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Author SHA1 Message Date
Roman 9546daadea ROMFS: added autostart and mixer file for standard vtol in hitl 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-07-02 13:09:35 +02:00
Roman Bapst 27fa29787d updated sitl_gazebo: use asphalt plane instead of uneven ground to reduce (#9675) 
computational load in optical flow simulation

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-06-14 14:28:28 -04:00
Roman 464db32567 removed error message in qurt stub implementation of putchar 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-05-23 10:08:28 -04:00
Roman 20b51d6256 sdflight config: weird changes to get things working 
- just use external mag, if they run together the sensor_mag_0 topic gets
corrupted even though they publish on different instances
- added sleep at two places, they resolve weird boot problems like params
not being read correctly...

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-05-23 10:08:28 -04:00
Roman 835275f1a4 df_mpu9250_wrapper: publish imu based on integrator dt, not fixed count 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-05-23 10:08:28 -04:00
Roman f3c12bc7c7 DfBmp280Wrapper: initialise baro report 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-05-23 10:08:28 -04:00
Roman 4be4b9810e mpu9250 wrapper: support updating gyro & accel cutoff via parameter 
- useful for tuning snapdragon flight

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-20 11:53:31 -04:00
Roman 7fa91ad3dd posix-configs: increase tailsitter land speed 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-18 17:23:38 -04:00
Roman bb4b5e7c1d posix-configs: set tailsitter SITL SYS_AUTOSTART to quad tailsitter 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-18 17:23:38 -04:00
Roman 694df08b37 posix-configs: better tailsitter front transition parameters 
- reduce height increase during front transition

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-18 17:23:38 -04:00
Roman e7e791fb1a tailsitter: use forward transition throttle for climb-rate controlled mode 
- the mc pos controller will decrease throttle during the transition
and thus the vehicle will not pick up enough airspeed to complete the
transition

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-18 17:23:38 -04:00
Roman 0f1c9504d5 FixedWingPositionControl: rotate attitude consistenly for tailsitters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-18 16:20:15 +02:00
Roman c206e0f1ac vtol_type.cpp: close pwm output device file descriptor 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-12 09:19:47 +02:00
Roman bd434636e9 vtol_type: avoid code duplication 
- created one method which has access to the pwm output device

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-12 09:19:47 +02:00
Roman 733d773bcc drv_pwm_output: include board config header 
- board config can define PX4_PWM_ALTERNATE_RANGES which needs to be known
by the compiler prior to processing this file

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-12 09:19:47 +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 df53dce6e1 vtol_type.h: initialise flag_idle_mc correctly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-12 09:19:47 +02:00
Roman cd49c4bc17 vtol_type: improve comments 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-12 09:19:47 +02:00
Roman 79ff1436b8 vtol_att_control: move handling of motor state and idle speed selection 
to VtolType class

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
Roman 8f9e8a6282 FixedWingAttitudeControl: use trim airspeed if airspeed is disabled 
- prior to this fix the fw attiude controller used airspeed to scale control
surfaces even though airspeed was disabled

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-11 15:03:45 +02:00
Roman d6a86dfa56 tailsitter: do not condition transition on airspeed if airspeed disabled 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-05 08:48:36 +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
Roman cc26c34691 airspeed driver: un-advertise differential pressure topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-23 09:57:28 -04:00
Roman e504dc86b7 fw & vtol startup scripts: don't start wind estimator for now 
- need to make some flash space for fmuv2 to avoid user confusion about
why it wind estimator only runs on some platforms

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman d9fbf85c20 ekf2: remove early advertising of wind estimate topic 
- if it's not estimating wind it won't publish it below (was fixed)

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman 372a519ac4 wind estimator: added airspeed and sideslip gate sizes for innovation tests 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman 32a848d312 updated ecl for airdata module 2018-03-21 18:46:58 +01:00
Roman 8400d42988 wind estimator: fixed minor comments 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman 86b525ad2c wind_estimator: use ModuleParams class to handle parameters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman 1fd1a426bb cmake configs: don't build wind estimator for fmu-v2 due to lack of flash space 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman d2ebb0c7a2 ekf2: advertise wind topic early to make sure ekf2 get the first instance 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman 5b067df01e wind_estimator: cleanup 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman 33c1bcb983 wind_estimator: set missing task_id 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman 53e22661d4 wind_estimator: unsubscribe from topics and unadvertise wind topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman df3a3daa0f start wind estimator for relevant platforms 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman 9dc7d1dd74 cmake configs: added wind estimator to relevant configs 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman 7c0f043116 added module which implements wind & airspeed scale factor estimator via 
work queue

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman 9e1089a4fc wind estimate msg: added more relevant data 
- true airspeed innovation and variance
- sideslip angle innovation and variance

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-21 18:46:58 +01:00
Roman cb30d66cef convergence config: increase multirotor idle speed 
- increase the minimum pwm value for multirotor mode since we experienced
the rear motor stalling in certain situations when throttle was low

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-20 21:00:34 -04:00
Roman 64b97cb18e fw_att_control: in acro use thrust from rate setpoint topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-09 13:48:14 +01:00
Roman ac2b3ccadc vtol_att_control: default front transition throttle to 100% 
- the main idea is to prevent airspeed less systems to stall after a
transition

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman e4ea7262fd tailsitter.cpp: small cosmetic fix 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
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 e0ca38e794 standard vtol: fix mc weight calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 23257bf6ee standard vtol: simplify blending weight calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman b66bc712af tailsitter: avoid doing same calculation twice 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 1d8f588d37 vtol_att_control: switch from division to multiplication for variable 
calculation

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 9e16543dbe tiltrotor: represent time since transition in seconds 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman ae2e6c7a18 tailsitter: represent time since transition in seconds 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman bf22f02567 tailsitter: removed usage of hrt_elapsed and small cleanup 
- do not call hrt_elapsed_time since it's expensive
- remove P2 front transition phase (was not even used)

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 196d0e40b4 standard vtol: use time in second since transition start instead of using 
microseconds

- seconds is more intuitive
- avoids tons of divisions by 1e6f

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 5a2a5127fa tailsitter: removed common vtol parameters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 2c0436c37c sitl tiltrotor config: front transition throttle parameter name change 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 07a84f2246 tiltrotor: removed common vtol parameters 
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 8f71633516 sitl configs: updated VT_TRANS_THR parameter name change 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 4859cc04dc ROMFS: updated VT_TRANS_THR parameter name change 
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
Roman bf097d7fa4 convergence config: increase idle speed in mc mode 
- this makes sure that all motors are idling in mc mode. having this too
low can lead to a motor stopping in flight which is critical for
attitude control
- experienced loss of attitude control in RTL during descent prior to this
change

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-05 15:48:13 -05:00
Roman ff86d15c13 caipirinha vtol: do not lock elevons in hover mode 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-01 22:07:36 +01:00
Roman ea3586cfd9 tailsitter: stop fiddling with thrust during transition and just let 
the mc pos controller handle it for now

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-01 12:16:27 -05:00
Roman 08534588cd fw_pos_control: get vtol parameter values if vehicle is vtol 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-01 12:16:27 -05:00
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
Roman 49e349c753 updated sitl_gazebo: small tiltrotor fix to enable turns 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-27 16:28:22 +01:00
Roman ea8db53d15 fmu: removed obsolete _trim_pwm member and implemented proper fetching 
of mixer trim values

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-23 15:28:22 +01:00
Roman 04a89f7e9b mixer lib: added methods to fetch the active trim values 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-23 15:28:22 +01:00
Roman 29c60a1fd4 mixer_group: do not clamp offset to arbitrary value 
- allow the user to apply an offset that covers the entire servo range

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-23 15:28:22 +01:00
Roman 2549b702f0 pwm_out_sim, simulator_mavlink: fixed code style 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-22 15:10:22 -05:00
Roman 10bf6a4b59 params cmd: be less verbose 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-22 15:10:22 -05:00
Roman a1f169f752 updated sitl_gazebo for tiltrotor support 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-22 15:10:22 -05:00
Roman 159834ce1b posix-configs: set tiltrotor transition parameters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-22 15:10:22 -05:00
Roman ddb2dd89db simulator mavlink: support for quad tiltrotor mav type 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-22 15:10:22 -05:00
Roman e9c715f89b pwm_out_sim: various fixes for tiltrotor simulation 
- increased the number of pwm outputs
- handle PWM_SERVO_SET_MIN_PWM and PWM_SERVO_SET_MAX_PWM

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-22 15:10:22 -05:00
Roman 2886fe8da3 posix-configs: added sitl startup script for gazebo quad tiltrotor model 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-22 15:10:22 -05:00
Roman 86c472d8ff ROMFS sitl: added a mixer for the gazebo quad tiltrotor model 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-22 15:10:22 -05:00
Roman 8ec1fb9999 ROMFS: added mixer for tailsitter simulation 
- simulated tailsitter needs a virtual elevator since we cannot simulate
elevons yet (liftDrag plugin does not model longitudinal moment Cm)

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-13 20:47:40 -05:00
Roman d63a8033d0 updated sitl_gazebo: tailsitter fixes 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-13 20:47:40 -05:00
Roman 0007096007 updated ecl 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-21 09:28:42 +02:00
Roman 33495e8143 ekf2: added parameters to specify horizontal speed and absolute altitude 
thresholds for range aid mode

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-21 09:28:42 +02:00
Roman b5a94481a8 ekf2_main: support range aid feature 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-21 09:28:42 +02:00
Roman 68c2eb9dec ekf2_params: added range aid parameter 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-21 09:28:42 +02:00
Roman 4bffb1478f ekf2: added parameter for range sensor pitch offset 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 22:21:41 +01:00
Roman 3fdbe13857 updated ecl 2017-02-22 22:21:41 +01:00
Roman 8c9f27bb8a land detector (mc): takeoff throttle should be the same for all manual, 
altitude controlled modes

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-15 15:41:44 +01:00
Roman e916159f5c updated DriverFramework 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-28 20:18:01 +01:00
Roman c065dc1930 bebop bus wrapper: fix logging of rpm and rpm setpoint 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-28 20:18:01 +01:00
Roman 1d4d57c4db bebop bus wrapper: log actual and setpoint motor speed 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-28 20:18:01 +01:00
Roman 0c7c5977ae bebop motor driver: better naming, removed unused header file 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-28 20:18:01 +01:00
Roman b596874b91 ulanding radar: small improvements 
- set measurement of first sample to -1 to indicated that the data
is not valid

- give an estimate of the sensor variance based on the sensor resolution
and experiments

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman 97d106b5f1 ulanding radar: added correct sensor type 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman bb3b2ba52c distance sensor message: added type for radar sensors 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman 0b9da80ec1 ulanding radar: added parsing of buffer 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman 06498ce01a build ulanding radar for Pixhawk version 2 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman 4e71d2e2db ulanding radar from Aerotenna: added driver for NuttX 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-27 15:35:55 +01:00
Roman c38e378f59 bebop config: updated some gains for decent performance 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-21 21:36:53 +01:00
Roman d0d9ee373b bebop config: increase logger buffer from 20kB to 200kB 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Roman 5b0a1d4b2a updated DriverFramework: activated dlpf in mpu6050 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Roman daa88f69db bebop2 config: updated some positon control params for decent performance 
- this is not the final tune!!!

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Roman b0bca24526 bebop2 config: use logger instead of sdlog2 
- sdlog2 drops lots of data and logs very, very irregularly

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00