aa8d594e9b
Add heli servo trim
2022-09-07 08:00:27 +02:00
667e99be81
Helicopter: fix unit test after default throttle curve was changed
2022-09-07 08:00:27 +02:00
115cf4d572
Helicopter: More intuitive yaw direction configuration for the common cases
2022-09-07 08:00:27 +02:00
cecef7e3f6
control_allocator: update heli throttle + collective curve defaults
2022-09-07 08:00:26 +02:00
d38c02fd6a
commander: increase maximum COM_SPOOLUP_TIME to 30s (for helis)
2022-09-07 08:00:26 +02:00
7e75b497ae
helicopter: add switch to engage main motor
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For helicopters it's useful (e.g. during bringup) to be able to disable
the main rotor while the tail is still controlled to safely land.
2022-09-07 08:00:26 +02:00
f32d931117
helicopter: add yaw sign parameter & expose settings in UI
2022-09-07 08:00:26 +02:00
349f152601
Helicopter: throttle spoolup upon arming
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Uses COM_SPOOLUP_TIME to slowly ramp the throttle and allow the
tailrotor to compensate in a coordinated way based on the yaw
compesation from throttle, see CA_HELI_YAW_TH_S.
This coordinated spoolup is necessary to avoid unsafe yaw twitches
because of the heli rotating until the correct compensation kicks in
through the feedback controller.
2022-09-07 08:00:26 +02:00
7bf62373ae
Helicopter: refactor complicated throttle curve logic
2022-09-07 08:00:26 +02:00
2edb35b1b5
Functions: add gradual function with arbitrary number of corner points
2022-09-07 08:00:26 +02:00
6a9a049f1e
Helicopter: add unit testing for throttle curve
2022-09-07 08:00:26 +02:00
9ba6f4efb7
Helicopter: add yaw compensation from throttle CA_HELI_YAW_TH_S
2022-09-07 08:00:26 +02:00
554d965a2d
Helicopter: use absolute value for yaw compensation from collective pitch
2022-09-07 08:00:26 +02:00
608ab9ff9c
control_allocator: extend description for CA_SP0_ANGx
2022-09-07 08:00:25 +02:00
e346190e63
helicopter: use tail motor & add CA_HELI_YAW_CP_S
2022-09-07 08:00:25 +02:00
92fbd86b46
ekf2: add gps altitude drift test
2022-09-05 10:28:37 -04:00
a2a5093881
ekf2: relax zero velocity update
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The ZVU is too strong and prevents the EKF from following variations in
the height aiding sources, creating large innovations.
2022-09-05 10:28:37 -04:00
d996af4647
ekf2: pass gpsSample around where required
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- this minimizes potential misuse accessing _gps_sample_delayed and
makes the dependency clear
2022-09-05 10:27:19 -04:00
0c860fa227
airspeed_selector: don't declare wind estimate valid if estmator is not initialised
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-09-05 10:21:38 -04:00
a56f654651
Multi-Vehicle Ignition Gazebo Simulation ( #20154 )
2022-09-04 21:10:29 -04:00
7bbdc220f5
ekf2: initialiseFilter() simplify mag heading init and resetQuatStateYaw
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- most of resetQuatStateYaw doesn't apply to initial heading init, so
removing the special case keeps it simple
2022-09-02 08:46:10 -04:00
e93a3a2a3a
ak09916: enable retries and reset perf count
2022-09-01 20:45:20 -04:00
f66b5ce204
simulation: ignition bridge allow IMU or pose callbacks to update system time if newer than clock
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* requires HRT lockstep changes to eliminate offset (PR #20146 )
2022-09-01 20:42:21 -04:00
c52f2143d2
posix lockstep remove HRT offset and use full sim time
2022-09-01 20:40:37 -04:00
3da0293369
simulator_ignition_bridge: init error handling
2022-09-01 18:54:59 -04:00
43c5f14aa0
commander: update arming & health protocol, add modes to event hash
2022-09-01 17:07:23 -04:00
f57321d365
simulator_mavlink: fix esc_status publication
2022-09-01 17:07:23 -04:00
295caaea60
events/enums.json: remove redundant manual_control_input
2022-09-01 17:07:23 -04:00
2c96bb3746
px4_parameters.hpp.jinja: explicitly set .name attribute
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Fixes the compile error on llvm:
mixture of designated and non-designated initializers in the same initializer list is a C99 extension [-Wc99-designator]
2022-09-01 17:07:23 -04:00
4e940fab83
perf_counter: remove unused include sys/queue.h
2022-09-01 17:07:23 -04:00
9eff6dd049
commander: cleanup param value description for COM_POSCTL_NAVL
2022-09-01 17:07:23 -04:00
0e130eac83
refactor commander: move code inside run() into separate methods
2022-09-01 17:07:23 -04:00
dcb9b712bb
refactor commander: move vehicle control mode to ModeUtil
2022-09-01 17:07:23 -04:00
f197c8884d
commander: move esc checks to arming check
2022-09-01 17:07:23 -04:00
c9037f115b
refactor commander: split out home position
2022-09-01 17:07:23 -04:00
f17f38197d
commander: move estimator checks to arming check
2022-09-01 17:07:23 -04:00
cfe3d793bf
commander: move battery handling into arming checks
2022-09-01 17:07:23 -04:00
5cb44a521c
ekf2: estimator interface handle sample time with signed integers
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- this prevents unsigned integer overflow if the timestamp is smaller
than the configured delay (mostly a simulation edge case)
2022-09-01 09:47:29 -04:00
75f6f22223
[AUTO COMMIT] update change indication
2022-08-31 08:52:30 -04:00
1948c5057a
ekf2: handle all time on delayed horizon (except for newest sample checks)
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- a growing number of samples come into the backend with the time
already delayed (sensor's interrupt setting timestamp sample)
- if the incoming timestamp is already delayed then the new data checks
(relative to latest IMU) can be slightly wrong
- handle almost all timestamps and checks on delayed time horizon,
except for explicit checks of new samples
- isRecent() and isTimedOut() helpers use delayed time
- add new isNewestSampleRecent() used for checking the incoming
timestamp of the incoming (adjusted) data
2022-08-31 08:52:30 -04:00
d681782c7f
fix flashfs: find_entry: do not go to the next sector if the CRC is invalid
2022-08-31 09:42:59 +02:00
4f52cda504
flashfs: ensure no address past the end of a sector is dereferenced
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As it might result in a hardfault if it's the last flash sector.
2022-08-31 09:42:59 +02:00
e780a583cd
Fix typo follow height: FLW_TGT_HT
2022-08-29 13:25:35 +02:00
734d3e4aa0
Reverted changes that broke Level Horizon calibration
2022-08-29 09:54:36 +02:00
666b84027d
GyroFFT: disable 4096 for IMU_GYRO_FFT_LEN
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saves around 10.5KB flash on px4-fmu-v5
2022-08-25 22:02:15 -04:00
060738cae1
src: avoid use of double precision pow & exp
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saves around 5KB flash on px4-fmu-v5
2022-08-25 22:02:15 -04:00
983a9815eb
libevents: update submodule
2022-08-25 22:02:15 -04:00
4c41934bb4
commander: inline HealthComponentIndex::HealthComponentIndex
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Saves around 1KB flash
2022-08-25 22:02:15 -04:00
1c89b0c9c8
commander: use actuator_function for ESC reporting
2022-08-25 22:02:15 -04:00
13c93db11a
commander: use circuit breaker params directly in arming checks
2022-08-25 22:02:15 -04:00
alexklimaj