beat Küng 282d35bbf0 esc_calibration: handle SYS_CTRL_ALLOC==1 2021-11-23 12:40:22 -05:00
Beat Küng 490a2cd7ae dshot: handle VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng 21699935e8 vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng 6fdcc43ea8 mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg 2021-11-23 12:40:22 -05:00
Beat Küng 36296794c8 module config: add generate_actuators_metadata.py script 2021-11-23 12:40:22 -05:00
Beat Küng 36d9635518 output_functions.yaml: allow single-instance entry with 'start' but no 'count' 
for other additional data
 2021-11-23 12:40:22 -05:00
Beat Küng 5d6e785a4b mixer_module: remove unneeded test_motor_s force init 2021-11-23 12:40:22 -05:00
Beat Küng f99c2617ad control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults 2021-11-23 12:40:22 -05:00
Beat Küng dbc889a2ae rc.mc_apps: remove 'param set MPC_USE_HTE 0' for control allocation 
this is working now
 2021-11-23 12:40:22 -05:00
Beat Küng 2ff6baa250 actuator params: use module_name as prefix to channel label 2021-11-23 12:40:22 -05:00
Beat Küng 6537f480b1 module.yaml: make long param description optional 
Some params are very simple and don't need more.
 2021-11-23 12:40:22 -05:00
Beat Küng 7faaad79d0 generate_params.py: add PWM_AUX_* for boards w/o IO and >8 channels 2021-11-22 09:07:23 -05:00
Beat Küng 0622cb8857 mavlink_ftp: disallow writes outside of /fs/microsd under NuttX 
As these files are kept in RAM, it could just fill up the RAM.
 2021-11-16 12:34:16 -05:00
Beat Küng 4ba84d56c9 logger: introduce optional topics 
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.
 2021-11-15 09:02:03 -05:00
Beat Küng fdf8461452 ver: print PX4_BOARD_LABEL for 'ver all' 2021-11-11 08:38:42 -05:00
Beat Küng 296db60a58 camera_capture: use output functions for pin configuration if SYS_CTRL_ALLOC==1 2021-11-05 12:36:04 -04:00
Beat Küng 6d993a9301 camera_trigger: use output functions for pin configuration if SYS_CTRL_ALLOC==1 2021-11-05 12:36:04 -04:00
Beat Küng 0decdb1c7b github action: run ./Tools/generate_board_targets_json.py in container 
As it requires kconfiglib
 2021-10-27 15:23:23 +02:00
Beat Küng de488f0f40 omnibus/f4sd: add topic listener & change timer order 
So it matches the usage in the channel definition order
 2021-10-27 08:03:55 +02:00
Beat Küng 8476875b4d Kconfig: add missing serial ports 2021-10-27 08:03:55 +02:00
Beat Küng 48344c6e2a state_machine_helper: add missing 'break' (no behavior change) 2021-10-27 08:03:55 +02:00
Beat Küng c0f75b1c79 dshot: add missing '#pragma GCC diagnostic push' 2021-10-20 08:11:07 +02:00
Beat Küng 8a2b310b83 topic_listener: avoid code generation, use existing metadata at runtime 
This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.
 2021-10-20 08:10:05 +02:00
Beat Küng a0e72b35a4 replay: ignore ULogMessageType::PARAMETER_DEFAULT messages 2021-10-20 08:10:05 +02:00
Beat Küng 4c73ac3805 uorb: use single byte for internal types in o_fields metadata 
Reduces flash usage by ~9KB.
 2021-10-20 08:10:05 +02:00
Beat Küng 3e9c88e48e px4/fmu-v5 test, uavcanv0periph: disable modules to reduce flash 2021-10-18 18:45:19 -04:00
Beat Küng da1df5352c fix pwm: only update oneshot timers owned by the current pwm_out instance 
This fixes the case where oneshot was enabled with multi-instance pwm_out,
triggering oneshot updates too close to each other and as a result could
lead to spinning motors while disarmed.
 2021-10-18 18:45:19 -04:00
Beat Küng cc1d24a5fe ci compile_nuttx: disable fail-fast 
So that all failures can be evaluated.
 2021-10-18 18:45:19 -04:00
Beat Küng d01f2b1d40 cubepilot/cubeorange test: disable uavcan to reduce flash usage 2021-10-18 18:45:19 -04:00
Beat Küng dbd4426271 nxp/fmurt1062-v1: set CONSTRAINED_FLASH 2021-10-18 18:45:19 -04:00
Beat Küng e36a8f3765 ROMFS: disable vtol airframes for kakutef7 2021-10-18 18:45:19 -04:00
Beat Küng f1686b1abf px4io: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng 837a1066e0 px4io, pwm_out: update pwm default checking 
The defaults changed in the previous commit for per-channel params,
so we make sure that the overall params are still used as long as the
per-channel params are default.
 2021-10-18 18:45:19 -04:00
Beat Küng ab1d76ae7d params: use PWM_MAIN_* instead of PWM_FMU_* 2021-10-18 18:45:19 -04:00
Beat Küng ba4a1ec6c4 boards/px4/io-v2: swap timer definitions 
So that the ordering of the generated params make more sense.
TIM1 is now for channels 2-4 instead of 5-8.
 2021-10-18 18:45:19 -04:00
Beat Küng 319e90961b output_groups_from_timer_config.py: fix timer index 
The implementation assumed timers are defined in the same order as used
in the channels. This could lead to a mismatch between TIMx param and
actual timer config.
Now we use the actual array index, same as in the code.
 2021-10-18 18:45:19 -04:00
Beat Küng 183ab8bbe7 control_allocator: avoid default argument for virtual method getEffectivenessMatrix 
clang tidy error:
/__w/PX4-Autopilot/PX4-Autopilot/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp:50:34: error: default arguments on virtual or override methods are prohibited [google-default-arguments,-warnings-as-errors]
ActuatorEffectivenessMultirotor::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
 2021-10-18 18:45:19 -04:00
Beat Küng 563cf61126 module_schema.yaml: add actuator_output section 
The parameter additions are only used internally for the pwm generator.
 2021-10-18 18:45:19 -04:00
Beat Küng 8b3ab7e36d fix pwm_out: ensure up_pwm_servo_arm() is never continuously called 
This happened with multi-instance, when the second instance did not load
a mixer. Then the first instance would always return false in
update_pwm_out_state, and continuously call up_pwm_servo_arm.
This led to irregular pulses, e.g. with an output set to fixed 1500us, I
saw pulses of e.g. 1800us occationally (they were in a range of
[1500-2100]).
 2021-10-18 18:45:19 -04:00
Beat Küng 838ec5d485 airframes: set output function params for ctrlalloc airframes 2021-10-18 18:45:19 -04:00
Beat Küng 44bbe87165 pwm_out_sim: use PWM_FMU for sitl and HIL_ACT for hitl 
We might want to change this later, but for now it allows to use the same
airframe configs for sitl/real, and independent hitl configuration.
 2021-10-18 18:45:19 -04:00
Beat Küng 2b039b2af8 px4/fmu-v6x: add capture pins to list of pwm pins 2021-10-18 18:45:19 -04:00
Beat Küng 4e0e2dec57 fmu-v6u: add capture pins to list of pwm pins 2021-10-18 18:45:19 -04:00
Beat Küng 4a4acf7ead px4/fmu-v5x: add capture pins to list of pwm pins 2021-10-18 18:45:19 -04:00
Beat Küng faf481df31 modalai/fc-v2: remove unused DIRECT_PWM_CAPTURE_CHANNELS define 2021-10-18 18:45:19 -04:00
Beat Küng d28dd5cc14 holybro/pix32v5: add capture pins to list of pwm pins 2021-10-18 18:45:19 -04:00
Beat Küng d9bf03b2dc holybro/durandal-v1: add capture pins to list of pwm pins 2021-10-18 18:45:19 -04:00
Beat Küng 0ab4a24de8 px4/fmu-v5: add capture pins to list of pwm pins 2021-10-18 18:45:19 -04:00
Beat Küng a01cf2efc0 rc.mc_apps: allow to set COM_PREARM_MODE with control allocation 
This is safe now.
 2021-10-18 18:45:19 -04:00
Beat Küng 21c1671693 pwm_out_sim: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng 0871b7974d uavcan_v1: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng ae15ad14a8 tap_esc: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng 35ce6d1b73 pca9685_pwm_out: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng 955179e992 linux_pwm_out: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng c1e5e666f0 pwm_out, dshot: add dynamic mixing support 2021-10-18 18:45:19 -04:00