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17358 Commits
Author SHA1 Message Date
Daniel Agar 40a452dcd2 ekf2: selector improve timeout handling and reporting 
- relax estimator_status timeout unless attitude hasn't published recently
 2021-02-14 21:08:56 -05:00
Lorenz Meier 4c5d2363d4 Rover control: Use roll sticks 
It is more intuitive to use the roll stick as lateral control input given that drones defined this category, plus this is how consumer car / rover radio controls have been working already.
 2021-02-14 11:17:28 +01:00
Lorenz Meier 2be482c5ae Sensors: New parameter for baro priority 
This allows to give external barometers priority if they are present.
 2021-02-14 11:17:28 +01:00
Jaeyoung-Lim fdd9b3ea51 Add support for stabilized flight mode for rovers 
This commit adds support for stabilized flight mode for rovers, which enables the rover tracking a fixed heading that is set with a manual input
 2021-02-14 11:17:28 +01:00
Jaeyoung-Lim 3c12573e93 Use uORB::Subscription for rover_pos_control 
Modernize rover position control
 2021-02-14 11:17:28 +01:00
Lorenz Meier 8d78b8a01d Change wording in GPS failure handling 
This matches better the different platforms that are using this functionality.
 2021-02-14 11:17:28 +01:00
Lorenz Meier cc11fb2818 Multicopter rate controller: Protect for full throttle scaling 
PX4 supports -1 to 1 as input and this module was not protected against the input range.
 2021-02-14 11:17:28 +01:00
Lorenz Meier 66d86aae2e Flight mode manager: Protect for full throttle scaling 
PX4 supports -1 to 1 as input and this module was not protected against the input range.
 2021-02-14 11:17:28 +01:00
Lorenz Meier ec2cf70276 Rover position controller: Modernize implementation 
This commit moves the steering output from yaw to the roll channel to better reflect the lateral control input / reaction mapping. It also removes old unused parameters and modernizes the mainloop to remove unnecessary polling.
 2021-02-14 11:17:28 +01:00
Lorenz Meier 15219fbfe5 MC att control: Robustify for throttle scaling 
PX4 can support negative (reverse) throttle and the multicopter controller is not expecting this input range. This hardens it against it.
 2021-02-14 11:17:28 +01:00
Lorenz Meier 548e070b91 FW pos control: Robustify for throttle scaling 
PX4 can support negative (reverse) throttle and the fixed wing controller is not expecting this input range. This hardens it against it.
 2021-02-14 11:17:28 +01:00
Lorenz Meier 6d489a4b4d FW att control: Robustify for throttle scaling 
PX4 can support negative (reverse) throttle and the fixed wing controller is not expecting this input range. This hardens it against it.
 2021-02-14 11:17:28 +01:00
Lorenz Meier 8a448718b9 RC update: Do not constrain throttle 
If the user calibrated to negative throttle, enable them to use it.
 2021-02-14 11:17:28 +01:00
Lorenz Meier 9d20dea3b8 Rover: remove unused parameter 2021-02-14 11:17:28 +01:00
Daniel Agar ce552a3364 navigator: RTL don't get invalid params 2021-02-13 00:34:56 +01:00
Daniel Agar 1981519aad L1 position controller: use double precision floating point for all lat/lon 2021-02-12 21:59:56 +01:00
Silvan Fuhrer 31a6edff07 Fixed-wing: remove roll offset param (FW_RSP_OFF) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Silvan Fuhrer a70cf950f4 fw_pos_control_l1: apply pitch setpoint offset centrally 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Daniel Agar f61d8539cb fw_pos_control_l1: add takeoff minimum pitch parameter 
- remove mavlink mechanism for setting minimum pitch
 2021-02-12 13:57:15 -05:00
Daniel Agar ce64951578 parameter_update.msg: add basic status info 2021-02-12 08:27:47 -05:00
Daniel Agar c3172a91d9 ekf2: try reselecting distance_sensor on timeout 2021-02-12 08:25:27 -05:00
Matthias Grob a002a07ed5 sdcardCheck: minor refactor 
I was late for the review.
 2021-02-12 00:17:43 -05:00
Daniel Agar c63107bb57 uORB: tests increase priorities to minimize failures with stackcheck/debug enabled 
- also relax the maximum mean by 50%
 2021-02-11 22:58:57 -05:00
Daniel Agar cb7aabf932 fw_pos_control_l1: cleanup body velocity and acceleration usage 
- minimize storing unnecessary state (msg copies)
 2021-02-12 00:41:39 +01:00
bresch 9d3ff12a94 commander: reword nav failure message 2021-02-11 16:20:30 -05:00
bresch 5726e8e0a3 commander: do not fail nav check on GPS position glitch 
In case of a diverge of the nav filter, both position and velocity test
ratios are large. If only one of them is too large, the nav filter is
most likely not diverging but is encountering a GNSS position reset and
it is still safe to fly in position mode.
 2021-02-11 16:20:30 -05:00
bresch b1b032d6e1 commander: rework nav failure check 
Allows to recover from a failed test with a stricter test
 2021-02-11 16:20:30 -05:00
Matthias Grob 82d6cc3dba FlightTasks: use .xy() where possible 
to take the first two elements of a Vector3f.
 2021-02-10 15:56:58 +01:00
Matthias Grob 7686533abb FlightTaskManualAcceleration: adapt position reset to new structure 
The mapping itself was seprated out into a calls because it was reused
for the experimental nudging implementation.
The position resets which were handled correctly before now
change the wrong setpoints and I adjusted.

The nudging has to be before any filtering, then these member setpoints
which are essentially copies are not needed anymore.
 2021-02-10 15:56:58 +01:00
Julian Oes c524e61b97 airspeed_selector: fix timeout check 
I think this check was the wrong way round which meant that we would end
up with an unsigned int overflow and trigger a reset.
 2021-02-10 12:58:23 +01:00
Daniel Agar a76e429b1a calibration parameters volatile (offsets and scale factors) 
- anything set vehicle side should be volatile and excluded from the
param hash
 2021-02-10 09:01:47 +01:00
David Sidrane ef444da689 BUGFIX Hardfault Commander Calibration 2021-02-09 15:20:50 +01:00
Matthias Grob dec353219d FlightTaskManualAcceleration: smooth position unlock 
The velocity setpoint of the position controller
does a jump when unlocking position with a non-zero position error.

This is solved by using the velocity setpoint feedback to smoothly
take over.
 2021-02-09 11:31:35 +01:00
Matthias Grob c9eac29d25 StickAccelerationXY: access member setpoints directly 
This is a leftover from before converting the logic into
a completely separate class.
 2021-02-09 11:31:35 +01:00
Matthias Grob 79739c5676 StrickAccelerationXY: name setpoints unambiguous 2021-02-09 11:31:35 +01:00
Beat Küng 5a1c60b5a1 component_information: switch from gzip to xz 
Improves compression, e.g. current params file: 62KB to 51KB

There's also a PRESET_EXTREME option, which reduces by another 2KB.
We can revisit that once needed, as it increases mem usage as well.
 2021-02-09 09:44:50 +01:00
Beat Küng cedfae9e46 jenkins: upload params.json.gz to S3 2021-02-09 09:44:50 +01:00
Beat Küng f8989fe5aa mavlink: speed up ftp transfers on POSIX 
Around 900 KB/s - not fast, but should be fast enough for the use-cases.
 2021-02-09 09:44:50 +01:00
Beat Küng 1f8e7de824 mavlink: implement COMPONENT_INFORMATION 
- implement COMP_METADATA_TYPE_VERSION & add component_version.json.gz to
  ROMFS for all targets.
- implement COMP_METADATA_TYPE_PARAMETER (only enabled for SITL currently)
 2021-02-09 09:44:50 +01:00
Beat Küng 76a447ed0f fix StickAccelerationXY: avoid setpoint oscillations around 0 
With a higher responsiveness, after centering the stick, the velocity and
acceleration setpoints could oscillate around 0 and never reach 0, due to
discretization.
This also prevented position lock engagement.
 2021-02-08 13:51:36 +01:00
Daniel Agar 1848ac3bc7 mavlink: receiver accept ODOMETRY MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support 2021-02-07 09:51:05 -05:00
Daniel Agar f461481548 Revert "mavlink: ODOMETRY handler accept all other estimator_types for now" 
This reverts commit b216714d56.
 2021-02-07 09:51:05 -05:00
Daniel Agar b216714d56 mavlink: ODOMETRY handler accept all other estimator_types for now 2021-02-06 22:32:20 +01:00
bazooka joe 8834741be8 gps blending make test to work without templated gps_blending class 2021-02-06 12:59:04 +01:00
bazooka joe 8087fac3fc gps_blending add protection against accessing non-exist array item 2021-02-06 12:59:04 +01:00
bazooka joe a0d500b30a changing gps_blending to be non-template class 
because there is no multiple instance types on singular machine
 2021-02-06 12:59:04 +01:00
Claudio Micheli d4bea8323f PreFlightCheck: Detect missing FMU SD card 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-02-05 20:14:48 +01:00
bresch 44872807b3 MC auto: add parameter to set the trajectory slow-down 
In some cases e.g.: (VTOL in wind) a good tracking cannot be
achieved. This condition then needs to be relaxed, otherwise the
drone cannot land properly.
 2021-02-05 20:13:30 +01:00
Daniel Agar 6633ff5089 commander: vehicle_status_flags add attitude and angular velocity 2021-02-05 20:11:13 +01:00
bresch a399bb9894 ekf2: fix mismatch between ecl and firmware flag definition 2021-02-05 14:30:09 +01:00