Beat Küng
d0ea4e8876
accelerometer_calibration: cleanup
2017-02-01 08:40:23 +01:00
Beat Küng
69fd8447ae
accelerometer_calibration: make sure to initialize sensor_correction properly
2017-02-01 08:40:23 +01:00
Beat Küng
51def4fc60
gyro_calibration: make sure to initialize sensor_correction properly
...
if it's not published yet or published with low frequency, this makes sure
we have valid data.
also:
- _sensor_correction -> sensor_correction
- remove unnecessary init of sensor_correction_sub
2017-02-01 08:40:23 +01:00
Beat Küng
f890c82c97
mc_att_control_main: remove unnecessary memset for _sensor_correction
2017-02-01 08:40:23 +01:00
Paul Riseborough
fb774bef67
commander: enable accel cal to adjust thermal compensation parameters
2017-02-01 08:40:23 +01:00
Paul Riseborough
bdd3b094a7
sensors: report mapping from uORB to compensation parameter index
2017-02-01 08:40:23 +01:00
Paul Riseborough
8b1a5461c4
sensors: Update documentation
2017-02-01 08:40:23 +01:00
Paul Riseborough
f2f5034832
sensors: prevent high frequency updating of sensor corrections
...
The use of a float to integer cast was causing high frequency reporting when the float value was close to the rounding boundary.
2017-02-01 08:40:23 +01:00
Paul Riseborough
62694d92d2
commander: rework IMU cal for compatibility with temperature compensation
2017-02-01 08:40:23 +01:00
Paul Riseborough
add298c0b5
mc_att_control: use legacy offset and scale definition (+2 squashed commits)
...
Squashed commits:
[f81a8b0] mc_att_control: remove unnecessary initialisers
[f3d3f48] mc_att_control: accommodate changes to sensor_correction topic
2017-02-01 08:40:23 +01:00
Paul Riseborough
170bc91587
sensors: fix bug in thermal compensation temperature limit (+2 squashed commits)
...
Squashed commits:
[2df1d9e] sensors: change definition of sensor offset and scale factor to match legacy code
[089e103] sensors: publish thermal corrections for all sensors
2017-02-01 08:40:23 +01:00
pixhawk
ef2a5599a1
mag_calibration: Make sure calibration fails if any mag fails; More checks on calibration results
2017-02-01 08:38:26 +01:00
pixhawk
fded02220b
calibration_routines: use PX4_ISFINITE() instead of isnan()
2017-02-01 08:38:26 +01:00
pixhawk
5c96c8c1b3
Removed std::fill_n since it is not supported
2017-02-01 08:38:26 +01:00
pixhawk
9fe65d0957
Fix array initialization bug
2017-02-01 08:38:26 +01:00
Siddharth Bharat Purohit
2c831c314e
commander: correct mag cal offset direction
2017-02-01 08:38:26 +01:00
Siddharth Bharat Purohit
c6f8bcf8b3
commander: use mathlib matrix_alg functions
2017-02-01 08:38:26 +01:00
Siddharth Bharat Purohit
78b8deda15
commander: add ellipsoid 9 param fit for magnetometer corrections
2017-02-01 08:38:26 +01:00
Siddharth Bharat Purohit
c9ac15f0dd
commander: fix code style
2017-02-01 08:38:26 +01:00
Siddharth Bharat Purohit
f811777789
commander: add new math for sphere fit for compass calibration
2017-02-01 08:38:26 +01:00
Lorenz Meier
1b06c04b5c
Sensors: Style fix
2017-01-29 16:24:47 +01:00
Lorenz Meier
9cacdaafc7
Sensors: Reset gyro and accel calibration if one sensor goes missing.
...
This is to ensure that if sensor IDs are fixed we do not end up in a state where the system is partially calibrated and the need for re-calibration is not properly communicated to the user.
2017-01-29 16:24:47 +01:00
Lorenz Meier
1c131f2523
Land detector: Accumulate total flight time between flights
2017-01-29 15:48:34 +01:00
Lorenz Meier
35efe651ac
Land detector main: Fix style
2017-01-29 15:48:34 +01:00
Lorenz Meier
75132a50e6
Land detector: Measure total system flight time
...
This implementation is a baseline implementation and makes no attempt to be tamper-proof. A monotonic counter like the W25R64FV or a similar HW facility would be required to achieve this.
2017-01-29 15:48:34 +01:00
Lorenz Meier
2cf8cdc63f
Event system: Initialize work item
2017-01-29 15:10:09 +01:00
Khoi Tran
21f8e07836
Fixed format
2017-01-29 09:37:48 +01:00
Khoi Tran
2428ff9f3a
mc_position_control: Fix divide by zero in scale_control
2017-01-29 09:37:48 +01:00
Daniel Agar
ee8fa78d93
astyle src/modules/uORB
2017-01-29 01:18:32 +01:00
Daniel Agar
88ad0fc3bd
astyle src/modules/navigator
2017-01-29 01:18:32 +01:00
Daniel Agar
750e5d1690
astyle src/modules/uavcanesc
2017-01-29 01:18:32 +01:00
Daniel Agar
0bc3c8dfc4
astyle src/modules/systemlib
2017-01-29 01:18:32 +01:00
Daniel Agar
b1b951aace
astyle src/modules/muorb
2017-01-29 01:18:32 +01:00
Daniel Agar
a0271fe020
astyle src/modules/vtol_att_control
2017-01-29 01:18:32 +01:00
Daniel Agar
380819dfc5
astyle src/modules/uavcannode
2017-01-29 01:18:32 +01:00
Daniel Agar
019c6647f2
astyle src/modules/sensors
2017-01-29 01:18:32 +01:00
Daniel Agar
28e50d5911
astyle src/modules/logger
2017-01-29 01:18:32 +01:00
Daniel Agar
da90e1ce62
astyle src/modules/replay
2017-01-29 01:18:32 +01:00
Daniel Agar
830cb44b9c
astyle src/modules/fw_pos_control_l1
2017-01-29 01:18:32 +01:00
Matthias Grob
480dd0922b
Land detector: revision of the 2 stage landing mechanism
...
Ground detect: pilot want down or we are on minimum thrust by auto land but no vertical movement
-> Controller should relax x,y corrections and even ramp down desired thrust
Landed: All other conditions are eventually met
2017-01-28 16:23:04 +01:00
Matthias Grob
b130913090
land_detector: made sure the 2 stage landing can not happen in one hysteresis time
2017-01-28 16:23:04 +01:00
Lorenz Meier
9ef97b78c8
Land detector: Turn throttle range parameter into proper user-configurable parameter
2017-01-28 16:23:04 +01:00
Lorenz Meier
9448b8cb52
Land detector: Fix hover throttle detection
2017-01-28 16:23:04 +01:00
Dennis Mannhart
f297c45f78
mc_pos_control_main:
...
for landing, set velocity to zero and consider thrust_sp in body frame
instead of NED frame. Also limit thrust_sp_body_z to be larger than 0.0f
2017-01-28 16:23:04 +01:00
Lorenz Meier
58983e4c52
Land detector: Fix code style
2017-01-28 16:23:04 +01:00
Dennis Mannhart
3fe45697bb
Fix3dwinglandDetector.cpp: adjusted to astyle
2017-01-28 16:23:04 +01:00
Dennis Mannhart
2f164602b4
LandDetector:
...
- constructor initalization fix
- set trigger time for ground contact hysteresis
- updated ground_contact_state logic
MulticopterLandDetector:
- added hysteresis for ground_contact
VtolLandDetector:
- get_ground_contact_state function that return the one form MultcopterLandDetector
FixedWingLandDetector:
- get_ground_contact_state with a return false: requires implementation
2017-01-28 16:23:04 +01:00
Lorenz Meier
f961a12d9a
MC position controller: Stop XY control once ground contact is established
2017-01-28 16:23:04 +01:00
Lorenz Meier
aab04141f0
Initialize raw GPS data
2017-01-28 16:23:04 +01:00
Lorenz Meier
9e9e0e23ad
Land detector: Detect ground contact separately
...
This allows to detect ground contact before concluding the system is landed. This allows to disable some parts of the horizontal control system and only control the vertical position to avoid tipping over.
;
2017-01-28 16:23:04 +01:00
Beat Küng