dab90f86a4
drivers/gps: limit to ublox only flash constrained targets
2021-01-18 09:30:01 +01:00
78c05275d2
tailsitter: Fix differential thrust in FW mode.
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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2021-01-18 09:04:27 +01:00
3abe2e82d1
mpu9250: create dedicated i2c version and delete legacy driver
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- update crazyflie and bbblue usage
- eventually this should be merged with the SPI version after interface
changes are made
2021-01-17 16:11:19 -05:00
2ed48f041c
mavlink: Templated SCALED_IMU mavlink stream
2021-01-17 12:32:51 -05:00
031bbb7f3e
FlightModeManager: handle commands all the time
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Moving the command handling to a separate function that gets called
whenever a vehicle command is available to always react on commands
and not just when already a task is running.
This solves e.g. commanding an Orbit when in Staibilized.
2021-01-17 15:46:30 +01:00
df54f938ef
FlightModeManager: correct setpoint struct initialization
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It is important that setpoints get initialized with NAN and not overwritten
if specifically set by a successful flight task execution. It's then
clear if any setpoints were intentionally and successfully set.
Crucial for the position controller's emergency failsafe and the
seamless setpoint handover to the next flight task.
2021-01-17 15:46:30 +01:00
63db61a700
FlightModeManager: correct acceleration setpoint feedback naming
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The variable was never renamed correctly in this in between layer when
we switched from normalized thrust to acceleration setpoints.
2021-01-17 15:46:30 +01:00
4d7b875ee2
flight_mode_manager: merge with flight_tasks
2021-01-17 15:46:30 +01:00
eaa2ae9dc9
ekf2: add param to enable synthetic mag Z fusion mode
2021-01-17 12:06:59 +01:00
983234e29d
ekf2: add param to set rng check hysteresis
2021-01-17 12:06:59 +01:00
195a900ecf
change default of RTL_LAND_DELAY to 0
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-17 12:05:30 +01:00
8e8497ff77
heater: px4io: Add support for heaters on IO MCU
2021-01-17 12:03:53 +01:00
cee4016665
Preflight checks: Airspeed checks update
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-check for valid airspeed_validated (declared valid plus updated less than 1s ago)
-added param (COM_ARM_ARSP_EN) to enable/disable check for max airspeed for arming set max
airspeed limit to half of stall airspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-16 10:26:55 -05:00
ade3871bee
adc: add support for multiple sensor voltage channels
2021-01-15 10:57:20 -05:00
e2337a34eb
system_power: add comp_5v_valid and can1_gps1_5v_valid
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And fill it in from the v5x GPIO expander.
2021-01-15 10:57:20 -05:00
704a82aaa6
gpio: extend support for /dev/gp* GPIO's
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Note that there's a small CLI interface change.
2021-01-15 10:57:20 -05:00
3e4b8763a5
nuttx: add mcp23009 gpio driver
2021-01-15 10:57:20 -05:00
ba6a8080ea
mavlink: don't respond to MAV_CMD_REQUEST_MESSAGE if component doesn't match
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PX4 is responding with NACK to MAV_CMD_REQUEST_MESSAGE from a GCS to
payload-manager which confuses a GCS.
PX4 shouldn't respond to commands that are not broadcasted or specificaly
addressed to it.
2021-01-15 10:57:20 -05:00
a282f3df8d
CLI test: Disable by default on NuttX
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First target is to enable this for POSIX tests and then later to roll them out to NuttX.
2021-01-15 10:57:20 -05:00
03e9e10847
Add CLI tests for basic soak testing
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This is in no way a complete test suite but is intended as a starting point to get minimal
test coverage for CLI handling tests in. This is necessary to QA the CLI handling
(e.g. removal of commands) and to ensure that we are exercising these code paths in
stack check and alike tests.
2021-01-15 10:57:20 -05:00
5ae5c03c66
mavlink: handle param4/5 from mission_item_int
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It turns out that we did not properly handle param4 and param5 if they
are transferred using mission_item_int if the frame is
MAV_FRAME_MISSION.
2021-01-15 10:57:20 -05:00
12ebbd995d
bmp388: wait a bit longer to schedule first cycle after reset
2021-01-15 10:57:20 -05:00
529c3112ac
bmp388: quiet if startup fails (no sensor on bus)
2021-01-15 10:57:20 -05:00
df41c99b61
make failsafe handling consistent over all VTOL types
2021-01-15 09:19:07 +03:00
38e46ff341
Rename VtolAttitudeControl::abort_front_transition(const char *reason) to VtolAttitudeControl::quadchute(const char *reason)
2021-01-15 09:19:07 +03:00
40fbfdc054
Undo make format change
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-01-15 09:19:07 +03:00
83ddb77a5f
delete excess empty lines
2021-01-15 09:19:07 +03:00
b90fafd5cd
Fix quadchute logic so that it also works during back transition
2021-01-15 09:19:07 +03:00
e96571b45d
uavcannode: GPS working on cuav_can-gps-v1
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- use sensor_gps directly from sensor rather than vehicle_gps_position (aggregated value)
2021-01-13 22:06:46 -05:00
a0d8d5ac74
sensors/vehicle_gps_position: untangle and remove unnecessary state
2021-01-13 20:17:49 -05:00
bc8ec5d1f5
uavcannode: support optical_flow
2021-01-13 19:35:28 -05:00
f05599caff
tecs: use speed derivative provided by local position
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
e546584555
tecs: moved trivial getter methods to header file
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
701c105ab6
Update src/lib/tecs/TECS.cpp
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2021-01-13 21:21:07 +03:00
fa559aef43
TECS: stop learing integrator if airspeed is not available, but don't zero it
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
d4d1c0fe01
TECS: some cosmetics
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
97cc1e25dd
TECS: hande pitch and throttle integrator saturation consistently
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- don't decay integrator during saturation but prevent it from being learned
into the direction which causes more actuator saturation
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
77627a08ca
TECS: don't allow speed height weights to be larger than one
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
dca89763b3
TECS: apply FW_LND_THRTC_SC to altitude error time constant
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
3d3ff75495
TECS: update some params to latest results from flight testing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
3102b9f071
TECS: remove throttle integral limits
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
987c320825
TECS: removed unused parameter
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
5c4c2c240c
tecs: dot not clip throttle integrator during saturation but only allow
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it to propagate into a direction which does not saturate
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
2ca4269464
TECS: separate integral gains for throttle and pitch loops
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
72dfb2078a
TECS: adapt params to new control structure
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
01f891618b
TECS: move to new control loop architecture
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
447e14906c
TECS: log more TECS states to enable better analysis
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
8823f5e1ec
TECS: added method to get SKE weighting
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
d0e8b882a2
TECS: added alpha filter classes to energy rate and tas derivative
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
be0f5a7fe4
Fix implicit float->double conversions in tests
2021-01-13 10:26:10 +01:00
Daniel Agar