83246c84cf
Switch manual_control_setpoint.z scaling from [0,1] to [-1,1]
...
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].
2022-11-28 19:25:55 +01:00
5579e319ff
mavlink_receiver: refactor forgotten manual_control_setpoint naming
2022-11-28 19:25:55 +01:00
f16286f3eb
Add jlink-nuttx build command for gdb helper for multi-task debugging
2022-11-28 06:29:18 -05:00
aac05d7bcd
Remove unmaintained rover_steering_control example
2022-11-28 10:02:04 +01:00
a953167a6a
Remove unmaintained uuv_example_app
2022-11-28 10:02:04 +01:00
79c55614d8
FW PositionController: remove mavlink_log_pub, and only use events
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
bd176241f8
param translation: remove old param translations (more than 1 release back)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
3f773809c4
LaunchDetection: fix code style (name class members with trailing underscore)
...
And also align parameter handle name to real parameter name.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
1d75138659
LaunchDetector: fix counter logic
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
1400f81874
FW Pos C: rename LAUN_* param to FW_LAUN_* to be more explicit
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
5587a47471
Launch Detection: reduce user notification to info from warning
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
5a1adab6fb
FW Position controller params: flaring params slight meta data adjustments
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
7fb70c55df
FW Position controller: runway takeoff: track initial takeoff yaw if not in Mission Takeoff
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
1b89f26691
FW PosC: remove hack to force _landed to false if (not)launch_detected, as it is now handles in land detector
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
df1cd4f147
LaunchDetection: code style changes and fix info message.
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
e6e2c889e0
FW Position controller: rename LAUN_ALL_ON to LAUN_DECTN_ON
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
c8129fd902
Launch Detection: add briefs
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
59e5c68cb0
FW Position control: use yaw at launch detection as bearing setpoint during hand launch takeoff
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
b2f21b956c
FW Position control: move LAUN_ALL_ON param to FW Positon Control main params
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
7691e3ff32
FW Land Detector: force to landed if currently landed and in launch process
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
90e1f98c57
FW Launch Detection: refactor state machine and pubish launch_detection_status message
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
35da7f9bc4
Launch Detection: consolidate in single class (use the only existing method, catapult)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
b05878690d
Launch Detector: remove LAUN_CAT_PMAX
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
5161165d85
FW land detector: expose trigger time in parameter (LNDFW_TRIG_TIME)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
71835f57c9
FW land detector: reduce default for LNDFW_VEL_Z_MAX to 1m/s
...
And remove 0.7 factor for airspeed-less flying for the vertical speed threshold.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-25 18:45:36 +01:00
85e9c17a5e
drivers/power_monitor: add TI INA220 driver ( #20504 )
2022-11-23 15:11:29 -05:00
7888cc8cfd
GyroCalibration: update sensor correction before using it
...
Otherwise, the thermal offset value can be outdated
2022-11-23 13:24:43 -05:00
dae37803da
TC: erase current calibration when temp cal is completed
2022-11-23 13:24:43 -05:00
d81ca65c6f
rc_update: replace RC scaling with interpolate function use
2022-11-23 11:06:44 -05:00
9de3af1cbc
Functions: interpolate brackets and spacing
2022-11-23 11:06:44 -05:00
c7a8589afc
Add ARK PAB Carrier
...
Add ARK_FMU_V6X to RCS netman
Remove arkv6x rc single wire
Fix arkv6x mtd
arkv6x bootloader init all pins to prevent power cycling peripherals on boot
arkv6x don't power cycle sd card on boot
arkv6x add UART4 Telem 4
2022-11-22 18:14:50 -05:00
28e1f6790f
Jenkinsfile-hardware: don't run logger on stack check build
...
- stackcheck build is so slow it will trigger the logger watchdog (error fails Jenkins)
2022-11-22 16:07:22 -05:00
9faa8e23e8
NuttX Upgrade CONFIG_LIB_BOARDCTL->CONFIG_BOARDCTL
2022-11-22 14:30:08 -05:00
6e78cbe746
NuttX Upgrade CONFIG_LIB_USRWORK->CONFIG_LIBC_USRWORK
2022-11-22 14:30:08 -05:00
9cd3eae0aa
Navigator: re-introduce min loiter alt, but only apply it for Loiters w/o a specified altitude setpoint
...
Also applies to Loiters that are started due to the previous mode being over (Takeoff,
VTOL_Takeoff, Mission).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-22 13:46:25 -05:00
8157d83bfc
ROMFS: remove deprecated runway takeoff param sets
2022-11-22 13:46:25 -05:00
263a1884b1
fixed-wing: explicitly define landing airspeed
...
landing airspeed was previously defined by a scale factor multiplied by minimum airspeed. this commit changes this parameter to an explicit speed, and when unspecified, defaults to the minimum airspeed
2022-11-22 13:46:25 -05:00
9bdf09a300
Mission: fix float to double conversion when setting lat/lon to NAN
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-22 13:46:25 -05:00
49c363674a
FW Position Control: only prevent automatic aborts if already flaring, but allow manual aborts
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-22 13:46:25 -05:00
94d44c40a7
FW Position control: remove param FW_CLMBOUT_DIFF and instead use hardcoded 10m for clearing aborted flag
...
Use kClearanceAltitudeBuffer for it, which is also used to ensure that during takeoff an
altitude setpoint above the clearance altitdue is set.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-22 13:46:25 -05:00
0941ae7579
Navigator: remove MIS_LTRMIN_ALT param, and use new param MIS_LND_ABRT_ALT for landing abort
...
MIS_LTRMIN_ALt was used to limit the go-to altitude of a LOITER_TO_ALT (not the exit altitude,
but the altitude that the vehicle went to to fly to WP), and during landing abort to climb to
at least this altitude. The min entry altitude of LOITER_TO_ALT I remove with this commit, while
for the min alt during abort I added the new parameter MIS_LND_ABRT_ALT.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-22 13:46:25 -05:00
ed39eb4672
mission landing abort: take min loiter alt above land point or current vehicle alt (remove arbitrary +20m)
2022-11-22 13:46:25 -05:00
0fc35ef082
fixed-wing landing abort: disable early landing config during a landing abort
...
previously, the next position setpoint in the triplet was left unchanged during an abort, which meant that the abort loiter current point combined with land next point triggered the early landing config logic. this commit is only a hack to make things work temporarily.. this needs to be handled better.
2022-11-22 13:46:25 -05:00
08ba5d762f
fixed-wing takeoff: sync launch logic with newer runway takeoff modifications
...
- explicitly defined takeoff airspeed setpoint
- dont use climbout mode
- allow max climb on takeoff
- dont handle post clearance altitude case (navigator will switch anyway)
2022-11-22 13:46:25 -05:00
a787a326e3
Fixed-wing: split out control of steering wheel into seperate message LandingGearWheel
...
Completely detach the steering wheel logic from the yaw controller (beside using the
same manual stick input in a manual flight mode).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-22 13:46:25 -05:00
6c611a7e8b
VehicleAttitudeSetpoint: rename fw_control_yaw to fw_control_yaw_wheel to make usage clearer
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-11-22 13:46:25 -05:00
4b036e6723
fixed-wing landing: dont allow land abort while flaring
2022-11-22 13:46:25 -05:00
a8c2eaf3e0
fixed-wing landing: add a touchdown time and subsequent ramp down to rwto pitch setpoint after the flare to keep wheels on ground
2022-11-22 13:46:25 -05:00
1de1416773
fixed-wing landing: convert flare time pitch and throttle constraint ramps to sqrt function to make more aggressive
2022-11-22 13:46:25 -05:00
f23328d14f
fixed-wing landing: ramp in flaring throttle setpoints from last throttle state to keep control continuity
...
- also put flaring internal states into a struct to organize a bit
- one concern with blending the throttle setpoint like this with the flare time param is that folding prop belly landing airframes may want to have a separate param for shorter throttle kill and still use the flare time ramps for everything else
2022-11-22 13:46:25 -05:00
Matthias Grob