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9ff9692270f9a754abcd8038ce2a722af9760748
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16303 Commits

Author SHA1 Message Date
Matthias Grob 9ff9692270 mc_att_control: switch to quaternion attitude control (no yaw reduction yet) 2018-03-15 17:16:14 +01:00
Daniel Agar 1abf90c6d4 EKF2 only publish wind_estimate if wind velocity is being estimated 
- refactor body wind velocity calculation
 2018-03-15 07:18:58 +01:00
Daniel Agar 7607c71ca8 fw_pos_control_l1 project virtual waypoint to handle landing overshoot 2018-03-14 16:39:19 -04:00
Daniel Agar d1dca4e74c fw_pos_ctrl_l1 move takeoff to control_takeoff() 2018-03-14 16:39:19 -04:00
Daniel Agar c72340e039 fw_pos_ctrl_l1 move landing to control_landing() 2018-03-14 16:39:19 -04:00
Daniel Agar f194c5424c move hmc5883 i2c address into driver 2018-03-14 14:38:40 -04:00
Daniel Agar bb7466c596 move rgbled i2c address into driver 2018-03-14 14:38:40 -04:00
Daniel Agar de85acb8b0 px4fmu-v2 version detection and init cleanup 
- if an invalid version is detected reinit, then reset
 2018-03-14 08:02:19 +01:00
Beat Küng 2bcc5cf3e5 imu filter defaults: set IMU_GYRO_CUTOFF to 80 and MC_DTERM_CUTOFF to 30 
tested on at least 5 different vehicles, including AeroFC. The values
should be conservative, good setups (with low vibrations) can increase
these values even further.

increasing IMU_GYRO_CUTOFF allows for better tuning gains (increased P).
 2018-03-13 20:54:49 +01:00
Beat Küng a99e49a856 landing_target_estimator: fix param type: int -> int32_t 2018-03-13 17:35:15 +01:00
Beat Küng 7ee464c264 LPE: refactor to use ModuleParams 2018-03-13 17:35:15 +01:00
Beat Küng 83d55773af LPE: refactor to use ModuleBase 2018-03-13 17:35:15 +01:00
Beat Küng 9fb9b2916a LPE: use default & delete keywords for constructors & destructors 2018-03-13 17:35:15 +01:00
Beat Küng f7ee3c2015 cmake configs: add vtol_att_control for required parameters VT_B_DEC_MSS & VT_B_REV_DEL 
Required by Navigator.
 2018-03-13 17:35:15 +01:00
Beat Küng 279b66bfbd ekf2: use new Param class 
reduces RAM usage by 1.3KB
 2018-03-13 17:35:15 +01:00
Beat Küng eb33145ac8 px4_param.h: add ParamExtFloat & ParamExtInt (required by ekf2) 2018-03-13 17:35:15 +01:00
Beat Küng 89a775b401 navigator: remove use of final to allow extending class hierarchy 2018-03-13 17:35:15 +01:00
Beat Küng 8a5cdac1f4 FixedwingPositionControl: fix ordering of PRINT_MODULE_USAGE_NAME 2018-03-13 17:35:15 +01:00
Beat Küng e0af2912a1 navigator: avoid use of a static variable last_geofence_check 2018-03-13 17:35:15 +01:00
Beat Küng 320bdc6482 navigator: refactor to use ModuleBase class 2018-03-13 17:35:15 +01:00
Beat Küng 246be4f0ab precland: use 'default' for destructor 2018-03-13 17:35:15 +01:00
Beat Küng 2e6904b8a4 navigator: use '#pragma once' as include guard 2018-03-13 17:35:15 +01:00
Beat Küng f2dddc65a5 navigator: use new Param class 2018-03-13 17:35:15 +01:00
Beat Küng 32eaf278ad Battery: remove unnecessary updateParams() call in constructor 2018-03-13 17:35:15 +01:00
Beat Küng 523bb11577 module template: update to use the new Param classes 2018-03-13 17:35:15 +01:00
Beat Küng 0d26aeafe2 px4_parameter.h: remove this file - it's not used anymore 2018-03-13 17:35:15 +01:00
Beat Küng fca99cf775 param: refactor BlockParam classes 
- make the selected parameter a template argument. This
  enables type-checking at compile-time.
- move things to src/platforms.
  This provides consistent includes with ModuleBase
- add ModuleParams base class (replaces Block & SuperBlock)
- drop the Block* prefix from the class names
 2018-03-13 17:35:15 +01:00
Beat Küng 0e4034d01e param: add a px4_parameters_public.h.jinja template 
Generates an enum with all params & additional type information for static
type checking

The generated public param header is required to build the modules using
the new BlockParam classes.
 2018-03-13 17:35:15 +01:00
Beat Küng 0a5af01454 NavigatorMode: inherit from Block instead of SuperBlock 2018-03-13 17:35:15 +01:00
Philipp Oettershagen ff66605a8a Fix: Increase pwmsim module stack by 100 bytes again because load_mon was giving warning about low stack 2018-03-13 12:51:33 +01:00
David Sidrane de9368319f Do not change mode to read temperature 
The mode change was not necessary and in fact caused the chip to not update the registerfile resulting in MAG timeouts
 2018-03-12 11:56:59 +01:00
Beat Küng bb6802a1ed kinetis: fix PPM decoding 
On kinetis, the TPM_STATUS_TOF was used to detect missed interrupts for
PPM decoding. However this was not correct, because the TOF bit was set on
each timer overflow. This happened regularly after every 64ms interval,
which meant that most PPM frames were just discarded.

I have not found any equivalent register/solution that is used on STMF4,
so this just removes the TOF handling. However there is now no way to
detect missed edges/interrupts!
 2018-03-12 11:56:59 +01:00
Beat Küng 5a7885610d fmu: fix PPM publication if RC_SERIAL_PORT is not defined 
Before, the RC channel was published as fast as the fmu was running
(around 200Hz in unarmed state).

And fix code style.
 2018-03-12 11:56:59 +01:00
Beat Küng dde922a971 fxos8701cq: add a 'stop' command 2018-03-12 11:56:59 +01:00
David Sidrane 0ed631227f fxos8701cq:Work with fxos8701cq and fxos8700cq 
Allow whoami of fxos8701cq and fxos8700cq
 2018-03-12 11:56:59 +01:00
Daniel Agar 5335778f6e nxphlite start correct sensors and disable debug 2018-03-11 18:19:12 -05:00
Mohammed Kabir f95f4c5f09 UAVCAN : Correct startup sequence and improve parameter description 2018-03-10 23:09:19 -05:00
Vasily Evseenko ebe74ccb2e Add 'forced on' flow control mode to mavlink UART (#8776) 2018-03-10 14:54:57 -05:00
acfloria fd0be3c412 Remove MavLink dependency in navigator 2018-03-09 21:16:28 +01:00
Roman 64b97cb18e fw_att_control: in acro use thrust from rate setpoint topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-09 13:48:14 +01:00
Thomas Stastny 74730273c1 fw_att_control move angular rate limits to body angular rates (#9023) 
* ecl: attitude_fw update
- move angular rate limits to body angular rates
- handle rattitude/acro vs attitude mode rate limits
 2018-03-08 22:55:45 -05:00
Daniel Agar 2ce8b6a984 delete VT_FW_PITCH_TRIM parameter (#9014) 2018-03-07 09:08:59 -05:00
Roman ac2b3ccadc vtol_att_control: default front transition throttle to 100% 
- the main idea is to prevent airspeed less systems to stall after a
transition

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman e4ea7262fd tailsitter.cpp: small cosmetic fix 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 03338935e0 vtol_att_control: make sure blending airspeed is smaller than transition airspeed 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman e0ca38e794 standard vtol: fix mc weight calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 23257bf6ee standard vtol: simplify blending weight calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman b66bc712af tailsitter: avoid doing same calculation twice 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 1d8f588d37 vtol_att_control: switch from division to multiplication for variable 
calculation

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 9e16543dbe tiltrotor: represent time since transition in seconds 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00