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15513 Commits

Author SHA1 Message Date
Silvan Fuhrer 889a2fddea FW Position Control: remove unnsed params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 19:06:07 +02:00
Silvan Fuhrer e3e021a1c2 FW Attitude Control: rename att_control to angular_acceleration_setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer e595952ed4 FW Attitude Control: add @brief, @param and @return for control_attitude() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer f67d80460f FW Attitude controller: update copyright headers 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim bcdf61b65f Fix format 2022-08-19 09:40:48 +02:00
Silvan Fuhrer b87afb138c Update src/modules/fw_att_control/FixedwingAttitudeControl.cpp 
reduce code duplication

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim 70134296ed Fix parameter description from review comments 
This commit makes the parameter description of the fixewing attitude controller more descriptive
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer c54f62e17a FW attitude control: fix ff terms and constrain outputs to (-1, 1) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer dadd4f39ad FW attitude control: fix yaw rate publishing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 6724e4af26 FW attitude control: manual stick input sets yaw rate setpoint, not rudder directly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 22067a1128 FW attitude control: set FF gains for rate controller to 0 as FF controls is handles outside 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 57e052d02d FW attitdue controller: use allocator status for anti-windup 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 6aab44e425 ControlAllocator: publish allocator_status from all active matrices (2 for VTOL, otherwise 1) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer a9b848cae3 FW attitue controller: fix publishing of rate controller status 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 5a2127d026 fixed-wing: update rate controller integrator handling 
-always reset roll/pitch/yaw integrators at the same time
-reset them while waiting for launch or during FW Takeoff before Climbout
-reset wheel rate integrator only when disarmed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer cd080289c6 FW attitude controller: constrain rates correctly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 15c95a7b6a FW attitude controller: improve readability and fix euler rate sp vs. body rate sp 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer e0a998e6ad FW attitude controller: remove unused control_input.scaler 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim 33d068cfb2 Added feedforward terms in fw att control 2022-08-19 09:40:48 +02:00
Jaeyoung Lim 958c61dbba Populate rate control setpoints properly 2022-08-19 09:40:48 +02:00
JaeyoungLim 6f24f4cd1c Update src/modules/fw_att_control/fw_att_control_params.c 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim dcff481219 Map derivative gains for rate controls 2022-08-19 09:40:48 +02:00
Jaeyoung-Lim f2877ce585 Replace rate controller with RateControlLibrary 
This commit makes the fw attitude controller take share the rate controller as a library with the mc_rate_control module
 2022-08-19 09:40:48 +02:00
bresch 02c4e0361c MCPosControl: fix horizontal anti-reset windup algirithm 
Since the horizontal and vertical velocity controllers are now
decoupled, it can be that the horizontal acceleration produced by the
controller is actually greater than the desired one (by design). This
condition would actually make the ARW run "backwards", degrading the
controller performance.
 2022-08-18 14:19:10 +02:00
mcsauder 87a5705960 Rename math::gradual() to math::interpolate() and add unit tests to cover additional corner cases. 2022-08-18 14:18:02 +02:00
Junwoo Hwang d7a962b426 mavlink: fix PX4_DEBUG message formats 2022-08-12 09:43:12 +02:00
Silvan Fuhrer ffb8fb4383 Allocation: add SteeringWheel type control surface 
Directly use yaw controls for it, and don't add it to the allocation matrix,
as that would have an effect on rudder scaling if the wheel also would have
a yaw effectiveness.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Silvan Fuhrer 9e18b351bc Allocation: add Single Channel Aileron to CS types 
This is the control surface type for airframes that have only a
single aileron servo or have the ailerons on a single output channel.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Silvan Fuhrer c6d1b1f50f Allocation: add A-tail servo type 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Beat Küng f2db7b8deb control_allocator: hide motor positions for fixed-wings 
should not be set for now
 2022-08-12 09:43:12 +02:00
Beat Küng 923a90d78b control_allocator: set default control surface type to (not set) 
Before it was set to left aileron, but the torque values were all 0.
 2022-08-12 09:43:12 +02:00
Oleg 6ea3c6a7d2 mavlink_ftp: fix to correctly trim reply messages 
Clear any not used payload data to correctly trim mavlink ftp message reply to avoid sending long ACK and NACK messages.
 2022-08-12 08:53:33 +02:00
Matthias Grob 1f81101994 mc_att_control_main: do not jump throttle scaling when taking off 
2fbb70d9ca made the lowest possible
throttle value commanded by stick in Stabilized mode before taking off 0.
The real world problem with this is that when takeoff is detected then
the entire throttle scaling range jumps from
[0, MPC_MANTHR_MIN]
to [MPC_MANTHR_MIN, MPC_MANTHR_MIN].
As a result whenever MPC_MANTHR_MIN is not zero there is a thrust jump
on every takeoff just at the moment takeoff is detected even when the
stick is moved continuously.

Because of this I suggest to revert to having a higher throttle value
from the beginning on because it's less complicated and there's
no obvious value in starting out with zero thrust if anyways not
possible to go back to zero for safety once takeoff is detected.
 2022-08-11 14:18:54 +02:00
Matthias Grob 5b1b6f6080 mc_att_control_main: use gradual() for throttle curve rescale without hover thrust 2022-08-11 14:18:54 +02:00
Matthias Grob 7cb6a47714 TIME_ESTIMATE_TO_TARGET: fill unsupported fields with value representing unavailability 2022-08-11 07:27:04 +02:00
bresch 7996a1a70f ekf2: reset ekf preflight checks on takeoff correctly 
Using the control status flags isn't robust as this part of the code
runs at the EKF update rate while the in_air transition is don at the
prediction rate. It was then likely to miss the transition
 2022-08-10 16:52:28 +02:00
marcirsch a8b342722e mavlink_main: Add TIME_ESTIMATE_TO_TARGET stream to config, onboard, and onboard_low_bandwidth modes 
Signed-off-by: marcirsch <marcell@auterion.com>
 2022-08-10 09:13:58 +02:00
marcirsch 4bf6ebf4c3 TIME_ESTIMATE_TO_TARGET: Populate TIME_ESTIMATE_TO_TARGET MAVLink message with the estimated time to RTL 
mavlink_messages: Added newly created MAVLink stream
mavlink_main: Enabled stream

Signed-off-by: marcirsch <marcell@auterion.com>
 2022-08-10 09:13:58 +02:00
Daniel Agar 7c809f034d replay: ReplayEkf2 disable parameter auto save 
- not needed and silences a startup error
 2022-08-08 21:27:47 -04:00
Daniel Agar 34dee09b74 ekf2: replay fixes, don't use HRT for timeout checks 
- this interferes with current ekf2 replay where the latest IMU sample
is effectively the current timestamp
 2022-08-08 21:27:47 -04:00
Daniel Agar 1c49a4349f ekf2: force skip multi-EKF config if replay is enabled 2022-08-08 21:27:47 -04:00
Daniel Agar 66b55d9d0a ekf2: fix yaw estimator velocity accuracy 
- additionally require GPS speed accuracy is within EKF2_REQ_SACC
 2022-08-08 21:27:01 -04:00
Thomas Stastny 0ea347a5c9 fw pos ctrl: fix the touchdown offset on flare, and nudge the wheel directly 2022-08-08 09:32:44 +02:00
Thomas Stastny 02d7a46025 fw pos ctrl: increase landing nudge rate 2022-08-08 09:32:44 +02:00
Daniel Agar bce4237963 move ekf2 Matrix helper utilities to mathlib 2022-08-05 09:58:07 -04:00
Silvan Fuhrer a064164c14 FW pos C params: add param group FW Auto Landing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Silvan Fuhrer b039ae1614 FW pos c params: change grouping of some clearly longitudinal params to TECS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Silvan Fuhrer 45073f000a FW Position control: reduce defaults for max pitch 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Silvan Fuhrer d04f21aa16 FW attitude controller: reduce FW_MAN_P_MAX from 45 to 30 
45° is a very large pitch angle, and for me 30° is much more reasonable for
a default value.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00
Silvan Fuhrer 828992adf7 increase default of MPC_Z_VEL_MAX_DN and MPC_Z_V_AUTO_DN from 1 to 1.5 
I think most vehicle can safely decend with at least 1.5m/s, and having this
value too low makes Descents/Landings/RTLs unnecessary long.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-05 14:11:59 +02:00