9e2375ab91
FlightTaskManualAcceleration: change reset order, check all components for NAN
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Just cleanup and completeness.
2021-04-23 21:57:27 -04:00
5e75f17680
StickAccelerationXY: fix acceleration reset using x component instead of y
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This entire feature only has an impact if the last mode set
a huge acceleration and we have to take over as smooth as possible.
But it's stil lworth fixing.
2021-04-23 21:57:27 -04:00
fee4728b1f
StickAccelerationXY: change function name feasibility limit -> jerk limit
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for clarity because it's more accurate.
2021-04-23 21:57:27 -04:00
112fc5c9cd
log battery status every 0.2sec instead of 0.3sec
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Battery status is logged every 0.3Sec.
but BMS data published every 0.25Sec, so there are many drops of data.
2021-04-23 16:46:02 -04:00
d631a5d39f
Commander: checking COM_ARM_CHK_ESCS param for ESCs telemetry
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COM_ARM_CHK_ESCS set to 0. The user will need to enable it manually.
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2021-04-22 13:46:08 +02:00
bff99f9794
Commander:esc_checks minor improvements
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-04-22 13:46:08 +02:00
371fa98579
Commander/preflight checks: Add monitoring to ESC failures
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-04-22 13:46:08 +02:00
789d91900d
commander_params: lower COM_DISARM_PRFLT but disable for fixed-wing
2021-04-21 14:55:04 +02:00
5e7ebbe47c
FlightTask: correct comment about setpoints
2021-04-20 18:18:21 +02:00
45ada2dd4c
MulticopterLandDetector: remove unnecessary newline
2021-04-20 18:18:21 +02:00
4865d027f9
StickAccelerationXY: factor in stricter tilt limit on takeoff
2021-04-20 18:18:21 +02:00
29e07b1e52
MulticopterPositionControl: publish stricter tilt limit during takeoff
2021-04-20 18:18:21 +02:00
38bc46fd1a
re-add RC_MAP_RATT_SW (unused) and mark active for QGC
2021-04-16 13:07:02 -04:00
3dad16bc40
RTPS client remove redundant baudrate check
2021-04-16 14:01:27 +02:00
42108eb4af
Fix microRTPS_client_main.cpp format
2021-04-16 14:01:27 +02:00
76e15b4a21
RTPS client get baudrate parameter if requested, and mark the device baud rate parameter as used so it shows up in QGC
2021-04-16 14:01:27 +02:00
2492fb35e4
rc_update: require consecutive valid input_rc before publishing
2021-04-15 16:40:54 -04:00
bd4839e855
commander: changed msg "connection to GCS lost" from critical to info
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update
2021-04-15 11:29:02 -04:00
047fb13922
IMU_GYRO_RATEMAX: enforce reasonable constraint and update metadata
2021-04-13 20:26:57 -04:00
2d15c96b9b
ekf2: Multi-EKF let new instance schedule itself immediately on successful init
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- this is to minimize missed sensor data (and unnecessary error output) between EKF2 construction and once it actually starts running
2021-04-13 14:24:46 -04:00
f0f16b9cc5
mavlink: streams fix SCALED_IMU size reporting
2021-04-12 13:02:10 -04:00
381c97d3c6
Commander: baro check: only report failure of mandatory instances
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-04-12 09:27:12 -04:00
39c96a8884
gps add device_id
2021-04-08 08:27:07 +02:00
b46e505b0d
Handle velocity fields in follow_target message
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The mavlink message FOLLOW_TARGET has additional
fields that are not being parsed here. See
https://mavlink.io/en/messages/common.html#FOLLOW_TARGET
for more details.
2021-04-06 22:11:23 -04:00
aa94a60043
COM_ARM_WO_GPS - values round the wrong way
2021-04-06 22:10:02 -04:00
a7e920d276
Updated MavlinkReceiver::handle_message_landing_target to warn users when they provide a landing target with an unsupported coordinate frame.
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Updated Simulator::handle_message_landing_target to warn users when they provide a landing target that is not relative to a captured image.
2021-04-06 16:02:54 -04:00
31b9efdaeb
sensors/vehicle_imu: increase threshold for clipping warning
2021-04-06 15:42:26 -04:00
4189eb11f5
simulator: GPS populate all sensor_gps fields (alt_ellipsoid, etc)
2021-04-06 09:44:18 -04:00
8400f2c9bc
FW attitude controller: add protection against division by zero in airspeed scaling
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-04-04 21:22:28 -04:00
436258c1c5
config: cleanup ethernet configuration
2021-04-04 21:20:36 -04:00
c6a0161047
commander: COM_PREARM_MODE disable by default
2021-04-03 20:15:05 +02:00
01d8c3da3d
vtol_att_control: occasional tailsitter forward transition failure issue solved
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Tailsitter VTOLs very occasionally gets stuck with zero roll and pitch angle in multicopter mode after
a forward transition command is issued.
This very rare behavior is triggered by the following events:
1> a forward transition is triggered either in auto or manual mode.
2> in the vtol_att_control main loop, if multicopter and fixed wing attitude setpoints are not updated, transition state is not updated
3> the commander changes the vehicle status to transition mode.
4> multicopter pos controller initiated Transition flight task. This results in zero roll and pitch setpoint due to zero acceleration setpoint
5> now vtol_att_control executes and updates the transition state. Specifically, _q_trans_start and _q_trans_sp are set with zero roll and pitch sp
6> tilt is evaluated to be NaN, despite _q_trans_sp being normalized. This happens for 25% of all yaw angles when using float datatype. This can be
verified using the matrix library
7> once tilt is evaluated to be NaN, _q_trans_sp is never updated again and is stuck in this state for ever.
This has been fixed by constraining the cos(tilt) within +1 to -1 range
Further, _q_trans_start and _q_trans_sp are immedietly initialized after a transition event is triggered.
2021-04-03 19:19:48 +02:00
b30f3917d3
sensors/vehicle_imu: periodically send mavlink critical message if clipping
2021-04-03 10:32:16 -04:00
1ec8ce58c7
Commander: Increase auto-disarm timeout to 25 seconds after arming
2021-04-02 09:37:40 +02:00
82f319a84a
Commander: Add support for pairing via commandline
2021-04-01 09:56:09 -04:00
9171a84324
IMU_DGYRO_CUTOFF increase default 10 -> 20 Hz
2021-04-01 08:30:09 -04:00
19c4fdd7c5
Add support for 3D body thrust setpoint for offboard attitude control
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This adds support for filling up the 3D thrust setpoint using SET_ATTITUDE_TARGET message
Update mavlink submodule
2021-04-01 13:58:04 +02:00
8d3335906a
v5x: use low bandwidth mavlink mode
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This changes the default mavlink message set from onboard to
onboard_low_bandwidth, which drastically reduces the bandwidth required to get a
usable connection.
2021-04-01 07:28:43 +02:00
846695f986
ekf2: replace vehicle_imu lost error message with perf count
2021-03-31 22:07:32 -04:00
292a66ce41
Add support for simulators running on a different host than the PX4 instance
2021-03-31 20:56:38 -04:00
9dd6bef7f9
autostart scripts: remove SYS_PARAM_VER
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With the airframe defaults there's no use for that anymore
2021-03-31 20:12:05 -04:00
aec63eacbe
mavlink_receiver: avoid spamming 'unsupported component id'
2021-03-31 20:10:15 -04:00
8fec39ad39
MulticopterPositionControl: readd takeoff ramp fix
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added in #14821 and accidentally removed in #14665
2021-03-31 15:21:42 +02:00
7abce87ae4
commander: add COM_OBC_LOSS_T for setting onboard computer loss time-out
2021-03-31 13:25:01 +02:00
c06b5a1de9
MulticopterPositionControl: improve tilt limit readability and scope
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according to @bresch's review comment.
2021-03-31 10:03:08 +02:00
94469d84ae
MulticopterPositionControl: fix twitch on tilt limit relaxation
2021-03-31 10:03:08 +02:00
34a5948692
Adapt SlewRate includes to convention
2021-03-31 10:03:08 +02:00
c16b937221
Takeoff: switch internally to use a ramp progress
2021-03-31 10:03:08 +02:00
8ca76feaba
Takeoff: remove updateRamp() early return
2021-03-31 10:03:08 +02:00
b7600f4e4d
Commander: check_posvel_validity use return value
2021-03-30 22:33:01 -04:00
Matthias Grob