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29,187 Commits 852 Branches 161 Tags
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Commit Graph
123 Commits
Author SHA1 Message Date
CarlOlsson 9a2617ad33 vtol_att_control: remove unused subscription variable 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-28 09:03:53 +01:00
Julien Lecoeur 5f06c6a1aa VTOL: add parameter to prevent flight if roll direction was not checked 
Mark V19_VT_ROLLDIR @category system

Throttle down mavlink critical msg

Send 0 actuator_output for safety

VTOL: unset v1.9 roll direction safety check param for builtin airframes
 2019-03-15 00:48:23 -04:00
Julian Oes 5b9dea5604 Replacing usleep with px4_usleep 
This is a step towards isolating time from the system.
 2018-12-22 10:32:18 +01:00
Roman Bapst 90bfdb6f0a VTOL rate control architecture improvements (#10819) 
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
 2018-11-21 20:32:40 -05:00
Roman 96f3feb088 weathervane: get rid of passive strategy 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Daniel Agar b1d3bb0403 stop ignoring Wmissing-field-initializers and fix (#9912) 2018-07-22 12:45:52 -04:00
Beat Küng 13ab5ed0d0 px4_main_t: fix method declaration throughout the code base 
px4_main_t is defined as:
typedef int (*px4_main_t)(int argc, char *argv[]);
which matches with the definition in NuttX, given to task_create
 2018-05-09 07:59:46 +02:00
Roman 41a9ac0acb vtol_att_control: initialise VT_FW_MOT_OFFID correcly for standard vtol 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-12 09:19:47 +02:00
Roman 744f806214 vtol_att_control: merge methods to disable a selection of motors 
- moved methods used to modify channel maximum pwm value to VtolType
class so that the can be shared by the differnt vtol types

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-12 09:19:47 +02:00
Daniel Agar 00f98c64db VTOL preserve PWM min and max when enabling/disabling actuators 2018-04-12 09:19:47 +02:00
Beat Küng 90513e719e ASSERT: remove some inappropriate asserts 
Since assertions lead to crashes, we need better failure handling. In all
the cases in this patch, the assert is not required.

All the ones with the task id should be replaced with the module base
class.

Ah yes, and this reduces flash space, since the ASSERT macro will expand to
a printf that contains the source file name.
 2018-04-11 07:47:06 +02:00
Roman 2257cfc0fa vtol_att_control: set flag in_transition_to_fw properly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-30 00:46:23 -04:00
Daniel Agar 2ce8b6a984 delete VT_FW_PITCH_TRIM parameter (#9014) 2018-03-07 09:08:59 -05:00
Roman 03338935e0 vtol_att_control: make sure blending airspeed is smaller than transition airspeed 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 6900f97b72 vtol_att_control: use airspeed_disabled flag instead of airspeed mode 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman daa6c6ffc8 vtol_att_control: consolidated standard parameters & fix usage of hrt_elapsed time 
- standard vtol was implementing many custom parameters although they
are generic and should be shared between the vtol types
- removed heavy usage of hrt_elapsed_time() which is a system call and
could be computationally expensive
 2018-03-07 14:01:51 +01:00
Daniel Agar 3b0b5645e1 vtol_att update poll fd before poll call 2018-03-01 18:27:57 +01:00
Roman ee2163ce69 vtol_att_control: prevent segfault when no command line args given 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-01 11:35:34 -05:00
Daniel Agar 137a2444a8 VTOL standard respect VT_ELEV_MC_LOCK 2018-01-11 16:18:47 -05:00
Daniel Agar 66f614435f vtol_att avoid unnecessary work and delete unused 2018-01-02 01:35:57 +01:00
Daniel Agar d3a220f807 vtol_att only set fw_permanent_stab on param change 2018-01-02 01:35:57 +01:00
Daniel Agar fedc9abb02 vtol_att_control increase stack by 30 Bytes (1200 -> 1230) 2017-11-29 16:01:40 -05:00
Julian Oes 585b03898f vtol_att_control: ack transition commands 
Previously transition commands were not acked at all which meant that a
mavlink consumer such as a ground station would not get feedback if the
command arrived.

This solution is not optimal because it does not take into account if
the transition actually happened but at least it is feedback that the
command has arrived at the destination.
 2017-11-13 09:56:11 -05:00
sanderux fc16a31f89 Adaptive quadchute 2017-10-30 20:57:47 +01:00
Daniel Agar 4416c4ddb3 navigator move parameters out of MissionBlock 
- MissionBlock is an interface with > 10 implementations
 2017-10-26 22:43:53 +02:00
sanderux 33e67fd527 Disable PA during landing 2017-08-16 08:19:06 +02:00
sanderux e6c942033b Disable pusher assist when descending 2017-08-16 08:19:06 +02:00
Daniel Agar 1867573b02 VTOL don't poll parameter_update 2017-07-29 09:15:52 +02:00
Lorenz Meier f54a6c2999 VTOL Controller: Always read ready topics 
When poll returns a ready FD we have to read it, no matter which flight mode the system is in.
 2017-07-02 21:52:18 +02:00
Lorenz Meier 5724bef14d VTOL att controller: Code style fix 2017-07-02 20:59:25 +02:00
Daniel Agar 64ed96d81a clang-tidy readability-simplify-boolean-expr 2017-06-02 19:35:18 -04:00
Sander Smeets 9ef87f1311 VTOL QuadChute Maximum roll and pitch angles (#6665) 2017-03-02 10:34:04 -05:00
Daniel Agar 96e51f7c59 clang-tidy remove redundant 2017-02-01 22:15:50 -05:00
Daniel Agar a0271fe020 astyle src/modules/vtol_att_control 2017-01-29 01:18:32 +01:00
Andreas Antener c416fc3fa0 Tiltrotor: 
- added open-loop transition time for airspeed-less flying
- added ramping down the back motors during forwards transition
 2017-01-03 20:32:33 -05:00
Bart Slinger a7eed46062 Update vtol_att_control_main.cpp 
Fixes https://github.com/PX4/Firmware/issues/6246
 2017-01-04 00:02:53 +01:00
Roman f8f12ee265 vtol_att_control: removed unnecessary pointers to derived classes 
- we interface over the base class pointer so we don't need any pointers
to the derived classes of VtolType

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-22 10:05:53 +01:00
Roman d77547e7e1 vtol_attitude_control: hotfix, do not update parameters on every iteration 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-22 10:05:53 +01:00
Roman 92a5db92a2 vtol_att_control: initialise pointers and free memory 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-22 10:05:53 +01:00
Lorenz Meier 69f6708f37 Increase sensors stack 2016-09-30 09:16:36 +02:00
Daniel Agar 9fd0513be3 vtol remove unused vehicle_status 2016-09-27 08:49:45 +02:00
Andreas Antener 8c9f4e8ab8 added which transition the vtol is in to vehicle status 2016-09-13 14:32:00 +02:00
Andreas Antener 46105f735e finish back transition when a mode change from manual to auto happens during the back transition 2016-09-13 14:32:00 +02:00
Mark Whitehorn bbe3525377 fix VTOL vehicle_status timestamp (#5252) 
* fix VTOL vehicle_status timestamp

* run astyle
 2016-08-05 17:00:12 +02:00
Mark Whitehorn 422cf7e21c assign timestamp in vtol vehicle_rates_setpoint message (#5227) 2016-08-04 08:22:33 +02:00
Andreas Antener 86d1488e52 added missing const keyword 2016-08-02 21:09:45 +02:00
Andreas Antener d089c427ec quadchute code style fix 2016-08-02 21:09:45 +02:00
Andreas Antener 6f1eda2b18 added single point to decide if we need quadchute, let the reason be passed from the source where we know what's going on 2016-08-02 21:09:45 +02:00
Andreas Antener bae5416819 removed duplicate memset 2016-08-02 21:05:00 +02:00
Lorenz Meier e70223c2be Allow transition commands also in manual if no switch is used 2016-07-29 13:43:24 +02:00