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2021 Commits
Author SHA1 Message Date
bresch d13dfdcd24 AutoLineSmoothVel - Remove duplicate of _yaw_sp_prev update. This is done in the Auto FlightTask, _limit_yaw_rate 2019-05-30 11:14:44 +02:00
bresch a7cf981c8c AutoLineSmoothVel - Reduce jerk if acceleration, velocity and desired velocity are small to help the optimizer to converge towards zero 2019-05-30 11:14:44 +02:00
bresch 3499b6ff89 AutoLineSmoothVel - Do not generate heading from trajectory if the velocity vector is smaller than 10cm/s 
This is done to avoid generating large yaw changes when the velocity
vector is small; for example when switching into loiter or reaching the
last waypoint.
 2019-05-30 11:14:44 +02:00
Martina Rivizzigno 119ccc4256 ObstacleAvoidance: fix comment 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 61f69ed139 ObstacleAvoidance: use convention for paramter name 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 1e8582974c do not update desired setpoints and waypoints if the oa is disabled 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 0963dc9af1 ObstacleAvoidance: fix bug in requesting update of the mission item. 
During takeoff you're always in the condition within xy acceptance radius
and more than altitude radius away from the takeoff waypoint
 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 9e8575b71b do not overwrite with obstacle avoidance yaw setpoints if external yaw 
handling is enabled
 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 44b8b4f79f send velocity setpoint to enable proper takeoff/land 2019-05-29 15:16:33 +02:00
Beat Küng 03332aaa20 PX4Accelerometer,PX4Gyroscope: set_sample_rate requires a filter update 2019-05-29 09:15:52 +02:00
Beat Küng 6da78c956e SYS_COMPANION: remove this parameter 
It was already deprecated.
 2019-05-29 09:15:52 +02:00
Beat Küng 5d6cc7d033 ekf2: reduce GPS initialization time for SITL from 10s to 0.5s 
Speeds up SITL startup.
 2019-05-28 10:45:38 +02:00
Matthias Grob 8a84472795 Hysteresis: switch unit test file name to convention 2019-05-27 09:57:50 +02:00
Julian Oes b29e5e3adb hysteresis: remove dependency/side effect on time 2019-05-27 09:57:50 +02:00
Julian Oes 7b9562e3b1 hysteresis: move out of systemlib, move to gtest 
This moves the hysteresis test out of the systemlib and makes it its own
small library. Since it still depends on hrt_absolute_time this does not
link yet. My attempt to get all link dependencies together failed.
 2019-05-27 09:57:50 +02:00
Beat Küng 800266741b Merge pull request #12063 from PX4/fix_custom_tune 
fix tunes: make sure a custom tune gets played
 2019-05-25 17:58:44 +02:00
Martina Rivizzigno a18f3e5d45 reset the position lock only if current triplet latitude and longitude 
are valid
 2019-05-24 21:40:42 +02:00
Daniel Agar e1bc975065 drivers/differential_pressure move all to px4 work queue 2019-05-24 12:58:55 -04:00
Matthias Grob ea48cd4970 Takeoff: address @RomanBapst's review comments 2019-05-22 22:05:38 +02:00
bresch bb055fdaf3 AutoSmoothVel - Override checkTakeoff with task-specific logic and reactivate z axis with downward velocity to takeoff smoothly 2019-05-22 22:05:38 +02:00
Matthias Grob 7c7d980cf0 FlightTasks: fix takeoff trigger for offboard 2019-05-22 22:05:38 +02:00
Matthias Grob e73218d665 mc_pos_control/FlightTasks: trigger takeoff based on task 
The initial idea of the flight task architecture was that
a task can freely set it's setpoints and doesn't have to
worry about takeoff and landing. It would just takeoff
when it's landed and there's a setpoint to go up and
land when it puts a setpoint that pushes into the ground.
With the takeoff logic there are some significant interface
problems depending on the way a task is implemented:
From the setpoint is not high enough to trigger to
an unexpected takeoff because of some estimator
fluctuation affecting the setpoint. It's easiest to solve this
by allowing the task to determine when a takeoff is triggered.
If no condition is implemented by default a task is not
allowing a takeoff  and cannot be used to get the vehicle
off the ground.
 2019-05-22 22:05:38 +02:00
Daniel Agar f0cd79953f create PX4Barometer class 2019-05-20 13:12:49 -04:00
Daniel Agar a883d8eff9 PX4Magnetometer now functional 2019-05-20 13:12:49 -04:00
Daniel Agar 162405479b device drivers lib add linux spi support 2019-05-20 12:18:56 -04:00
bresch feefbb444b ManualSmoothVel - Remove unused _param_mpc_jerk_min declaration 2019-05-17 14:15:29 +02:00
bresch b726d8df0d Add jerk parameter for auto mode MPC_JERK_AUTO. Specify when a parameter is only used in a certain manual or auto mode 2019-05-17 14:15:29 +02:00
Beat Küng 011aef5464 px4_poll posix: fix wrap-around for large timeouts 
timeout is an int, so it wraps when the poll timeout is >2147ms.
This happened in logger, resulting in poll never returning.
 2019-05-17 07:53:33 -04:00
Julian Oes 9d8015d029 modules/lib: ignore address-of-packed-member 
For now we need to ignore this warning which GCC 9 shows for the MAVLink
headers.
 2019-05-16 13:06:25 +02:00
Daniel Agar d4b7441d12 Update submodule ecl to latest Wed May 8 12:38:58 UTC 2019 (#11972) 
- ecl in PX4/Firmware (fa1fbed24633aef7985a128ebd4d19a7f6a4d108): https://github.com/PX4/ecl/commit/c4492b17c1d7bb9b74011efa9890452b091421e8
    - ecl current upstream: https://github.com/PX4/ecl/commit/a27a43eafa8f4dd514e89984f5394260a36ea4f6
    - Changes: https://github.com/PX4/ecl/compare/c4492b17c1d7bb9b74011efa9890452b091421e8...a27a43eafa8f4dd514e89984f5394260a36ea4f6

a27a43e 2019-05-01 Hamish Willee - Fix up link to EKF docs
3f69189 2019-04-04 Mohammed Kabir - EKF: control: stop vision yaw fusion on timeout
 2019-05-08 09:56:16 -04:00
Daniel Agar f032d0d9fc SYS_MC_EST_GROUP mark LPE unsupported and update airframes (#11925) 2019-04-29 11:50:36 -04:00
Matthias Grob 21194239c7 FlightTaskAuto: revisit yaw rate limit 
There were multiple comments not addressed in pr #11904.
See commit 4bcb37f9bc9ef20b521ebcf33e7a0ed08fa86ccd
 2019-04-26 18:58:50 +02:00
bresch 89bc68e12b Auto - Rename MC_YAWRAUTO_MAX -> MPC_YAWRAUTO_MAX 2019-04-26 12:43:26 +02:00
bresch 581d25f77f Auto mode traj - limit yaw setpoint rate of change when generated in the flight task instead of clamping the yaw rate in the controller 
Move yaw setpoint slew rate from AutoLineSmoothVel to Auto. The slew rate is now applied consistently to all the auto FlightTasks
 2019-04-26 12:43:26 +02:00
Martina Rivizzigno eba0bb389a ObstacleAvoidance: fix comment, update failsafe position if one axis is NAN 2019-04-24 08:54:50 +02:00
Martina Rivizzigno e037edd2cc ObstacleAvoidance: once the commadand loiter has been sent, keep using 
the first position when the oa fails as setpoint to avoid jumps
 2019-04-24 08:54:50 +02:00
baumanta c0a1f5b72f Collision prevention improvements (#11866) 
* match max vel in col-prev to regular pos ctrl
* change warning criterium to avoid float error
* disable push back from obstacles
* use floats consistently
 2019-04-17 13:20:29 -04:00
bresch 93d52581ef Auto - Fix cruise speed. Tested with and without SDK. Before that commit, the drone files at max speed instead of cruise speed if not precised by the SDK 2019-04-15 16:32:26 +02:00
Julian Oes e88f1b33b2 FlightTasks: fix mission DO_CHANGE_SPEED 
This fixes the issue where the  DO_CHANGE_SPEED command was ignored and
the drone always travelled at the MPC_XY_CRUISE velocity.
 2019-04-12 15:47:36 +02:00
Matthias Grob 1454694bdd FlightTaskAuto: separate default speed and limit 
It wasn't possible to fly faster than cruise speed even if planned
in the mission.

Limiting the planned cruise speed is necessary because
the smoothed trajectory mission plans to the _mc_cruise_speed and
if that's higher than the maximum it gets capped for safety by the
position controller and the result is a jerky flight.
 2019-04-12 15:47:36 +02:00
romain e1d9438f79 sih: remove SYS_SIH parameter and extend SYS_HITL 2019-04-12 09:25:07 +02:00
Beat Küng 914a9b78b6 new airframe for sih, HIL_STATE_QUATERION sent through MAVLink 2019-04-12 09:25:07 +02:00
PX4 Build Bot 3549354599 Update submodule ecl to latest Tue Apr 9 12:38:37 UTC 2019 
- ecl in PX4/Firmware (aed3d80d5982f37e8353d6d07e29c79a9260b086): https://github.com/PX4/ecl/commit/f95cd4b3584d029c35b288a39180ddf25b2dd004
    - ecl current upstream: https://github.com/PX4/ecl/commit/c4492b17c1d7bb9b74011efa9890452b091421e8
    - Changes: https://github.com/PX4/ecl/compare/f95cd4b3584d029c35b288a39180ddf25b2dd004...c4492b17c1d7bb9b74011efa9890452b091421e8

    c4492b1 2019-04-09 Martina - do not reset yaw if vehicle on ground
14227ea 2019-04-08 Julian Oes - CMakeLists.txt: fix cmake warning
f97f0b6 2019-03-30 Paul Riseborough - EKF: Remove unnecessary code
43b5e26 2019-03-02 Paul Riseborough - EKF: Fix bug causing continual yaw reset when EKF2_MAG_TYPE = 2
 2019-04-09 17:21:28 +02:00
Daniel Agar 6bb93936d1 cmake use ${PYTHON_EXECUTABLE} for mixer test 
- needed for code coverage of python scripts
 2019-04-07 16:35:31 -04:00
Daniel Agar b9516d7e38 mixer move test_mixer_multirotor into cmake 2019-04-07 16:12:17 -04:00
Beat Küng 0bb5225370 rcS: add airframe parameter versioning and extend SYS_AUTOCONFIG 2019-04-05 08:08:47 +02:00
Martina Rivizzigno 6f5c97f184 ObstacleAvoidance: do not check for loiter nav state twice 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 0dab5d3a11 ObstacleAvoidance: enforce camel case 2019-04-04 16:41:26 +02:00
Martina Rivizzigno c5dfcbc50e cosmetics changes to ObstacleAvoidance library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno e5441a6565 make format 2019-04-04 16:41:26 +02:00