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25921 Commits
Author SHA1 Message Date
Beat Küng 5cdb6fbd8e control_allocator: add helicopter mixer 
Same logic as the existing mixer.
Untested.
 2022-05-10 08:57:39 +02:00
Beat Küng 32402f31df control_allocator: increase max num motors to 12 2022-05-10 08:57:39 +02:00
Beat Küng 9f5c5591a2 ActuatorEffectivenessRotors: fix motor count check 
Check during init to avoid out-of-bound access.
 2022-05-10 08:57:39 +02:00
Silvan Fuhrer 5d6c8c986d Commander: high wind speed handling updates 
- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Silvan Fuhrer 1aad82f87d Commander: add max flight time RTL 
Adds COM_FLT_TIME_MAX param and logic in Commander to enforce RTL when
flight time is above this value. User can only override to LAND mode,
but not proceed flight beyond that.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Igor Mišić ce4e9f6690 uavcan: use timer 6 by default on stm32f7 2022-05-06 19:45:53 -04:00
Thomas Stastny 90789be68f fw pos ctrl: turn back to takeoff point with npfg 2022-05-06 16:36:03 +02:00
Thomas Stastny 3ef5f433b5 fw pos ctrl: add missing guidance control interval setting to control_manual_position() 2022-05-06 16:36:03 +02:00
Thomas Stastny 1ab9fb22ee fw pos ctrl: fix state switching logic for takeoff and landing 2022-05-06 16:36:03 +02:00
Matthias Grob b3776134b8 Commander: ensure diconnected battery is cleared from bit field 2022-05-06 10:32:27 -04:00
Beat Küng 113982e3e7 commander: fix incorrect return in set_link_loss_nav_state() 
If both local position and altitude were not valid, then both RC loss and
datalink loss would not trigger any failsafe at all, independently from
the configured action.
 2022-05-06 10:14:13 -04:00
Matthias Grob 843c814fb8 MulticopterPositionControl: allow offboard takeoff also when not landed 2022-05-06 04:12:18 -07:00
Matthias Grob fbc109436f MultiCopterRateControl: refactor setpoint naming 2022-05-06 04:12:18 -07:00
Matthias Grob 1211a457d7 MulticopterPositionControl: Overwrite vertical acceleration during takeoff rampup only 2022-05-06 04:12:18 -07:00
Matthias Grob d9a2fe5226 Revert "MCPosControl: fix invalid setpoint race condition" 
This reverts commit e7a2c1d88e.
 2022-05-06 04:12:18 -07:00
mcsauder 2a66be4899 Colocate struct stateSample with other instances of *Sample structs. 2022-05-05 18:41:50 -04:00
mcsauder a0d9687409 Add c++ style initializers where missing in EKF/common.cpp, standardize tab/space indentation, align comments and format whitespace. 2022-05-05 18:41:50 -04:00
bresch cab477d715 ekf2: optimize KHP computation 
Calculating K(HP) takes less operations than (KH)P because K and H are
vectors.

Without considering the sparsity optimization:
- KH (24*24 operations) is then a 24x24 matrix an it takes
24^3 operations to multiply it with P. Total: 14400 op

- HP (24*(24+24-1) operations) is a row vector
and it takes 24 operations to left-multiply it by K. Total:1152 op
 2022-05-05 10:34:17 -04:00
bresch c890e8bf99 WindEstimator: fix state covariance prediction 
All the states are stationary so the discrete-time process noise Qk can
be directly added to the state covariance matrix P
 2022-05-05 11:53:33 +02:00
Konrad 14a2fdfe55 Removed l1 control slope angle limitation. The maximal approach angle to the line was set to 45°, no the approach angle can be up to 90°. 2022-05-04 21:23:22 -04:00
Matthias Grob 46fdc28cf8 MulticopterPositionControl: fix typo "descen{d/t}" 2022-05-04 02:22:18 -07:00
Daniel AgarandMathieu Bresciani 7f1bb556e9 Update src/modules/mc_pos_control/MulticopterPositionControl.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-05-04 02:22:18 -07:00
Matthias Grob 3fb4889ab9 MultcopterPositionControl: fix executing a zero setpoint for 200ms 
This is a combination of the originally introduced delay:
06c10f61c1
then the emergency failsafe being changed to not just land,
position control being rescheduled to not overwrite every setpoint in:
e502214429576ce68ac3fee9d2db19112f4604b9
and it being fixed by overwriting the setpoint but not removing
the long obsolete hystersis here:
114e85d260
 2022-05-04 02:22:18 -07:00
Matthias Grob cb484c5ac7 PositionControl: publish NAN jerk 
because the controller does not read or write jerk
 2022-05-04 02:22:18 -07:00
Matthias Grob 5055fec796 MulticoperPositionControl: explicitly overwrite setpoint timestamp when setpoint is reset 2022-05-04 02:22:18 -07:00
Matthias Grob 424fd8b304 MulticoperPositionControl: remove time_stamp_now alias for timestamp_sample of the local position 
to make it explicit what is used is not a fresh hrt_absolute_time() call
by this module.
 2022-05-04 02:22:18 -07:00
Matthias Grob 8180f931de MulticopterPositionControl: rename local_pos -> vehicle_local_position 2022-05-04 02:22:18 -07:00
Matthias Grob 4ffe796b4d MulticopterPositionControl: clarify previous position control naming 2022-05-04 02:22:18 -07:00
Daniel Agar ad6592f669 mc_pos_control: require current trajectory setpoint to run controller 2022-05-04 02:22:18 -07:00
Silvan Fuhrer 138772386f FW Position control: explicitly set spoiler/flaps in every control mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Silvan Fuhrer 089673ff35 only allow positive spoiler and flap controls 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Silvan Fuhrer 64ff31aa08 VTOL: add flap and spoiler support 
- including slew rate limiting
- adds option to set spoiler setting during the Land phase (hover)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Silvan Fuhrer 4b8f93de5c FW: rework spoiler/flap control logic 
- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
    The flap settings for takeoff and landing are now specified relative to full range.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Silvan Fuhrer 21a2892f47 use actuator_controls[8] for collective tilt for tiltrotor VTOL, instead of [4] 
[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Peter van der Perk 108c98a691 Added experimental LTO kconfig option 2022-05-02 10:07:54 -04:00
Beat Küng 8da02e2233 dshot: avoid using pwm failsafe params when dynamic mixing is enabled 2022-05-02 07:16:23 +02:00
Daniel Agar 6fc857772d ekf2: remove unnecessary const references 2022-04-29 21:39:02 -04:00
ShiauweiZhao 4a6e958100 add tattu_can smart battery kconfig 2022-04-29 13:49:32 -04:00
Beat Küng d94ec84e46 logged_topics: remove unused vehicle_angular_acceleration_setpoint, extend add_high_rate_topics 2022-04-28 19:51:28 -04:00
Beat Küng 4338976247 ActuatorEffectivenessRotors: add missing getEffectivenessMatrix 
Fixes MOTORS_6DOF
 2022-04-28 19:51:28 -04:00
Beat Küng a9129ea003 logger watchdog: also check main thread 
There was a time window where if a task with higher priority than the main
logger thread would busy-loop, it would block both logging threads and the
watchdog would not trigger if the writer was in idle state.
This can happen for fast SD card writes.
 2022-04-28 19:49:24 -04:00
Beat Küng 9e0a8050a9 fix dshot: remove setAllFailsafeValues 
Fixes a regression from c1e5e666f0,
where with static mixers the dshot outputs would go to max instead of 0
in a failsafe case.
 2022-04-28 13:29:24 -04:00
Daniel Agarandchris1seto a15432fac1 drivers/rc_input: RC_INPUT_PROTO parameter minimal implementation (#19539) 
Co-authored-by: chris1seto <chris12892@gmail.com>

Co-authored-by: chris1seto <chris12892@gmail.com>
 2022-04-27 21:06:43 -06:00
Daniel Agar f390f52058 drivers/differential_pressure: remove lib/drivers/airspeed dependency and cleanup 
- split ms4525_airspeed into separate ms4515 and ms4525 drivers
 2022-04-26 08:39:19 -04:00
Daniel Agar d1d15a6f6d differential pressure remove filters from drivers and average in sensors/airspeed 2022-04-26 08:39:19 -04:00
Daniel Agar 258f558fea apply differential pressure calibration (SENS_DPRES_OFF) centrally 
- remove drv_airspeed.h and ioctls
 2022-04-26 08:39:19 -04:00
JaeyoungLim c6ab4c466e Separate takeoff and landing to individual fixed wing states for FW pos control (#19495) 2022-04-26 10:24:36 +02:00
Daniel Agar 3d7a6b4021 mc_pos_control: silence invalid setpoint warning when disarmed 2022-04-26 01:37:37 -04:00
Daniel Agar 3d590af115 mc_att_control: only apply quat reset if estimate is newer than setpoint 2022-04-25 21:25:29 -04:00
Daniel Agar 23c89429ac systemcmds/param: set-default should mark parameter active to avoid race conditions 2022-04-25 21:24:18 -04:00