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753 Commits
Author SHA1 Message Date
Silvan Fuhrer d8444df11c Set tailsitter flag via vehicle status 
Removes the necessity of including vtol_type.h in other modules.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Matthias Grob 8ca28f3796 Separate message for trajectory setpoint 2022-05-12 17:19:48 +02:00
Alessandro Simovic fb71e7587c failure_detector: add motor/ESC failure detection 2022-05-12 07:58:56 +02:00
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
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 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
JaeyoungLim c6ab4c466e Separate takeoff and landing to individual fixed wing states for FW pos control (#19495) 2022-04-26 10:24:36 +02:00
Matthias Grob f892a624b7 FlightModeManager/FixedwingPositionControl: robustify vehicle command parameter casting 2022-04-13 12:23:27 +03:00
RomanBapst ca657f36ef FixedWingPositionControl: handle VEHICLE_CMD_DO_CHANGE_SPEED 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
Daniel Agar 6135bb384b cleanup module callback registration failed errors 2022-03-23 20:44:50 -04:00
Daniel Agar f4c3084c26 init adjustments to ensure used topics are advertised early (primarily for logging) 
- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
 2022-03-23 16:51:16 -04:00
Jaeyoung-Lim 194a281fae Project local coordinates for all fw landing states 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim cb81c6ac8c Address review comments 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim 71bfb9c0de Convert NPFG to local coordinates 2022-03-23 13:34:13 +01:00
Jaeyoung Lim 28d34bf095 Convert L1 controller to local coordinates 2022-03-23 13:34:13 +01:00
Jukka Laitinen 9449ed6e66 Add support for protected build in drivers, systemcmds and modules Kconfig 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-18 07:58:58 +01:00
Silvan Fuhrer 81b08a0168 FW Pos C: set position_sp type to position during VTOL backtransition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
JaeyoungLim f82c722653 Publish correct orbit status with goto (#19102) 
For fixedwings, the orbit status was publishing zero radius when a goto waypoint was being passed.

This commit corrects this by passing the default loiter radius as the guidance logic was using
 2022-02-03 10:16:39 +01:00
Jaeyoung Lim 2fc95bb369 Rebase fix 
Use getnavspeed_2d for groundspeed
 2022-02-02 17:16:19 +01:00
Jaeyoung Lim 3a9c5c3178 Use acceleration to pass path curvature 2022-02-02 17:16:19 +01:00
Jaeyoung Lim e2741f988a Add interface for passing path tangent and closest point directly 
This commit adds an interface to pass the path tangent and closest point directly to NPFG using the offboard interface
 2022-02-02 17:16:19 +01:00
Jukka Laitinen 138f584e70 fw_pos_control_l1: Add a missing dependency to motion_planning 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
JaeyoungLim 0607982b23 Publish orbit status also when the waypoint is a loiter waypoint (#19048) 
* Publish orbit status also when the waypoint is a loiter waypoint

* Remove redundant orbit status publishing
 2022-01-21 09:13:03 +01:00
Jaeyoung Lim 0dea56f88b Use current_sp for publishing orbit status 2022-01-19 12:00:03 -05:00
Jaeyoung-Lim dec5e7e9c8 Publish orbit status whenever the vehicle is in loiter 
This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint
 2022-01-19 12:00:03 -05:00
Silvan Fuhrer 632dfa55e6 FW Pos C: add option to disable airspeed setpoint via stick input 
-rename FW_POSCTL_INV_ST to FW_POS_STK_CONF and make bitmask out of it:
  - bit 0: alternative mapping (height rate on throttle stick, airspeed on pitch)
  - bit 1: enable/disable airspeed setpoints via stick

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 10:13:07 +01:00
Thomas Stastny 13c36155ce fw_pos_ctrl: allow npfg to operate without wind estimate, dont switch controllers 2022-01-14 22:05:53 +01:00
Thomas Stastny 082e320191 integrate optional NPFG library for wind-aware fixed-wing guidance 2022-01-14 22:05:53 +01:00
RomanBapst 34bb671a73 improve parameter descriptions for fw maximum/minimum roll/pitch angles 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-01-14 16:34:44 +03:00
RomanBapst 555ee371e8 FixedWingPositionControl: consistently use the same roll and pitch angle 
limits for autonomous and semi-autonomous modes (altitude & position control)

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-01-14 16:34:44 +03:00
Thomas Stastny f8c2ee73db handle line segment termination in navigator 
- if following line segment (fixed-wing position control) switch waypoint when in acceptance radius OR passed the second waypoint. this handles the case of being beyond the second waypoint but not within the acceptance radius without the need to fly back to the waypoint (e.g. after a loiter up to waypoint alt)
- sync navigator and fw pos ctrl waypoint acceptance altitude
 2022-01-13 13:43:02 +01:00
Silvan Fuhrer 5d7ddf5734 FW Pos Control: use SlewRate library for airspeed setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-07 09:39:10 -05:00
Silvan Fuhrer 0a82025faf FW Position Control: some airspeed setpoint handling adaptions 
- introuce slew rate limiting of airspeed setpoint (with slew rate of 1 m/s/s)
- some refactoring and clean up

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-05 17:06:41 +01:00
Silvan Fuhrer 20a1e5f77c FW Position Control: simplify underspeed disabling logic for tecs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-05 17:06:41 +01:00
Jaeyoung-Lim bdec85fdd0 Disable local vehicle setpoints while in transition 
This commit adds disabling vehicle setpoints while in transition
 2022-01-03 11:09:06 +01:00
Jaeyoung-Lim 4127dfa791 Log vehicle local position setpoints 
This commit enables the local position setpoints to be logged by publishing vehicle_local_position_setpoint
 2022-01-03 11:09:06 +01:00
Jaeyoung Lim 52418f13b0 Use groundspeed for navigate heading 2022-01-03 10:52:34 +01:00
Jaeyoung-Lim e66e82228f Add support for offboard velocity setpoints for fixedwing vehicles 
This commit adds a velocity controller which the setpoint can be passed using offboard setpoints
 2022-01-03 10:52:34 +01:00
Silvan Fuhrer 28e01c3510 FW Position controller: make loiter switching logic robust against pos_sp with loiter_rad=0 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:17:15 -05:00
Thomas Stastny 95222baa33 fix incorrect L1 period param documentation (#18811) 
* fix incorrect L1 period param documentation

* reduce minimum L1 period
 2021-12-08 16:42:50 +01:00
Matthias Grob 68e2940f58 math: support max of three values additional to min and use it everywhere 2021-12-07 21:06:51 +01:00
Thomas Debrunner 8db7a6225b geo: Moved the map_projection_* functions and state into a self-contained C++ class 2021-12-06 14:30:14 +01:00
Beat Küng 4ba84d56c9 logger: introduce optional topics 
The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.

This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
 2021-11-15 09:02:03 -05:00
Jaeyoung-Lim dd83ef1813 Fix fw position controller takeoff 
This was introduced by a rebase
 2021-11-09 10:30:28 -05:00
Matthias Grob fabf865411 Use backwards compatible manual_control_setpoint instead of manual_control_input 2021-11-09 16:05:25 +01:00
Julian Oes 6a6b8d49fc msg: re-use manual_control_input in setpoint 
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
 2021-11-09 16:05:25 +01:00
JaeyoungLim 031f7f831b Fixedwing Pos Control: Handle vehicle transition waypoints outside controllers (#18503) 
* Handle VTOL transition waypoints outside FW auto control modes
 2021-11-08 11:21:08 +01:00
Jaeyoung-Lim 6a2ebfc0cc Handle setpoint types properly for fixedwing position control 
Handle setpoint types properly for fixedwing position control
 2021-11-07 19:21:00 -05:00