fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-30 04:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
40,170 Commits 852 Branches 161 Tags
897506267d0011a1471821ebb9aceefc4e468028
Commit Graph

15077 Commits

Author SHA1 Message Date
Matthias Grob 897506267d Sticks: name getThrottle() explicitly about range 2022-03-23 11:54:05 +01:00
Junwoo Hwang 0e5c305163 Stick Verbose Functinos : Make get functions for roll, pitch, yaw and throttle const to specify that it's not changing Sticks' internal variables 2022-03-23 11:54:05 +01:00
Junwoo Hwang f78465428c Stick Verbose Functions : Edit other FlightTasks using checkAndUpdateStickInputs() functions and correct Throttle returned value inverse issue 2022-03-23 11:54:05 +01:00
Junwoo Hwang 8266a4df98 Sticks : Add utility functions to get pitch, roll, throttle and yaw values intuitively and rename ambiguously named function checkAndSetStickInputs() 2022-03-23 11:54:05 +01:00
Matthias Grob 18629bb535 FlightTaskOrbit: fix tangential yaw stick input for rotation direction changes 2022-03-23 10:51:45 +01:00
Matthias Grob e03585ca06 FlightTaskOrbit: remap stick input when vehicle faces tangential 2022-03-23 10:51:45 +01:00
Matthias Grob db1fb6acf7 Commander: no battery time based RTL when already landed 2022-03-23 10:49:38 +01:00
Matthias Grob 69f6092031 mavlink_receiver: remove unused land detection publication 2022-03-23 10:49:38 +01:00
Matthias Grob c1b9b8a1c0 MulticopterLandDetector: correct comment with outdated time constant reference 2022-03-23 10:49:38 +01:00
Matthias Grob b85c4ec475 Commander: rename land detection subscription for consistency 2022-03-23 10:49:38 +01:00
RomanBapst 60231bbcb6 navigator: don't reset cruise speed and throttle during a transition as part 
of the VTOL takeoff navigation state

- the reset causes the loiter circle to be reset to home

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-22 15:14:02 +01:00
Daniel Mesham 06a9be74fa microdds: add xrce client 2022-03-22 09:01:05 +01:00
Konrad e080fab8f6 Set up landing gear logic for tiltrotor and tailsitter VTOL. Gear is set down when in hover mode, esle gear is set up. 2022-03-21 09:30:04 +01:00
Konrad d7de67844f Set up landing gear logic for standard VTOL. Gear is set down when in hover mode, else gear is set up. 2022-03-21 09:30:04 +01:00
Daniel Agar 475bd42ab8 sensors: add 2nd static notch and migrate existing parameters 
- new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW
 - existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become
IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW
 2022-03-19 14:38:04 -04:00
Daniel Agar afeab9587e gyro_fft: peak detection exclude side FFT buckets 
- when estimating the peak frequency the magnitude of side buckets will
be factored in, so it doesn't make sense to potentially treat them as
separatey detected peaks
 2022-03-19 14:37:36 -04:00
benjinne 620f25503c Add geofence predict param (#17795) 2022-03-18 11:44:13 +01:00
Daniel Agar 36e6527013 ROMFS: MAV_TYPE cleanup 
- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary
 - cleanup MAV_TYPE param metadata and commander helper to only include
what's currently used in PX4
 2022-03-17 09:28:10 -04:00
Jukka Laitinen 3d35929f3e Put gyro_fft in kernel by default in protected build 
It is a performance issue to run it on user side

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen d167f91eb8 logger/watchdog: Disable watchdog for NuttX protected/kernel builds 
It accesses kernel internal structures directly; this needs to be
worked out with some proper userspace-kernel interface

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
bresch f3f09c1344 PreFlightCheck: add data timeout detection for mag, baro accel and gyro 2022-03-16 11:46:01 +01:00
bresch 75aa11c955 PreFlightCheck: refactor sensors preflight checks 2022-03-16 11:46:01 +01:00
bresch b1c1163ee4 PreFlightCheck: remove unused device_id argument 2022-03-16 11:46:01 +01:00
bresch 5f1b577b6d PreFlightCheck: mark sensor required if used by an EKF2 instance 2022-03-16 11:46:01 +01:00
stmoon 6d0b11ca99 add custom target for uorb_sources_microcdr_gen 2022-03-15 17:59:22 -04:00
KonradRudin 5f43be9d60 preflight checks: add check for distance sensor (via parameter) 2022-03-15 10:44:27 +01:00
Daniel Agar 7ef38112d2 ekf2: return saved mag bias variance when not in 3d magnetometer fusion 
- the estimated mag bias was requiring > 30 seconds of continuous 3d
mag fusion to be reported stable (and saved back to mag cal), this
restores the original intent requiring 30 seconds of accumulated valid
3d mag fusion
 2022-03-14 21:03:41 -04:00
Daniel Agar 5717434e93 ekf2: initialize GPS drift metrics to NAN rather than 0 2022-03-14 10:09:24 -04:00
alessandro 62d1058cc2 log irlock_report and landing_target_pose messages 
Need to log both, because on some systems the
information will come in directly as a 
landing_target_pose message, and on others
it's coming in as irlock_report and then filtered
in PX4 to produce the landing_target_pose message.
 2022-03-14 10:13:08 +01:00
Matthias Grob f1e44c6e2a PreFlightCheck: only allow modes suitable for takeoff 2022-03-14 09:03:39 +01:00
Daniel Agar a430f0ccae ekf2: add simple zero velocity update when vehicle at rest (#19149) 
- further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates
 2022-03-12 12:56:31 -05:00
Daniel Agar 3d54d25867 sensor calibration delete temperature (CAL_ACCx_TEMP, CAL_GYROx_TEMP, CAL_MAGx_TEMP) 
- this was an experiment to casually monitor sensor offsets relative to temperature, but now that all calibration offsets can be adjusted post-flight the stored temperature can be misleading
 - deleting to save a little bit of flash (and storing the temperature wasn't useful)
 2022-03-12 11:38:49 -05:00
wangwwno1 aa64789792 sensors/vehicle_imu: Fix Integration Rate greater than Gyro Rate (#19318) 2022-03-12 11:29:23 -05:00
RomanBapst 58a4c38519 rtl: don't fly mission landing if we trigger rtl in hover 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-11 15:23:31 +03:00
Silvan Fuhrer f4c300af25 FlightTaskAuto: Nudging: only set yawrate_sp if WV is disabled or stick out of dead-zone 
Otherwise the setpoint from weather vane is constantly overwritten by it,
even if the yaw stick is not moved.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-11 09:18:31 +01:00
Alex Klimaj 71850eeda6 mavlink: Add flow control parameters (#19254) 2022-03-10 08:22:00 -08:00
Roman Bapst 69560bd4f4 Compensate VTOL transition time for air density (#19293) 
* vtol: compensate front transition minimum time and front transiton openloop time
for air density

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-09 08:41:30 -05:00
bresch 182980526f commander: allow rearming grace period for arming switch only 2022-03-09 08:42:21 +01:00
wangwwno1 cd5a1e510a ekf2: typo Fix: pub.advertised() -> pub.advertise() (#19302) 2022-03-09 08:39:08 +01:00
Daniel Agar b7e0f17c6a ekf2: minor position/velocity reset cleanup 
- try to use avoid resetVelocity() call where possible
 - reset timeouts centrally
 2022-03-08 11:16:35 -05:00
Daniel Agar c10ea97967 ekf2: fusion helpers return success/fail and set pos/vel update timestamps centrally (if healthy) 2022-03-08 11:16:35 -05:00
Matthias Grob 68a0414622 Quaternion: rename function to rotate vectors 2022-03-07 20:03:54 -05:00
Matthias Grob 666cf2326d mission_block: handle SET_ROI_LOCATION with absolute altitude correctly (#19258) 2022-03-03 13:25:00 +01:00
Daniel Agar 6224e11463 Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022 (#19262) 
* Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022
* [AUTO COMMIT] update change indication

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-02-26 15:39:37 -05:00
PX4 BuildBot d94ad5bd6d Update submodule mavlink to latest Sat Feb 26 16:47:38 UTC 2022 
- mavlink in PX4/Firmware (95358ae501e92687b00d2786bc8eadf28ff93930): https://github.com/mavlink/mavlink/commit/4ee1eebbd173a3a483b79088b58fef6ec0a4dfef
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/b568a60fca42599d9998434e606f6e38e0b5e298
    - Changes: https://github.com/mavlink/mavlink/compare/4ee1eebbd173a3a483b79088b58fef6ec0a4dfef...b568a60fca42599d9998434e606f6e38e0b5e298

    b568a60f 2022-02-24 Hamish Willee - Update pymavlink to latest (#1805)
b86834e0 2022-02-23 Hamish Willee - Component info - tidy descriptiosn (#1803)
79e9545a 2022-02-23 Hamish Willee - Remove external dialect doc and improve dialect pages (#1802)
fd7ccfbe 2022-02-23 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION - improve linking to command (#1774)
2b7de26c 2022-02-23 Hamish Willee - [Discuss.] MAV_PROTOCOL_CAPABILITY_FTP - supports FTP protocol not specific message (#1772)
a7541658 2022-02-18 Alessandro Ros - fix common.xml include in AVSSUAS (#1800)
5b4482fe 2022-02-17 Hamish Willee - RFC 0016 - Mavlink Standard Modes - Add to development.xml
 2022-02-26 15:07:42 -05:00
Beat Küng ddad4c31c9 control_allocator: compute thrust scaling individually per axis 
Before, adding the pusher to the same matrix as the upwards motors affected
the scaling for the upwards motors, resulting in values not equal to -1
anymore.
 2022-02-25 08:30:58 +01:00
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
Beat Küng b2dc9ee710 control_allocator: add title & help url to geometry UI 2022-02-25 08:30:58 +01:00
Beat Küng cbcae260e4 mavlink: update submodule 2022-02-25 08:30:58 +01:00
Beat Küng 9b629a9e95 hitl,sitl,sih: use separate actuator_outputs_sim for SYS_CTRL_ALLOC==1 
- removes the need to do type-specific rescaling of pwm to normalized values
- allows to run physical output drivers alongside HIL/SIH
 2022-02-25 08:30:58 +01:00