After f0b05ea7cf
the control allocator only has a callback on the torque setpoint and even though this should work
I'm paranoid and would like to avoid surprises by always publishing the thrust before torque
then the samples that were published together are also allocated together.
high rates and (super) expo are necessary for
- acrobatic flying
- fpv
- racing
but they are not useful for:
- a typical vehicle's rate control tuning
- beginners
The defaults that I set in #8036 were put with the assumption Acro mode
is mainly used on racing drones for acrobatic manouvers but instead
users including me use it most of the time to tune any drone.
When tuning the rates are lowered and expo disabled.
My suggested strategy is to make the beginner friendly rates without
expo which are good for tuning the default and document more clearly
how this can be raised for acrobatic flying in documentation and later
on hopefully also directly in the ground station UI
on an Acro mode specific page.
* RateControl: rename setGains to setPidGains to be more precise
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Rate controller: only allow to disable Yaw in Acro, not roll and pitch
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- remove deprecated actuator_controls[INDEX_LANDING_GEAR]
- remove dead code in mc rate controller that used to prevent it from being retracted
on the ground (anyway had no effect as it only affected the actuator_control[LANDING_GEAR]
which wasn't sent to the control allocation)
- for VTOLs handle deployment/retraction of landing gear in AUTO as a MC (retract if
more than 2m above ground, deploy if WP is a landing WP), plus additionally when transition
flight task is called (ALTITUDE mode and higher)
- for FW in AUTO: add logic in FW Position Controller, depending on waypoint type mainly
- manual landing gear settings always come through (a manual command overrides a previous
auto command, and vice-versa)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.
I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.
While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
To be consistent with all other axes of stick input and avoid future
rescaling confusion.
Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
- vehicle_angular_velocity and vehicle_angular_acceleration are produced together from the same input data, consumed together, and share the the same metadata (timestamps)
- individually these topics each have 16 bytes of metadata (2 timestamps) for 12 bytes of data (x,y,z float32)
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.
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix
MCRateControl: use control_allocator_status to get saturation info
This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Beniamino Pozzan