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Author SHA1 Message Date
Matthias Grob da01dd9eeb mission_block: explicitly (re)set the acceptance radius to default for takeoff items 
otherwise a previously adjusted or uninitialized radius from the last flight
can cause problems during the new takeoff
 2022-09-08 14:49:32 +02:00
Matthias Grob b825b61a20 mission_block: minimal acceptance radius of 1mm 
to avoid float rounding errors leading to tiny acceptance radii
getting considered
 2022-09-08 14:49:32 +02:00
Matthias Grob e115095f70 Functions: correct interpolate function for N points 2022-09-07 08:00:27 +02:00
Matthias Grob 667e99be81 Helicopter: fix unit test after default throttle curve was changed 2022-09-07 08:00:27 +02:00
Matthias Grob 115cf4d572 Helicopter: More intuitive yaw direction configuration for the common cases 2022-09-07 08:00:27 +02:00
Matthias Grob f233f2167e generic_250, px4vision: remove zero manual thrust without airmode 
When hitting zero thrust by stick there is 0 torque authority
without airmode. So 0% minimum manual thrust should never be the default
without airmode.
 2022-09-07 08:00:27 +02:00
Matthias Grob 8a25d06ed7 heli_defaults: comment and spacing 2022-09-07 08:00:26 +02:00
Matthias Grob f32d931117 helicopter: add yaw sign parameter & expose settings in UI 2022-09-07 08:00:26 +02:00
Matthias Grob 349f152601 Helicopter: throttle spoolup upon arming 
Uses COM_SPOOLUP_TIME to slowly ramp the throttle and allow the
tailrotor to compensate in a coordinated way based on the yaw
compesation from throttle, see CA_HELI_YAW_TH_S.

This coordinated spoolup is necessary to avoid unsafe yaw twitches
because of the heli rotating until the correct compensation kicks in
through the feedback controller.
 2022-09-07 08:00:26 +02:00
Matthias Grob 7bf62373ae Helicopter: refactor complicated throttle curve logic 2022-09-07 08:00:26 +02:00
Matthias Grob 2edb35b1b5 Functions: add gradual function with arbitrary number of corner points 2022-09-07 08:00:26 +02:00
Matthias Grob 6a9a049f1e Helicopter: add unit testing for throttle curve 2022-09-07 08:00:26 +02:00
Matthias Grob 9ba6f4efb7 Helicopter: add yaw compensation from throttle CA_HELI_YAW_TH_S 2022-09-07 08:00:26 +02:00
Matthias Grob 554d965a2d Helicopter: use absolute value for yaw compensation from collective pitch 2022-09-07 08:00:26 +02:00
Matthias Grob 1f81101994 mc_att_control_main: do not jump throttle scaling when taking off 
2fbb70d9ca made the lowest possible
throttle value commanded by stick in Stabilized mode before taking off 0.
The real world problem with this is that when takeoff is detected then
the entire throttle scaling range jumps from
[0, MPC_MANTHR_MIN]
to [MPC_MANTHR_MIN, MPC_MANTHR_MIN].
As a result whenever MPC_MANTHR_MIN is not zero there is a thrust jump
on every takeoff just at the moment takeoff is detected even when the
stick is moved continuously.

Because of this I suggest to revert to having a higher throttle value
from the beginning on because it's less complicated and there's
no obvious value in starting out with zero thrust if anyways not
possible to go back to zero for safety once takeoff is detected.
 2022-08-11 14:18:54 +02:00
Matthias Grob 5b1b6f6080 mc_att_control_main: use gradual() for throttle curve rescale without hover thrust 2022-08-11 14:18:54 +02:00
Matthias Grob 7cb6a47714 TIME_ESTIMATE_TO_TARGET: fill unsupported fields with value representing unavailability 2022-08-11 07:27:04 +02:00
Matthias Grob 87cbda1992 FlightTaskOrbit: parameterize hardcoded maximum radius (#20012) 2022-08-05 09:19:32 +02:00
Matthias Grob fb455c8f4b vehicle_status: reorder message definition 
for readability. No functional changes.
 2022-07-12 15:50:49 +02:00
Matthias Grob 10a2b4c9f7 commander_helper: typo in set_tune() description 2022-07-08 14:51:15 +02:00
Matthias Grob a3288ff732 Commander: run ekf checks without grace period after boot 2022-07-05 10:35:07 -04:00
Matthias Grob 8deebd07b8 preArmCheck: Shorten messages to to not write "Arming denied!" 2022-07-05 10:35:07 -04:00
Matthias Grob 21f858de1f drv_pwm_output: remove not used anymore define for presumed servo middle position 2022-07-04 16:34:58 +02:00
Matthias Grob af4b8bfd60 linux_pwm_out: sync configuration logic from FMU and IO 2022-07-04 16:34:58 +02:00
Matthias Grob 8ccd40185a PWMOut/px4io: use disarmed values as default failsafe values 
to avoid surprises where upon disarm an ESC can suddenly spool up
even though it stops when disarmed and no specific failsafe value is configured.
 2022-07-04 16:34:58 +02:00
Matthias Grob c8fb7a6990 fw/uuv control: remove duplicated comments, restyle initializers 2022-06-24 10:05:16 -05:00
Matthias Grob 78225f7b1f examples/fixedwing_control: use initializers instead of memset 2022-06-24 10:05:16 -05:00
Matthias Grob cfd4e64b02 uuv_pos_control: remove practically unused manual control subscription 2022-06-24 10:05:16 -05:00
Matthias Grob 3a239ff649 examples: remove empty fake_gyro 2022-06-24 10:05:16 -05:00
Matthias Grob 479c85047f WeatherVane: Allow weathervane on multirotors not just VTOLs 2022-06-22 14:19:28 +02:00
Matthias Grob 54145cedc7 FlightTask: Weather vane cleanup 
Remove the entire external yaw handler, dynamic memory allocation,
pointer passing logic. Directly instanciate the weather vane instance
in the flight tasks that support it.
 2022-06-22 14:19:28 +02:00
Matthias Grob 92b6862485 Commander: replace arm requirements 2022-06-16 10:25:32 -04:00
Matthias Grob 3b3d8b9942 Commander: execute pre arm check with preflight checks 2022-06-16 10:25:32 -04:00
Matthias Grob aa575d6af0 Commander: move first preflight check run to constructor 2022-06-16 10:25:32 -04:00
Matthias Grob 0f41a5e385 ArmStateMachine: simplify how preflight checks are called 2022-06-16 10:25:32 -04:00
Matthias Grob c59809b14a Commander: remove system_sensors_initialized 
and system_hotplug_timeout. They're not in use for over 2 years.
Instead control LED with preflight checks.
 2022-06-15 14:02:00 -04:00
Matthias Grob f5e7b1e6a8 Commander: switch battery bitflied to dedicated datatype 2022-06-08 11:32:26 +02:00
Matthias Grob 9b2166de72 manual_control_params: configure arm gesture doesn't require reboot 
I added wrong documentation here.
 2022-06-08 05:12:05 -04:00
Matthias Grob bd50a52c9c Commander: fix startup sound interrupted by safety button initialization 
The safetyButtonHandler() reports that the safety statatus
changed on the first loop iteration when safety is disabled which makes
sense to inform the system that safety is off but the tune for the user
should not be played because it interrupts the startup tune.
 2022-06-08 05:12:05 -04:00
Matthias Grob 71103e6114 Safety: keep initialized constant flags when safety disabled 2022-06-08 05:12:05 -04:00
Matthias Grob 44c4b8fa85 Style refactoring related to safety button 2022-06-08 05:12:05 -04:00
Matthias Grob 5df266cedc MulticopterRateControl: use constructor to copy thrust setpoint array 2022-06-07 11:45:59 -04:00
Matthias Grob fad3d46907 Use signNoZero() where possible 2022-06-03 16:08:16 +02:00
Matthias Grob a9cdfff7a3 FlightModeManager: only execute flight task commands when multicopter 2022-06-01 15:14:07 +02:00
Matthias Grob 96b0304049 PreFlightCheck: disallow arming in land mode 
after the automatic switch to Hold mode was introduced.
 2022-06-01 12:08:32 +12:00
Matthias Grob 83c15fca9f Commander: switch back to Hold mode after autonomous landing 2022-06-01 12:08:32 +12:00
Matthias Grob 33df8b24f2 Commander: differentiate clearly between to arm and to disarm transition 2022-06-01 12:08:32 +12:00
Matthias Grob 400e1f8214 Commander: only initialize to tablet mode and don't switch back on RC loss 2022-06-01 12:08:32 +12:00
Matthias Grob c03f5b9481 Commander: fix overlooked rebase naming error 2022-05-25 21:10:19 +02:00
Matthias Grob 44be415e0e mission_block: make "Delay until" item work while landed 
To enable landing, waiting and taking off again e.g. for delivery.
 2022-05-24 13:42:03 +02:00
Matthias Grob 0be474430c Commander: don't disarm on landing amid a mission 2022-05-24 13:42:03 +02:00
Matthias Grob 4f34207c4e battery_params: increase default empty cellvoltage to 3.6v 
Based on feedback that very often the battery is used down too low.
I observed this happens consistently when the cell voltage is properly
load compensated. The default load compensation before #19429 was very
inaccurate and resulted in unpredictable estimate.
After that if there is a usable current measurement and the battery is
within expected tolerances of the default internal resistance the
compensation is pretty good and 3.5V is too low for an empty compensated
cell voltage. That was seen in various logs where the compensated
cell voltage was already dropping fast after 3.6V.

In case the voltage is not load compensated the vehicle estimates the
state of charge a bit too low which is safer than to high
especially for a default configuration.
 2022-05-24 11:26:58 +02:00
Matthias Grob 62edcc7a57 battery: only compensate using sane current 2022-05-23 16:40:32 +02:00
Matthias Grob 2cbdcc9671 battery: default to reasonable internal resistance 
instead of disabling the load compensation using current.
 2022-05-23 16:40:32 +02:00
Matthias Grob 58b1139a21 battery: allow setting precise internal resistance with parameter 2022-05-23 16:40:32 +02:00
Matthias Grob 2c5a7ea118 battery: rather undercompensate for load 
than over compensate which makes the estimate to high and breaks batteries
beause they get flown for too long.
 2022-05-23 16:40:32 +02:00
Matthias Grob 38e027ee45 ArmStateMachine: remove dependency on armed.armed 
To have the internal state as single source of truth
for the arming state within Commander.
 2022-05-20 13:51:51 +02:00
Matthias Grob 37c485ce89 ArmStateMachine: move arm state into the class 2022-05-20 13:51:51 +02:00
Matthias Grob 47532ca07b ArmStateMachine: replace state name array with method 2022-05-20 13:51:51 +02:00
Matthias Grob 887fe7dba2 commander_params: shorten low battery action delay 
I got multiple times the feedback now that a consistent delay
is helpful and makes sense but the default delay
is too long
for low battery action where you're trying to come back in time
and possibly the emergency reaction kicks in while the critical action
is executing which leads to a longer accumulated delay.
 2022-05-19 21:54:09 +02:00
Matthias Grob 02e11eddce mavlink_mission: add more specific information to the error message 2022-05-17 07:49:00 +02:00
Matthias Grob 4bd2d4cf35 rc_update: add unit tests for mode slot 
To verify RC mode switch and mode button functionality works as expected.
 2022-05-16 14:37:29 +02:00
Matthias GrobandMathieu Bresciani 57a0289627 trajectory_setpoint: correct comment typo "kinematically" 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-05-12 17:19:48 +02:00
Matthias Grob 4017f4bb0b vehicle_local_position_setpoint: reorder fields for clarity 2022-05-12 17:19:48 +02:00
Matthias Grob b67fbac296 uuv_pos_control: siplify passing on trajectory position setpoint 2022-05-12 17:19:48 +02:00
Matthias Grob 200124f094 mavlink_receiver: check entire Vectors for NAN 
Note: Behavioral change Inf also results in the flag being true.
 2022-05-12 17:19:48 +02:00
Matthias Grob 8ca28f3796 Separate message for trajectory setpoint 2022-05-12 17:19:48 +02:00
Matthias Grob b3776134b8 Commander: ensure diconnected battery is cleared from bit field 2022-05-06 10:32:27 -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
Matthias Grob 46fdc28cf8 MulticopterPositionControl: fix typo "descen{d/t}" 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
Matthias Grob 97b2947416 FlightTaskAuto: refactor _commanded_speed_ts -> _time_last_cruise_speed_override 2022-04-13 12:23:27 +03:00
Matthias Grob 68cf686892 FlightTask: rename and move setCruisingSpeed() -> overrideCruiseSpeed() 2022-04-13 12:23:27 +03:00
Matthias Grob f892a624b7 FlightModeManager/FixedwingPositionControl: robustify vehicle command parameter casting 2022-04-13 12:23:27 +03:00
Matthias Grob 6ce3e88f9d vehicle_command: specify what SPEED_TYPEs are for 2022-04-13 12:23:27 +03:00
Matthias Grob 10f927ae2b MulticopterPositionControl: remove unused return value parameters_update() 2022-04-12 10:13:11 -04:00
Matthias Grob fe26ee244d modeCheck: allow arming in land mode for MAVSDK compatibility 
ideally we can remove it again when the workflow is changed to
first changing mode then arming.
 2022-04-08 09:56:47 +02:00
Matthias Grob 92adc71424 ArmStateMachine: port over unit tests to functional gtests 2022-04-06 10:02:14 +02:00
Matthias Grob f968a5947d ArmStateMachine: port arming_state_names into the class 2022-04-06 10:02:14 +02:00
Matthias Grob 074080c816 Commander: separate out arm state machine to class 
Pure refactoring and just the first step to avoid conflicts on the way.
 2022-04-06 10:02:14 +02:00
Matthias Grob dd28c3e019 battery: update average current also when no capacity is configured 2022-04-04 10:02:55 +02:00
Matthias Grob 13c3eae6d0 battery: use mechanism to keep an up to date armed state 2022-04-04 10:02:55 +02:00
Matthias Grob 3aee2497bb commander_params: add precision land option for mode switch 2022-03-30 18:11:44 +02:00
Matthias Grob 7cd57b4415 FlightTaskOrbit: alert user about exceeded radius (mavlink_log) 2022-03-29 18:46:37 +02:00
Matthias Grob 3e8d2fea94 FlightTaskOrbit: alert user about exceeded radius (events) 2022-03-29 18:46:37 +02:00
Matthias Grob 8ad44ee128 FlightModeManager: remove needless space at the end of invalid task error string 2022-03-29 18:46:37 +02:00
Matthias Grob 9bdde98a68 FlightModeManager: refactor flight task switch result condition for vehicle commands 2022-03-29 18:46:37 +02:00
Matthias Grob ffaef906c4 FlightModeManager: don't ack with result failed when parameters are invalid 
Command denied is defined as "supported but has invalid parameters"
which matches the case.
 2022-03-29 18:46:37 +02:00
Matthias Grob fc0be6c4fc FlightModeManager: switch to failsafe task if orbit is rejected 2022-03-29 18:46:37 +02:00
Matthias Grob c7f114a26a FlightTaskOrbit: increase radius limit 2022-03-28 17:57:56 +02:00
Matthias Grob d0794c1189 FlightTaskOrbit: don't start Orbit if radius is not in range 2022-03-28 17:57:56 +02:00
Matthias Grob e6ed595651 Commander: make last_fail_time_us parameter a reference instead of pointer 2022-03-23 15:04:48 -04:00