99902807c9
SITL Moved magic numbers for battery V div and A per V to px4_config.h
2017-01-21 11:45:36 +01:00
a8b9c906f6
Board_config.h will provide the BOARD_BATTERYx_V_DIV
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Prep to distrubte the magic numbers assgined in parameters.cpp
to the board_config.h
common/board_common.h will define:
1) BOARD_BATTERY[1|2]_V_DIV as 0.0f if not defined to ensure
the missing default trips a low voltage lockdown
2) BOARD_BATTERY[1|2]_A_PER_V as 0.0f if not defined to ensure
the default leads to an unrealistic current value.
2017-01-21 11:45:36 +01:00
1c3ebadb85
Removed unused defines AVIONICS_ERROR_VOLTAGE and AVIONICS_WARN_VOLTAGE
2017-01-21 11:45:36 +01:00
0bb0e92378
gpio_led removed dependancy on CONFIG_ARCH_BOARD_xxxx
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The gpio leg can use either the FMU GPIO_SERVO (Aux Pins)
or the FMUv1 style IO pins.
We define either LED_ON_SERVO_GPIO or LED_ON_EXT_GPIO_AND_PIO
based on if the board_config provides GPIO_SERVO_1 or
GPIO_EXT_1.
For LED_ON_SERVO_GPIO we further define GPIO_MIN_SERVO_PIN and
the GPIO_MAX_SERVO_PIN based on the highest GPIO_SERVO_x provided
by the board_config
When base the ability to use the PX4PIO not in the existance of
the path but on the define BOARD_USES_PX4PIO
2017-01-21 11:45:36 +01:00
084e714f62
Mixer: Fix yaw throttle adjustment
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When a motor hits a limit we only want to lower the collective throttle as much as the total limit, not per motor hitting the limit.
2017-01-21 08:33:51 +01:00
1d66d4b051
sensors: Allow for difference in temperature readings across sensors
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We need to track the temperature change in each sensor instance individually when using it as basis for publication.
2017-01-21 08:31:56 +01:00
1beb2911e2
init shmem early to avoid random crash in fastrpc ( #6407 )
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* init shmem early to avoid possible crash
* fix_code_style
* Keep the initialziation to NULL, remove the duplicate memory allocation
2017-01-21 08:30:46 +01:00
c1b1d03515
mc_att_control: use a maximum of 3 gyros
2017-01-19 19:24:52 +01:00
21a3e4d36a
mc_att_control: fix out-of-bounds access if system has multiple gyros
2017-01-19 19:24:52 +01:00
ab9e0aa524
sensors temp compensation: do an orb_copy to get the driver ID
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This removes the necessity, that the driver class ID matches the uorb topic
instance.
Also improve error handling & reporting
2017-01-19 19:24:52 +01:00
41d220ac2d
sensors: reorder initialization calls
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needed for the next commit
2017-01-19 19:24:52 +01:00
f6f145cbe8
sensors & mc_att_control: increase stack sizes due to recent changes
2017-01-19 19:24:52 +01:00
fd48d9c190
sensors: print status of temp compensation with 'sensors status'
2017-01-19 19:24:52 +01:00
916a04bc56
sensors temp compensation: use SENSOR_COUNT_MAX instead of just 3
2017-01-19 19:24:52 +01:00
117826a31f
sensors temp compensation: refactor into a separate class
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- reduces some code duplication
- provides clear API & separation for temp compensation
additional changes:
- added timestamp to sensor_correction topic
- reduced its publication rate, to only when voting index or scales or
offsets change (if there is more than 1deg change in temperature)
2017-01-19 19:24:52 +01:00
23d278cc43
sensors temp compensation: minor cleanup
2017-01-19 19:24:52 +01:00
f38843278d
voted_sensors_update: make msl_pressure static const
2017-01-19 19:24:52 +01:00
e1ff6af792
mc_att_control_main: initialize _sensor_corrections properly
2017-01-19 19:24:52 +01:00
535b1ea0dd
voted_sensors_update: simplify accel & gyro poll methods
2017-01-19 19:24:52 +01:00
7d5cd02c70
mc_att_control_main: fix bound check for gyro instance
2017-01-19 19:24:52 +01:00
bbd47389e0
voted_sensors_update: fix copy paste naming mistake
2017-01-19 19:24:52 +01:00
0765ed552c
sensor_correction.msg rename {gyro,accel,baro}_select to match uORB convention
2017-01-19 19:24:52 +01:00
00d26b75e9
MC att control: Harden against incorrect indices
2017-01-19 19:24:52 +01:00
905c091f8c
MAVLink receiver: Use fake device ID
2017-01-19 19:24:52 +01:00
eac6dfed3c
mc_att_control: Sync attitude loops to gyro data
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Sync the attitude controller to the raw gyro data to remove the latency in the rate loops caused by the sensor and estimator modules.
Attitude data latency will increase as it will be from the previous EKF update, however attitude loops are less latency sensitive.
Thermal compensation and bias data will be from the previous frame.
2017-01-19 19:24:52 +01:00
0485c2b94a
sensors: add baro pressure temperature compensation and reporting
2017-01-19 19:24:52 +01:00
0ba31b521c
uavcan: Populate baro device ID
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TODO - use unique HW ID
2017-01-19 19:24:52 +01:00
677616ed83
mavlink: Populate baro device ID
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TODO - use unique HW ID
2017-01-19 19:24:52 +01:00
c2fc283fdb
sensors: Update single axis temp comp method to 5th order
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This allows future use with baro sensors that require a higher fit order
2017-01-19 19:24:52 +01:00
f8cef1e9ab
attitude_estimator_q: populate control state gyro bias data
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Populate with zeros.
TODO provide estimate.
2017-01-19 19:24:52 +01:00
27e6f07485
ekf2: publish control state gyro bias data
2017-01-19 19:24:52 +01:00
63f032832f
Add prototype IMU temperature compensation
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Enabled using TC_A_ENABLE and TC_G_ENABLE parameters
Disabled by default.
IMU offsets and scale factors for selected sensor published to sensor_correction topic
TODO Parameter storage method is cumbersome
2017-01-19 19:24:52 +01:00
db581fa5e8
mc_pos_control: hotfix for possible thrust below minimum thrust setting
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Hotfix after a crash because of a heavily negative desired thrust that got clipped to 0 by the mixer.
0 thrust meant no more attitude tracking.
2017-01-19 18:05:57 +01:00
e7db0ed098
test_mixer & mixer: use memmove instead of memcpy
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Both, src & dst use the same array, thus potentially overlapping.
Behavior of memcpy in that case is undefined.
2017-01-18 18:23:42 +01:00
33a307873a
Enable rc mode change switch to override offboard mode. This is a safety feature, in case offboard control goes crazy, user can always regain control by switching modes to stabilize, or alt hold or position hold, however they have configured the mode change RC switch.
2017-01-18 18:15:58 +01:00
ba10db06c2
Code formatting
2017-01-17 03:14:26 -08:00
d0dad4ad7d
Indenting
2017-01-17 03:14:26 -08:00
de039ca870
VTOL back transition acceptance radius calculation
2017-01-17 03:14:26 -08:00
7fd06ee913
MAVLLink simulator interface: Simulate minimum airspeed noise
2017-01-16 08:26:37 -08:00
b8598c4407
Sensors: Adjust airspeed fail checks
2017-01-16 08:26:37 -08:00
a13082bfed
commander: Widen pre-flight check for airspeed
2017-01-16 08:26:37 -08:00
67c3102db4
updated to remove a compilation flag check as orb_exists() is already supported
2017-01-16 08:25:58 -08:00
b693e29d64
enable px4 flight for excelsior(legacy)
2017-01-16 08:25:58 -08:00
12767c8538
MC position controller: Stop holding position once ground contact is established.
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This ensures the system does not tip over on landings. Tested in SITL with a GPS drift model.
2017-01-16 08:25:26 -08:00
5b54d78128
land detector: changed minimum throttle threshold to have useful landing detection in real world scenarios
2017-01-16 08:25:26 -08:00
39f9647291
mc_pos_control: fixed float literals and commented calculations
2017-01-16 08:25:26 -08:00
f95fb0f20f
land detector: commented takeoff throttle values for each mode
2017-01-16 08:25:26 -08:00
5f3cbbbbc2
mc_pos_control: changed thrust calculation to 3D projection onto body z axis
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until now the desired thrust was simply the absolute value of the thrust setpoint vector
but a multicopter is only capable of producing thrust in its (negative) body z axis
this leads to excess thrust during attitude tracking errors
one important use case is:
trying to land with minimal thrust in NED z axis against gravity
but the position controller still correcting some small horizontal estimation errors
then this prevents unwanted thrust in a completely wrong direction
2017-01-16 08:25:26 -08:00
d63db203ba
mc_pos_control: don't publish attitude sp 2x
2017-01-16 08:25:26 -08:00
7ab2958757
land_detector: added takeoff throttle threshold
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if we control manually and are still landed, we want to stay idle until the pilot rises the throttle
2017-01-16 08:25:26 -08:00
David Sidrane