a8a8819060
mag cal: move sphere and ellipsoid regression algirithms
2021-01-28 09:14:08 +01:00
bf4ae81995
Device: Add MAVLINK bus type
2021-01-28 09:09:11 +01:00
a4745c6825
Simulator: Fix for arg count increase breaking remote host option.
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The number of arguments was increased by one, see: https://github.com/PX4/PX4-Autopilot/commit/1719ff9892f3c3d034f2b44e94d15527ab09cec6
Because the above commit was merged before https://github.com/PX4/PX4-Autopilot/pull/15443 . It broke support for the remote host option.
This has been fixed in this commit by increasing all argv's by one.
Signed-off-by: Peter Blom <peterblom.mail@gmail.com >
2021-01-28 08:32:14 +01:00
e49717513c
simulator: Fix distance sensor device_id
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Also add DRV_DIST_DEVTYPE_SIM
2021-01-27 17:02:20 -05:00
85796fbd84
Drivers: Distance Sensors: Add proper device IDs
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Add new DeviceBusType_SERIAL to Device::DeviceId union
Add DRV_DIST_DEVTYPE's for all distance sensors
Change distance_sensor_s.id to distance_sensor_s.device_id
Modify all distance_sensor drivers to apply 'proper' device_id
2021-01-27 17:02:20 -05:00
adf2d2f73a
extend uuv_att_control module by thrust in y/z-direction ( #16642 )
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* extend uuv_att_control
* add feedthrough thrust_y + thrust_z direction
* extend uuv_att_control
* add feedthrough thrust_y + thrust_z direction
* update formatting
* fix submarine sitl: indicate motor channel range 0..1 or -1..1 in simulation_mavlink.cpp (#16637 )
change motor_count variable to 'pos_thrust_motor_count'
This is more specific to what is actually happening in the code.
'pos_thrust_motors_count' indicates number of motor channels which are configured with 0..1 range (positive thrust) all other motors are configured for -1..1 range
submarine only have motors with -1..1 range.
Thus, pos_thrust_motor_count = 0
Co-authored-by: Thies Lennart Alff <33184858+lennartalff@users.noreply.github.com >
* extend uuv_att_control
* add feedthrough thrust_y + thrust_z direction
* update formatting
Co-authored-by: Thies Lennart Alff <33184858+lennartalff@users.noreply.github.com >
2021-01-27 22:35:24 +01:00
53a14e847d
drivers/rc_input: support RC_RSSI_PWM_CHAN
2021-01-26 18:19:52 -05:00
3b26b7adaf
sensors: magnetometer preserve original mag cal offset for status message
2021-01-26 16:04:10 -05:00
d1dfa26903
consume all available queued vehicle_commands
2021-01-26 12:00:18 -05:00
f9e07337f8
fix submarine sitl: indicate motor channel range 0..1 or -1..1 in simulation_mavlink.cpp ( #16637 )
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change motor_count variable to 'pos_thrust_motor_count'
This is more specific to what is actually happening in the code.
'pos_thrust_motors_count' indicates number of motor channels which are configured with 0..1 range (positive thrust) all other motors are configured for -1..1 range
submarine only have motors with -1..1 range.
Thus, pos_thrust_motor_count = 0
Co-authored-by: Thies Lennart Alff <33184858+lennartalff@users.noreply.github.com >
2021-01-25 14:17:24 +01:00
92f2043d8b
TECS: add EAS_sp to tecs_status.msg and rename other airspeeds to TAS
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-23 09:34:34 -05:00
5e32e9be5a
TECS: rename variables and methods to make clear which are EAS and which TAS
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-23 09:34:34 -05:00
4922659ef4
FW Position controller: specify in params that the airspeed setpoints are for calibrated airspeed
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-23 09:34:34 -05:00
17ea6f68e2
fix variable name in EKF2Selector ( #16621 )
2021-01-22 15:32:32 +01:00
da7f6d06f3
AirspeedSelector: set default of ASPD_DO_CHECKS to 1 and ASPD_FS_INTEG to 5.
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That enables the sensor checks by default
The default for the innovation check integral of 5 is rather conservative, thus
makeing it less likely to be triggered by accidnet (e.g. due to bad wind estimate).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
28f9214e56
AirspeedSelector: parameter clean up and disable re-enabling if clear delay negative
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
0c2099e788
AirspeedSelector: improve messaging on airspeed sensor switches
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
aecc0aa0c3
AirspeedSelector: do checks for data stopped in airspeed selector, not validator
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
061fb9ac07
AirspeedSelector: add const
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
cd2c366e22
AirspeedSelector: remove unnecessary reboot required and Experimental comments in params
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
11dbc7e17f
AirspeedSelector: improve description of ASPD_FALLBACK_GW
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
0f1207dd7e
AirspeedSelector: improve readability
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
e0b33ba842
mavlink: temporarily disable ACTUATOR_OUTPUT_STATUS stream by default
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- the presence of this stream appears to be causing the MAVSDK tests to fail and needs to be investigated
2021-01-21 11:25:42 -05:00
7cdb9e9412
MulticopterPositionControl: altitude comment typo
2021-01-21 09:43:12 -05:00
82d32c7f3f
mavlink: add ACTUATOR_OUTPUT_STATUS stream
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Co-authored-by: Lise Prunier <lise.prunier@aerialcoboticus.com >
2021-01-21 09:30:43 -05:00
d7812f83f1
mag_cal: fix race condition causing invalid mag calibration
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In some cases, the fitness of the optimizer does not shrink at each
iteration, causing the "decreasing fitness check" to fail. This stops
the optimization and returns with sub-optimal, or unrealistic results.
2021-01-20 10:50:35 -05:00
8d8b58efc3
Add logging of mag calibration data (mag_worker_data)
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Co-authored-by: Julian Kent <julian@auterion.com >
2021-01-20 09:44:45 -05:00
bed77c2988
add notes
2021-01-19 20:42:58 +01:00
297a428cc0
Fix the case where the flight controller is connected to the battery (charge 100), QGC shows no battery
2021-01-19 20:42:58 +01:00
ac8f4e3c48
mc_pos_control: only update constraints if topic updated
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- update failsafe constraints
2021-01-19 14:44:42 +01:00
3e5e5ab1d5
control_allocator and angular_velocity_controller throttle parameter_update subscription
2021-01-18 11:25:37 -05:00
c36340d29a
ActuatorEffectivenessMultirotor: set effectiveness to zero when computing the matrix
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Just to be on the safe side.
2021-01-18 11:25:37 -05:00
212ec821b1
control_allocator: set unused actuators to trim instead of min
2021-01-18 11:25:37 -05:00
3606f86518
control_allocator: ensure unused outputs are initialized to min
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Mostly important in cases where the ouputs would change (e.g. param change)
2021-01-18 11:25:37 -05:00
3dad79d8f5
control_allocator: inline one-line setters & getters
2021-01-18 11:25:37 -05:00
164511a7b5
control_allocator: avoid vector copies and sqrt()
2021-01-18 11:25:37 -05:00
0e66b0876b
control_allocator: change SequentialDesaturation to existing MC mixer
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And limit the operations to the number of configured outputs.
Only using the number of configured actuators reduces CPU load by ~2% on
F7 @1khz.
2021-01-18 11:25:37 -05:00
308f614735
refactor control_allocator: directly get the effectiveness matrix when updated
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Reduces stack + RAM usage
2021-01-18 11:25:37 -05:00
38782029ad
fix control_allocator: set _last_run at the correct place
2021-01-18 11:25:37 -05:00
0e86ab47f6
fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory
2021-01-18 11:25:37 -05:00
066464c4e8
control_allocator: remove unused _task_start
2021-01-18 11:25:37 -05:00
25f3fe8456
fix control_allocator_status: torque_setpoint_achieved and thrust_setpoint_achieved are bool
2021-01-18 11:25:37 -05:00
343cf5603e
initial control allocation support
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- control allocation module with multirotor, VTOL standard, and tiltrotor support
- angular_velocity_controller
- See https://github.com/PX4/PX4-Autopilot/pull/13351 for details
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Roman Bapst <bapstroman@gmail.com >
2021-01-18 11:25:37 -05:00
fc6b61dad1
Try 'min' for units
2021-01-18 16:26:53 +01:00
d99d52960e
Fix default _rtl_xxx values
2021-01-18 16:26:53 +01:00
5a9fe312b5
Fix test failure on rebase: set lpos valid
2021-01-18 16:26:53 +01:00
af8d178ae5
Fix spurious RTL triggers
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Two sources:
1. global to local conversion was sometimes giving issues, so do everything in global
2. on startup the RTL didn't check if the home position was valid before processing it
2021-01-18 16:26:53 +01:00
b5f0a7ea03
Fix RangeRTL test
2021-01-18 16:26:53 +01:00
5500a84b6a
Add timestamp to RTL message
2021-01-18 16:26:53 +01:00
f169247bc2
Add RTL topics to ulog default profile
2021-01-18 16:26:53 +01:00
bresch