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40,046 Commits 852 Branches 161 Tags
76d8d8cae6b3b9f515b5272a8abf684eb1d381bb
Commit Graph
58 Commits
Author SHA1 Message Date
Beat Küng 76d8d8cae6 control_allocator: generic motor configuration for standard vtols 
This adds the pusher/puller to the standard motors and makes the axis
configurable.
 2022-02-25 08:30:58 +01:00
Jaeyoung Lim 3dd5c1fbaf Enable NPFG by default on the believer 2022-02-02 17:16:19 +01:00
Silvan Fuhrer 1ad66e606b ControlAllocation: introduce convention for control surface deflection sign 
- horizontal control surfaces: up=positive deflection
- vertical control surfaces (rudder): right=positive deflection
- mixed (V-Tail): up=positive deflection

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng 203e253dfe airframes: sitl boat: switch to dynamic control allocation 2021-12-24 20:06:13 -05:00
Beat Küng 8486ca5766 airframes: sitl cloudship: switch to dynamic control allocation 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 07306c4be3 control_allocator: add support for Tailsitter VTOL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng d688e5dee4 sitl airframes: add control allocation config to some airframes (not enabled) 
To use them, manually set SYS_CTRL_ALLOC
 2021-12-24 20:06:13 -05:00
Beat Küng 2362feddac airframes/uuv_bluerov2_heavy: switch over to control allocation 2021-12-24 20:06:13 -05:00
Beat Küng 43e15148f6 rover: switch sitl configs to control allocation 2021-12-24 20:06:13 -05:00
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
Silvan Fuhrer 42845d6c6e SITL configs VTOL/plane: improve SITL tuning a bit 
remvoe some tecs params from configs that acutally lead to worse performance than defaults

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-26 09:24:23 -05:00
Beat Küng 2809dd8944 control_allocator: remove min/max/scale params 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
Silvan Fuhrer e596607e2e minor comments update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-23 14:48:51 +01:00
mcsauder 21163d859e Whitespace cleanup. 2021-10-19 13:29:26 -04:00
Beat Küng ab1d76ae7d params: use PWM_MAIN_* instead of PWM_FMU_* 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 38fa65a47e control_allocator: remove direct mixer, add actuator_{motors,servos} instead 2021-10-18 18:45:19 -04:00
Beat Küng a51c465b54 control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets 2021-10-18 18:45:19 -04:00
Jaeyoung-Lim e2f048f608 Add sitl glider model 
Add airframe configs for SITL glider model

This commit adds an airframe config for a glider model
 2021-10-10 12:33:25 -04:00
bresch d1a2d6e1aa h480_ctrlalloc: tune rate controller 2021-10-08 09:35:40 +02:00
bresch 21b1f090e6 SITL: add typhoon_h480_ctrlalloc target 2021-10-08 09:35:40 +02:00
bresch b18b7e84d2 CA pseudo-inverse: normalize control allocation matrix 2021-10-08 09:35:40 +02:00
Silvan Fuhrer fb8bf7eaa6 ROMFS: remove default params from configs 
Remove params from airframe configs that are just set again
to the param default value or to the value that is
specified in the mc_default, fw_default or vtol_default.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-07 09:22:59 -04:00
Beat Küng 95789252d0 airframes: minor param cleanups (remove commented 'param set') 2021-08-03 10:36:25 +02:00
Hyungsub 1e2877cedf Tune down solo roll rate controller 2021-08-02 07:51:13 +02:00
Jaeyoung-Lim db1dc1c9a1 Add airframe configuration and make target for believer 
This commit adds an airframe configuration and make target for believer
 2021-07-13 18:04:52 +02:00
TSC21 145e7387fb posix: start the microRTPS client in sim every time the module is available 2021-06-21 16:36:44 +02:00
Silvan Fuhrer c8ec6b3d08 Airspeed selector: remove ASPD_STALL and replace by FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Daniel Agar f33fee99c1 ROMFS: init.d-posix/airframes migrate EKF2_GPS_MASK -> SENS_GPS_MASK 2021-04-06 13:48:40 -04:00
Daniel Agar 54438140e1 ROMFS: posix airframes update to new parameter defaults mechanism (AUTOCNF replacement) 2021-04-05 15:29:34 -04:00
David Jablonski 02abb760a3 SITL: add iris with fog-simulating lidar 2021-03-11 00:39:09 +01:00
Jaeyoung-Lim 1d66b033a4 Append mixer with aux outputs 2021-03-10 07:15:53 +01:00
Jaeyoung-Lim 0db29866f1 Add standard_vtol drop 2021-03-10 07:15:53 +01:00
Kevin Dominic Merkel d5e468a19e change typhoon_h480 roll-/pitchrate P gain to reduce oscillations (#17044) 2021-03-07 18:18:00 +01:00
garfieldG 3cd9b3c2cf Added support in Mavlink Ethernet channel parameters 
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
 2021-02-25 08:52:38 -08:00
Julian Oes b8ad7092dc mavlink: use Mavlink 2 by default 2021-02-17 13:54:34 -05:00
Julian Oes 8da3a490af ROMFS: use gimbal v2 protocol with typhoon_h480 2021-02-17 13:54:34 -05:00
Julian Oes 642adbead8 if750a: use MAVLink gimbal v2 device 2021-02-17 13:54:34 -05:00
Lorenz Meier 3135e4d31a SITL: Set correct L1 period 2021-02-14 11:17:28 +01:00
Lorenz Meier 9d20dea3b8 Rover: remove unused parameter 2021-02-14 11:17:28 +01:00
Mathieu Bresciani 77884bdd34 SITL boat: tune L1 and speed controllers (#16784) 2021-02-08 07:18:49 +00:00
Daniel Agar 311a2bd3e8 update ctrlalloc airframe location 2021-01-18 11:25:37 -05:00
Silvan Fuhrer 195a900ecf change default of RTL_LAND_DELAY to 0 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-17 12:05:30 +01:00
Can Berk Durmus ba9611621d Retune Typhoon H480 PID 2021-01-16 09:32:09 +01:00
RomanBapst 96dfa7fc71 ROMFS: set cruise throttle correctly for all gazebo vtol configs 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer 0633c3956f ROMFS: improve tuning of tailsitter VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer 6104fe8932 ROMFS: improve tuning of tiltrotor VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer 2ce310925c ROMFS: improve tuning of standard VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
RomanBapst 47364ce8d6 updated tuning for gazebo plane airframe config 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00