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25047 Commits

Author SHA1 Message Date
bresch
a2a29ba0dd ekf2: verify parameter configuration for height sources 2022-08-24 09:16:11 -04:00
bresch
8dd5d0d1a3 ekf2: don't reset height when in conditional range aiding 2022-08-24 09:16:11 -04:00
bresch
20cd599bb7 ekf2: fix param migration 2022-08-24 09:16:11 -04:00
bresch
2d39097f60 ekf2: move rng height to file 2022-08-24 09:16:11 -04:00
bresch
28b4cd0579 ekf2: move GNSS hgt control to file 2022-08-24 09:16:11 -04:00
bresch
b6f76b5eaa ekf2: move ev control to file 2022-08-24 09:16:11 -04:00
bresch
f555281c94 ekf2: move height control-related function to file 2022-08-24 09:16:11 -04:00
bresch
d87feee5b0 ekf2: move baro control logic to file 2022-08-24 09:16:11 -04:00
bresch
12e25eba62 ekf2: add common height fusion timeout parameter 2022-08-24 09:16:11 -04:00
bresch
52f726c5b7 ekf2: in bias estimator, use psd instead of var for prediction 
PSD is independent from the sampling time while variance isn't
 2022-08-24 09:16:11 -04:00
bresch
b04d61c411 ekf2: param migration for rng aid, aid mask (gps) and hgt mode 2022-08-24 09:16:11 -04:00
bresch
3fb218600a ekf2_test: add multi height source unit tests 2022-08-24 09:16:11 -04:00
bresch
aba2eac0df ekf2: publish GNSS, rng and EV height biases 2022-08-24 09:16:11 -04:00
bresch
8962cf2d25 ekf2: GPS, baro and range finder control parameters 
Also remove the legacy "range aid" than can be achieved by setting the
height reference to range finder and the range finder control parameter
to "conditional".

Conditional range aiding cal also be set when the height reference isn't
the range finder. This prevents the ratchetting effect due to switching
between references.
 2022-08-24 09:16:11 -04:00
bresch
578e1339ca ekf2: re-implement range aid 
range aid simply forces the range finder to be the height reference when
starting
 2022-08-24 09:16:11 -04:00
bresch
88ac5ea210 ekf2_test: add test case for accel clipping handling 2022-08-24 09:16:11 -04:00
bresch
375753eba8 ekf2_test: add inertial nav falling detection tests 2022-08-24 09:16:11 -04:00
bresch
66ce1a002b ekf2_test: rename VisionHeight -> ExternalVisionHeight 2022-08-24 09:16:11 -04:00
bresch
82ec7a495a ekf2: refactor inertial nav falling check 2022-08-24 09:16:11 -04:00
bresch
f9188b2a14 ekf2: refactor vertical acceleration check for multiple height sources 2022-08-24 09:16:11 -04:00
bresch
8fd79688c0 ekf2: enable multiple height sources fusion 
Instead of having a single height source fused into the EKF and the
other ones "waiting" for a failure or the primary sensor, fuse all
sources in EKF2 at the same time. To prevent the sources from fighting against each
other, the "primary" source is set as reference and the other ones are
running a bias estimator in order to make all the secondary height
sources converge to the primary one.

If the reference isn't available, another one is automatically selected
from a priority list. This secondary reference keeps its current bias
estimate but stops updating it in order to be the new reference as close
as possible to the primary one.
 2022-08-24 09:16:11 -04:00
bresch
f5f31006a0 Ekf2: create HeightBiasEstimator class 
Contains some logic common to all height bias estimators
 2022-08-24 09:16:11 -04:00
JacobCrabill
57125a4c8f cyphal: Fix FMUv5 config; throw error if no CAN driver exists 2022-08-23 21:24:24 -04:00
huiyulhy
c81efd0174 Fix velocity smoothing functional test 2022-08-23 21:11:35 -04:00
Beat Küng
bae275898b rc/sbus: restart parser after sucessful decoding & increase time limit 
Instead of directly passing the next packet to the parser after successful
parsing, switch the state to SBUS2_DECODE_STATE_SBUS_START and search for
the start byte again.

The timeout is increased as the IO main loop also takes a bit of time
(max ~0.7ms).

Tested on v5x with Futaba R7008SB (60Hz update rate) and FrSky X8R (111Hz
update rate).

Background:
When using the Futaba R7008SB, I noticed there's additional bytes added in
between packets. Often it's a null byte, but sometimes more. There's some
consistency but I did not find any documentation for it.
Sample data:
a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05 ec
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 c0 8b
00 0f 04 ec 1f a8 fb 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00
14 00 0f 04 ec 1f a8 fb 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80
00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10
80 00 34 00 0f 05 ec 1f 30 60 bf 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 34 00 0f 07 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 04 00 03 c0 31 00 0f 05 fc 1f a8 fb 07 16 5b 81 05 d4
a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 05 fc 1f a8 fb 07 16 5b 81 05
d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 04 ec 1f a8 fd 07 16 5b 81
05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 04 ec 1f a8 fd 07 16 5b
81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03 c4 00 00 0f 04 ec 1f
a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 04 ec
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 04
ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f
05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00
03 c0 31 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02
10 80 00 14 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00
02 10 80 00 24 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40
00 02 10 80 00 34 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80
00 04 00 03 c0 31 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00
01 08 40 00 02 10 80 00 34 00 0f 05 f4 1f a8 fb 07 16 5b 81 05 d4 a0 06 20
00 01 08 40 00 02 10 80 00 04 00 03 c4 00 00 b0 60 7f 1c bd 07 16 5b 81 05
d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81
05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b
81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05 ec 1f a8 fb 07 16
5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03 c0 31 00 b0 60 bf
1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 04 f4
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 30 70
7f 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05
f4 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03
c4 00 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10
80 00 14 00 0f 05 ec 1f b0 60 bf 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00

This was causing the parser to skip entire packets resulting in an update
rate of ~31Hz on the FMU side.
With this patch the update rate increases to 42-48Hz.

The investigation was triggered by an RC glitch with a packet containing
random channel data. It's likely, although not completely verified that
the frequent desync randomly happend to pass the CRC check with garbage
data.
 2022-08-23 21:07:18 -04:00
Daniel Agar
b58f70726f ekf2: scale delta angle and delta velocity bias to particular IMU sample 2022-08-23 21:06:13 -04:00
Ville Juven
4f6d523c95 mixer_module: Fix linking of mixer_module 
The module has a hard dependency on mixer library, so link them together
 2022-08-23 21:04:58 -04:00
bresch
f89044cfbe ekf2: fix replay EKF2 start when CONSTRAINED_FLASH 2022-08-23 11:14:15 -04:00
alexklimaj
913bae9924 Revert "drivers/uavcan: update libuavcan" 
This reverts commit deb938fceaa79b927ae0f622d8b2b8c4ad10d391.
 2022-08-22 20:57:06 -04:00
Daniel Agar
cfc579542e
new Ignition Gazebo simulation interface architecture (#20057) 
- much simpler direct interface using Ignition Transport 
 - in tree models and worlds
 - control allocation output configuration, no more magic actuator mapping to mavlink and back
 - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible)

Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
 2022-08-22 10:58:19 -04:00
Silvan Fuhrer
889a2fddea FW Position Control: remove unnsed params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 19:06:07 +02:00
Silvan Fuhrer
e3e021a1c2 FW Attitude Control: rename att_control to angular_acceleration_setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
e595952ed4 FW Attitude Control: add @brief, @param and @return for control_attitude() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
f67d80460f FW Attitude controller: update copyright headers 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim
bcdf61b65f Fix format 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
b87afb138c Update src/modules/fw_att_control/FixedwingAttitudeControl.cpp 
reduce code duplication

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim
70134296ed Fix parameter description from review comments 
This commit makes the parameter description of the fixewing attitude controller more descriptive
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
c54f62e17a FW attitude control: fix ff terms and constrain outputs to (-1, 1) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
dadd4f39ad FW attitude control: fix yaw rate publishing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
6724e4af26 FW attitude control: manual stick input sets yaw rate setpoint, not rudder directly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
22067a1128 FW attitude control: set FF gains for rate controller to 0 as FF controls is handles outside 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
57e052d02d FW attitdue controller: use allocator status for anti-windup 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
6aab44e425 ControlAllocator: publish allocator_status from all active matrices (2 for VTOL, otherwise 1) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
a9b848cae3 FW attitue controller: fix publishing of rate controller status 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
5a2127d026 fixed-wing: update rate controller integrator handling 
-always reset roll/pitch/yaw integrators at the same time
-reset them while waiting for launch or during FW Takeoff before Climbout
-reset wheel rate integrator only when disarmed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
cd080289c6 FW attitude controller: constrain rates correctly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
15c95a7b6a FW attitude controller: improve readability and fix euler rate sp vs. body rate sp 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer
e0a998e6ad FW attitude controller: remove unused control_input.scaler 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim
33d068cfb2 Added feedforward terms in fw att control 2022-08-19 09:40:48 +02:00
Jaeyoung Lim
958c61dbba Populate rate control setpoints properly 2022-08-19 09:40:48 +02:00