Extend the get_freefall_state() from MC land detector to have a VTOL-specific
one that just enables free fall detection if in rotary wing or transition mode.
This is done to prevent wrong free-fall detected warnings while doing low-G maneuvers
(parabolic flights). Land detection is anyway disabled in FW flight for VTOL so
no logic change.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- remove gloabl variable and instead give back forward_thrust from function
- give back increased vertical thrust from fct thrust_compensation_for_tilt()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-move pusher assist functionality into vtol_type class and adapt it to also
work for tiltrotor VTOLs (pitch rotors down to accelerate forward)
-for tiltrotor: compensate for lost lift due to tilt by increasing the throttle
-enable pusher / tiltassist also in altitude mode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
with measurement noise auto-tuning
The purpose of this estimator is to improve land detection and vertical
velocity feedforward
Recovery strategy:
This is required when the setpoint suddenly changes in air or that the
EKF is diverging. A lowpassed test ratio is used as a trigger for the recovery logic
Also, a lowpassed residual is used to estimate the steady-state value
and remove it when estimating the accel noise to avoid increasing the
accel noise when the redisual is caused by an offset.
* add support for unmanned underwater vehicles:
* airframe uuv_generic + uuv_hippocammpus including mav_type = 12 for submarines
* mixer for UUVs with X-shaped thruster setup similar to quadcopter
* add module uuv_att_control for underwater robot attitude control
* add rc.uuv_defaults/apps for autostarting e.g. ekf2 and uuv_att_control app
* Add param for software flow ctl on 3DR radios
* Dont reset telemetry type on radio timeout
* Treat 3DR radio as generic link type
* Rename 3DR to SiK radio
new versions of logger does not allow to log multiple instances of a topic when using 'logger_topics.txt'
This commit restores the default behavior (log all instances of a topic) and ad the option to specify an instance to log
These assignments were temporary for correct logging of the input
setpoint which now properly also comes out of the controller again.
This is reverting the hotfix from:
dee8d200d8bb42cd964065f9a6506e3c4a901f10
Removing the skip_controller and interfaceMapping
concept and replacing it with a single method checking
if the position control update was successful and
return the result in the PositionControl.update().
This restores original horizontal thrust setpoint execution
that I intentionally broke three commits ago. It's necessary
for correct stick to tilt mapping of FlightTaskManualAltitude.
This commit temporarily breaks direct horizontal thrust setpoint execution
which is used by FlightTaskManualAltitude. This is necessary to allow for
PositionControl cleanup namely calculating the whole velocity PID in one
Vector3f formula.
Having this in a separate commit is useful since it reduces indentation
of a bigger code block.
I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the `vehicle_acceleration` to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc.
Later this mechanism will be used in a few areas
- rate limit `vehicle_angular_velocity` and `vehicle_acceleration` without missing any raw data
- move IMU integration to `vehicle_imu` and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated
- integrate raw gyro synchronized with optical flow measurements
Prior this fix VTOL missions get rejected if they have a DO_LAND_START marker, but then do
not end with a LAND waypoint but a VTOL transition and land.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- introduces parameter IMU_DGYRO_CUTOFF to configure the angular acceleration low pass filter
- the angular acceleration is computed by differentiating angular velocity after the notch filter (IMU_GYRO_NF_FREQ & IMU_GYRO_NF_BW) is applied
Co-authored-by: Julien Lecoeur <jlecoeur@users.noreply.github.com>
- gyro filtering (low-pass and notch) only performed on primary gyro in `sensors/vehicle_angular_velocity` instead of every gyro in `PX4Gyroscope`
- sample rate is calculated from actual updates (the fixed value was slightly wrong in many cases, and very wrong in a few)
- In the FIFO case the array is now averaged and published in `sensor_gyro` for filtering downstream. I'll update this in the future to use the full FIFO array (if available), but right now it should be fine.
Regression from 6dec451babf1b4c6394fbf8678585d66932adefb, leading to
preflight failures not being reported at all. Only after a failed arming
attempt the messages would be sent. And for GPS check failures, in case
they are set to optional (default), arming would be possible, but switching
to position would be rejected w/o error.
We need to run the preflight checks periodically, but this at least restores
the previous behavior.
This was inverted, i.e. set to false in most cases, whereas it should be
true.
As a consequence, both powerCheck and airspeed.confidence checks were not
executed.
