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Author SHA1 Message Date
Silvan Fuhrer 9364792da1 Tailsitter: hack: publish the same torque sp on 0 and 1 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-09 11:44:10 +02:00
Silvan Fuhrer aed855ba17 FW Att C: yaw stick adds yaw rate setpoint instead of manual controls 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-09 10:35:29 +02:00
Silvan Fuhrer aa87a342e6 use FW attitude controller in FW but always MC rate controller 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-09 10:12:08 +02:00
Silvan Fuhrer e637e63d21 do attitude estimate rotation in EKf for tailsitter in FW 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-08 17:56:45 +02:00
Silvan Fuhrer 36af12a1d4 MC Att C: add param to use VTOL way for att generation or not 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-27 09:03:47 +02:00
Silvan Fuhrer 7bcd33b177 Tailsitter: use MC attitude and rate controller for FW part as well 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-27 00:56:37 +02:00
Silvan Fuhrer aabbdf380b ROMFS: tailsitter SITL: disable all control surfaces and only use motors for control 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-19 18:14:42 +02:00
Silvan Fuhrer 25c049f3c9 tailsitter: enable roll and pitch control through differential thrust in FW 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-18 16:32:33 +02:00
Silvan Fuhrer 17a020c6a5 VTOL: differential thrust in FW: adapt params to be generic for all axes 
Until now only suppoted on yaw axis. Not to be supported also on Roll and Pitch.

- VT_FW_DIFTHR_EN: make bitmask for all three axes independently. First bit is Yaw,
sucht that existing meaning of VT_FW_DIFTHR_EN doesn't change.
- VT_FW_DIFTHR_SC: rename to VT_FW_DIFTHR_S_Y and add same params for roll (_R) and
pitch (_P).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-18 11:31:53 +02:00
Silvan Fuhrer 7bf934de50 VTOL: rename VT_ELEV_MC_LOCK to VT_MC_CS_LOCK 
It doesn't only lock elevons but all kind of control surfaces, so lets
have the param name generic (CS for control surface)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-18 11:31:45 +02:00
Silvan Fuhrer 87c521ddcc ROMFS: add swan k1 quad tailsitter config 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-18 11:31:24 +02:00
Silvan Fuhrer adc37b767b tailsitter: reduce tilt to switch to FW in front transition 
This is to allow transitions in stabilized mode, where the tilt is set directly with
    stick inputs. For Position control / Auto mode it was fine because there the pitch
    is set by the transition logic.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-18 11:31:20 +02:00
alexklimaj f9b8ca1326 Support two RTCM links with the same corrections 
Add selected_rtcm_instance to sensor_gps message to track loss of rtcm links

Publish _rate_rtcm_injection
 2022-07-15 08:20:27 +02:00
Raffaele Rossi 1e55b69fdb ADS1115 ADC: start internal ADC as well (#19880) 
But only publish the system power.
 2022-07-15 08:15:26 +02:00
Daniel Agar c71cc5b815 drivers/imu/bosch: new BMI085 driver 
- very similar to the BMI088 with minor differences in accel range
 2022-07-14 18:20:13 -04:00
Daniel Agar 077547f31e rm3100: fix trivial whitespace style failure 2022-07-14 14:44:59 -04:00
alexklimaj 768565ed6f Enable GPS Blending by default 2022-07-14 10:20:59 -04:00
Daniel Agar ea4a1bfb6a sagetech_mxs: don't run by default 2022-07-14 10:20:20 -04:00
Bruce Meagher c5f72fb5d9 Fixed formatting to pass check_format 2022-07-14 09:43:59 -04:00
Bruce Meagher e66683a059 Fixed rm3100 self-test bug 2022-07-14 09:43:59 -04:00
Junwoo HwangThomas StastnyHamish Willee
 		1a620b450d Change min > max notation to [min, max] in Parameters Markdown (#19911) 
* Change min > max notation to [min, max] in Parameters Markdown

* Update src/lib/parameters/px4params/markdownout.py

Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
 2022-07-14 09:13:49 +10:00
Daniel Agar a2f83269e9 airspeed_selector: don't consider vehicle_local_position valid if dead_reckoning 2022-07-13 09:01:33 +02:00
Daniel Agar ac209c2e78 ekf2: vehicle_local_position add dead_reckoning flag 2022-07-13 09:01:33 +02:00
RomanBapst 9886660862 gps_inject_data: fixed integer overflow 
- array length of data was increased without changing the data type of
the variable holding the length

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-13 07:49:47 +02:00
Hamish Willee 5f953fd1da commander_params: COM_RC_IN_MODE - comment out of date (#19634) 2022-07-13 15:26:32 +10:00
Daniel Agar e99da22cbe delete CBRK_VELPOSERR circuit breaker 2022-07-12 13:51:13 -04:00
bresch de74f45e2d ekf2: do not run rng kinematic consistency check for fixed-wings 
As they are always moving horizontally, the check doesn't make sense
for fixed-wings.
Also don't run the check while on ground to prevent getting a failed
check during pre-takeoff manipulation.
 2022-07-12 13:45:59 -04:00
Matthias Grob fb455c8f4b vehicle_status: reorder message definition 
for readability. No functional changes.
 2022-07-12 15:50:49 +02:00
Daniel Agar 19b9b052ab uavcan: GNSS optionally publish RTCMStream or MovingBaselineData 2022-07-12 08:15:15 -04:00
Daniel Agar a73efd9c4f NuttX carry minimal c++ cmath (replacing Matrix stdlib_imports.hpp) 2022-07-12 08:05:06 -04:00
Daniel Agar fe22167512 differential_pressure/sdp3x: sdp3x_main fix 'keep running' regression 2022-07-12 09:11:57 +02:00
RomanBapst a23cb111b7 added comment for cruising throttle only affecting rover 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-12 09:07:20 +02:00
RomanBapst b7d6e646cc FixedWingPositionControl: better naming for manual airspeed setpoint 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-12 09:07:20 +02:00
RomanBapst c2f5ffdfcd log tecs trim throttle 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-12 09:07:20 +02:00
RomanBapst 92cdff6798 TECS: rename airspeed/throttle "cruise" to "trim" 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-12 09:07:20 +02:00
RomanBapst b57d3c6d74 TECS: set true airspeed rate setpoint to zero if airspeed is not enabled 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-12 09:07:20 +02:00
RomanBapst 6dbea21ef5 TECS: renamed airspeed cruse to airspeed trim & general cleanup 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-12 09:07:20 +02:00
RomanBapst c05e0f076b FixedWingPositionControl: do not pass trim throttle via position setpoint triplet 
- trim throttle is handled entirely by the position controller
- navigator should use speed setpoints
- added flag gliding_enabled in position setpoint to stills support gliding

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-12 09:07:20 +02:00
RomanBapst cae7e1b88b improved trim throttle compensation 
- allow compensation based on vehicle weight (parameterized)
- use density for calculating trim throttle compensation instead of pressure
- removed parameter FW_THR_ALT_SCL

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-12 09:07:20 +02:00
RomanBapst 461d0561b8 replace FW_THR_CRUISE with FW_THR_TRIM 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-12 09:07:20 +02:00
marcirsch 226b8a6f90 README: Updated links to point to main branch instead of master. Fixed broken links 
Signed-off-by: marcirsch <marcell@auterion.com>
 2022-07-12 08:38:05 +02:00
Matthias Grob 10a2b4c9f7 commander_helper: typo in set_tune() description 2022-07-08 14:51:15 +02:00
Junwoo Hwang f66c3914f6 Give priority to power off tune over other tunes (e.g. Battery Low) 
Make Power Off tune not interruptable

This solves the case of Low Battery warning tune overriding the power
off tune, as now the Power off tune is not interruptable by any other
tune unless override flag is specified

commander_helper: resolve "redundant boolean literal in ternary expression result"
 2022-07-08 14:51:15 +02:00
Junwoo Hwang 652b153383 Cleanup set_tune() functions in the commander_helper 
- Existing code was hard to read and quite ambiguous
- Also it allowed constantly re-sending the tune_control request for a
fixed duration tunes like "TUNE_ID_BATTERY_WARNING_SLOW", while not
respecting the tune duration
 2022-07-08 14:51:15 +02:00
bresch 3b26c611af mpc: add sideways and backward speed for manual position modes 2022-07-08 14:03:44 +02:00
bresch 1de38c88d9 mpc: use xy stick limiting function from library 2022-07-08 14:03:44 +02:00
Igor Mišić 7e9a45a01a uavcan/sensors/battery: add multiple battery filter instances 2022-07-08 10:03:11 +02:00
Igor Mišić 90e2ac60ce uavcan/sensors/battery: add the option to filter raw data 
Useful for power modules that send just pure voltage and current without algorithmic prediction of voltage drop, time estimation, etc.
 2022-07-08 10:03:11 +02:00
Igor Mišić 27b65481ba uavcan/sensors/battery: refactoring _battery_status name 2022-07-08 10:03:11 +02:00
Junwoo Hwang 0eeb699af8 Convert add 'Hz' suffix to PWM50, PWM400, ... protocol names 
* To avoid confusion as to what the number after the 'PWM' part means
when setting it up in the Actuators Tab
 2022-07-08 08:15:13 +02:00