8e8c6efd66
Mission block: do not care for altitdue acceptance when approaching backtransition point
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Not accepting the waypoint causes the vehicle to perform a sharp turn after passing
the land waypoint and this causes worse unexected behavior.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-22 15:37:10 +02:00
9301288d1f
Add parameter and logic to set RTL heading mode.
2021-10-22 09:28:30 +02:00
fd96bbf9b9
Mavlink: bump MAX_REMOTE_COMPONENTS to 16
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-21 07:48:50 +02:00
8a2b310b83
topic_listener: avoid code generation, use existing metadata at runtime
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This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.
2021-10-20 08:10:05 +02:00
a0e72b35a4
replay: ignore ULogMessageType::PARAMETER_DEFAULT messages
2021-10-20 08:10:05 +02:00
4c73ac3805
uorb: use single byte for internal types in o_fields metadata
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Reduces flash usage by ~9KB.
2021-10-20 08:10:05 +02:00
21163d859e
Whitespace cleanup.
2021-10-19 13:29:26 -04:00
4cf8eb8226
ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics
2021-10-18 21:39:40 -04:00
b35dd86d04
mc_pos_control: remove unused var
2021-10-18 20:37:18 -04:00
c8d6f8f5e5
remove proto for unused function limit_thrust_during_landing()
2021-10-18 20:37:18 -04:00
9d7c4596f7
navigator: increase stack 1800 -> 1864 bytes
2021-10-18 20:31:35 -04:00
da1df5352c
fix pwm: only update oneshot timers owned by the current pwm_out instance
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This fixes the case where oneshot was enabled with multi-instance pwm_out,
triggering oneshot updates too close to each other and as a result could
lead to spinning motors while disarmed.
2021-10-18 18:45:19 -04:00
f1686b1abf
px4io: add dynamic mixing support
2021-10-18 18:45:19 -04:00
183ab8bbe7
control_allocator: avoid default argument for virtual method getEffectivenessMatrix
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clang tidy error:
/__w/PX4-Autopilot/PX4-Autopilot/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp:50:34: error: default arguments on virtual or override methods are prohibited [google-default-arguments,-warnings-as-errors]
ActuatorEffectivenessMultirotor::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
2021-10-18 18:45:19 -04:00
ab3fe77f46
mavlink_receiver: publish MAV_CMD_DO_SET_ACTUATOR command
2021-10-18 18:45:19 -04:00
38fa65a47e
control_allocator: remove direct mixer, add actuator_{motors,servos} instead
2021-10-18 18:45:19 -04:00
a51c465b54
control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets
2021-10-18 18:45:19 -04:00
ad1bcfd77c
commander: correct lockdown CLI description
2021-10-18 18:45:19 -04:00
a66b0829b0
Standard VTOL: add airspeed to back transition logic and refactor it a bit
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
358c67226e
Tiltrotor: backtransition logic improvements
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-use groundspeed in body x for exit condition
-use airspeed for speed exit condition if no valid groundspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
cba80a6338
Tiltrotor: front transition: fade out yaw equally to roll
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
641383cbfb
VTOL backtransition improvements
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* vtol_type: only allow positive pitch setpoints during backtransition
* vtol params: set default of VT_B_DEC_FF to 0, as for most frames a FF is not necessary
* Tiltrotor: fix throttle during first part of back transition
* Tiltrotor: only enable all motors in second phase of backtransition (tilting phase)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
af291e2040
FlightTaskTransition: Transition improvements
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- use fw pitch setpoint offset during transition
- take over previous vertical velocity and smooth out over transition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
d39c32619e
Tiltrotor: add minimum throttle of 0.25 during front transition
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
f61853d428
vtol: implement throttle blending out and into transition
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- blend into TECS throttle after front transition
- blend out of TECS throttle during backtransition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
8dd76050e0
vtol: take fixed wing attitude setpoint during transition if altitude is
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not controlled
- required as there is no flightask running if altitude is not controlled
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
56823b5ac9
ekf2: EKF control don't allow invalid flow gyro to propagate
2021-10-14 16:31:22 -04:00
d35cf78e4a
commander: PX4_ERR if attitude or angular velocity become invalid
2021-10-14 09:17:50 -04:00
ef4d4c3093
sensors/vehicle_imu: fix timestamp_sample increasing check
2021-10-14 09:12:45 -04:00
4535b18a80
Set setpoint type as const
2021-10-14 11:18:02 +02:00
07d72f8604
Fix comments
2021-10-14 11:18:02 +02:00
443666199e
Move setmode outside of control_position
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This commit moves the position controller mode handling outside of the control_position method.
The control_method is renamed to control_auto
2021-10-14 11:18:02 +02:00
ae9e91f90c
FW Pos controller: fix format in new switch
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
c3e961a1ed
FW Pos C: move setting of control_mode_current to separate function and minor clean ups
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
0cf3ef87e3
FW Position Controller: move nav_speed_2d calculation to function
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
581ec224be
Encapsulate loiter and position setpoint handling
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This commit encapsulates the position setpoint and loiter setpoint handling into a single method, in order to make the code easier to understand
4be452
2021-10-14 11:18:02 +02:00
fed234de81
flight_mode_manager: Extracted position trajectory motion planning into a library
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Extract the functionality to plan smooth position motion trajectories into a
motion planning library, such that it can be used in other parts of the code as well.
2021-10-13 21:25:43 -04:00
e6658547cf
sensors/vehicle_imu: Fix compiler warning for implicit INFINITY double->float cast
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This pops up on some newer compilers
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
5509235517
commander: Fix implicit NaN conversion from double to float compiler warning
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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
fab053d33b
mavlink: receiver battery_status prevent out of bounds access
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- fixes https://github.com/PX4/PX4-Autopilot/issues/18385
2021-10-12 09:20:40 -04:00
801ef2d520
VTOL main: add local variable for int(vehicle_command.param1 + 0.5)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
342e9900f8
vtol main: only guard against transition to FW in certain flight modes, never to MC
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
8f8304f31e
FixedWingPositionController: Set l1 variables to NAN if no l1 guidance
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took place
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-11 16:41:42 +02:00
99b098f608
Update FixedwingAttitudeControl.cpp
2021-10-09 19:39:43 -04:00
c92cd65831
Update EKF2.cpp
2021-10-09 19:39:43 -04:00
6576e1fda9
Update battery_status.cpp
2021-10-09 19:39:43 -04:00
b56bd7cb21
Update AirspeedValidator.cpp
2021-10-09 19:39:43 -04:00
47a72a6b7b
Update vtol_att_control_main.cpp
2021-10-09 19:39:43 -04:00
9fd19a2c83
Update standard.cpp
2021-10-09 19:39:43 -04:00
RomanBapst