The acceleration setpoint gets implicitly inherited from the altitude
flight task since #14212. This feed-forward adds an unwanted
acceleration when the right stick is deflected. Instead I'm using it
to command the expected centripetal acceleration when flying
in a circle for better orbit tracking.
For the RC controlled yaw behaviour, we do a yaw setpoint according to
the stick expo. The uncontrolled yaw behaviour behaves undefined.
Switching between yaw behaviours makes the drone stand still for a
moment, which probably can be improved.
- matrix in PX4/Firmware (a1043f6ce068cc4d039d6808ef98fd8c3f379582): f529358e9a
- matrix current upstream: 9a30828a0a
- Changes: f529358e9a...9a30828a0a
9a30828 2020-06-30 Julian Kent - Add explicit matrix + scalar test
f3cf615 2020-06-30 Julian Kent - Do += -= and scalar *= /= in place
This fixes the corner case where a NAV_DELAY command changes the
validity of the next WP but not the rest of the triplet. The logic in
FlightTask was ignoring this change because the check was only based on
WP position change.
- ecl in PX4/Firmware (fff83fdee69789ec9da259b564bbfe67585a4b5f): a8bb8ea99f
- ecl current upstream: e4b44f704b
- Changes: a8bb8ea99f...e4b44f704b
e4b44f7 2020-06-23 PX4 BuildBot - Update geo_lookup WMM to latest Tue Jun 23 14:15:04 UTC 2020
4b746a3 2020-06-23 bresch - GPS Yaw: add consts and remove fusion starting message
2bafe9d 2020-06-22 bresch - GPS Yaw: wait to fuse at yaw at least once before declaring it faulty
51cd63d 2020-06-22 bresch - GPS Yaw: fall back to other yaw aiding source in case of bad data
fe2a9d3 2020-06-22 bresch - GPS Yaw: move isfinite checks in control.cpp
3c6790f 2020-06-22 bresch - GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting
ff8b5ec 2020-06-21 kamilritz - Extract general functions into utils
fda30d8 2020-06-15 Daniel Agar - geo_lookup: expand latitude to +-80 degrees
109eca5 2020-06-15 Daniel Agar - geo_lookup: create simple python script to update tables
41b9e4f 2020-06-15 Daniel Agar - geo_lookup: move tables to separate file
- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
- sensor_accel and sensor_gyro are now always raw sensor data
- calibration procedures no longer need to first clear existing values before starting
- temperature calibration (TC) remove all scale (SCL) parameters
- gyro and baro scale are completely unused
- regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
- accel & gyro FIFOs enabled
- FIFO watermark on data ready interrupt
- sensor side filtering completely disabled
- gyro now respects `IMU_GYRO_RATEMAX` (up to 2 kHz)
- saves a few % cpu (at default rate)
- matrix in PX4/Firmware (18f14ebefad29873ddeef6396c7c3a728c90b996): 2bee0d078c
- matrix current upstream: 674bd99f3b
- Changes: 2bee0d078c...674bd99f3b
674bd99 2020-06-11 kamilritz - Add operator* and operator/ for slice with type
38b3acc 2020-06-11 Nicolas MARTIN - fix conjugate_inversed comment
- ecl in PX4/Firmware (af11fa456d7282e324d662a452c71ae85ee59d9b): b3dc06d0cb
- ecl current upstream: 38cbd1a182
- Changes: b3dc06d0cb...38cbd1a182
38cbd1a 2020-06-09 Matthias Grob - AlphaFilter: prevent setParameters division by zero
b7d54b5 2020-06-04 RomanBapst - gps: fixed filter initialization bug around gps - do not gps reference altitude to zero in case gps checks pass before the filter initialized - reset the filtered gps position and position derivative filters in case we are in air or there is movement on the ground
8f533cb 2020-06-03 bresch - terrain_estimator: fix sensor aid selection
821e1fa 2020-06-03 bresch - terrain_estimator: add unit tests
aa96fa6 2020-06-03 bresch - Random style fixes in the code
5d6a72e 2020-06-03 bresch - sensor_simulator: add possibility to set GPS position rate
- ecl in PX4/Firmware (d4fcf77c546c31c4c0b813e5034c66581b3b2877): c91c78dcf6
- ecl current upstream: b3dc06d0cb
- Changes: c91c78dcf6...b3dc06d0cb
b3dc06d 2020-05-25 Roman Bapst - Added height above ground source bitmask indicating which sensor is used
62e15cb 2020-06-03 bresch - sensor_simulator: set IMU rate to 200Hz as this is the new value used in the Firmware
6126c19 2020-06-03 bresch - sensor_simulator: update EKF at IMU rate
59183f7 2020-06-02 Paul Riseborough - EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors (#831)
d0ddda8 2020-05-29 Matthias Grob - tecs: fix typo init(i)alized
86fc94b 2020-05-24 Kamil Ritz - Remove tilt align from position innovation check
b024cdd 2020-05-25 Mathieu Bresciani - unit test: check that the accel bias is only learned when observable (#827)
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu
- sensors: voted_sensors_update now consumes vehicle_imu
- delete sensor_accel_integrated, sensor_gyro_integrated
- merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
- sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
Before #14212 the velocity control gains used in the multicopter
position controller were defined as a scale between velocity error in
one axis (or it's integral and derivative respectively) and the unit
thrust vector. The problem with this is that the normalization of the
unit thrust vector changes per vehicle or even vehicle configuration
as 0 and 100% thrust get a different physical response. That's why
the gains are now defined as scale between velocity error
(integral/derivative) and the output acceleration in m/s².
- ecl in PX4/Firmware (1d49243ee21930dc1c0ba1f08a4c03284c4713c1): 600240d95f
- ecl current upstream: c91c78dcf6
- Changes: 600240d95f...c91c78dcf6
c91c78d 2020-05-21 Paul Riseborough - EKF: Allow reset of yaw to EKF-GSF later in flight
* New NotchFilter methods ahead of RPMFilter implementation.
* Added Direct Form I implementation that support dynamic change of frequencies.
* Added update method to update frequency on an existing filter.
* Added setCoefficients method to easily and efficiently create clones of a filter.
* LowSide, HighSide, Onnotch and array tests testing the applyDF1 method.
- create common uORB::PublicationBase
- uORB::PublicationQueued types are now type aliases
- ORB_PRIO use enum type everywhere to avoid accidental misuse
- PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
