fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity
38,532 Commits 852 Branches 161 Tags
Commit Graph

14478 Commits

Author SHA1 Message Date
Silvan Fuhrer
ab08bbdb58 RTL: improve RTL info message 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
775a1eb4b6 RTL: remove unused function and non-informative comments 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
dd987c08a5 RTL: rename enum names for RTLType 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
a012f01dbc Navigator: clean up get_rtl_type() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
8dc6d5f208 RTL: set destination type to mission landing also in MC 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Daniel Agar
9c15be22d6 mc_autotune_attitude_control: add new MC_AT_EN parameter to enable 
- only enabled by default on boards that aren't memory constrained
 2021-11-05 09:52:07 -04:00
bresch
1e94512719 FD: use flags union instead of bitmask 2021-11-05 09:45:52 -04:00
bresch
3f1025fb1e FD: add dedicated topic to log more internal states 
log imbalanced propeller check metric

add failure_detector_status message
 2021-11-05 09:45:52 -04:00
bresch
b8ed457371 Commander: trigger failsafe action if imbalanced propeller detected 2021-11-05 09:45:52 -04:00
bresch
5dfb8e594a FD: add imbalanced propeller check 2021-11-05 09:45:52 -04:00
bresch
bf2fb70d67 vehicleIMU: compute and log accel variance 2021-11-05 09:45:52 -04:00
Silvan Fuhrer
f02786d112 Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL 
- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 12:09:39 +03:00
Silvan Fuhrer
b77487d69c Fixed-wing Position controller: add modes for auto altitude and auto descend 
- bit of clean up
- add GPS failsafe mode auto_altitude, that will keep current altitude with a fixed-bank angle
for some time, then switches to auto_descend that will descend with constant sink rate
of 0.5m/s
- params controlling GPS failsafe are not FW params: NAV_GPSF_R --> FW_GPSF_R and
NAV_GPSF_LT --> FW_GPSF_LT

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 12:09:39 +03:00
Matthias Grob
f55590ce78 FlightTaskOrbit: remove duplicate newlines 2021-11-03 17:37:52 +01:00
Matthias Grob
6cea707330 FlightTaskOrbit: increase acceptance radius from 1 to 2m 
to avoid reaproaching when tracking is not perfect while
acc/deccelerating by stick.
 2021-11-03 17:37:52 +01:00
Matthias Grob
eda9dce033 FlightTaskOrbit: fix direction change via MAVLink command 2021-11-03 17:37:52 +01:00
Thomas Debrunner
d450afead6 FlightTaskOrbit: Direct orbit approach with slowdown at intersection point 2021-11-03 17:37:52 +01:00
Thomas Debrunner
0d0b87e193 Update src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2021-11-03 17:37:52 +01:00
Thomas Debrunner
9bd46be124 Orbit: Switch to PositionSmoothing library. 
This also fixes the bug with altitude not follows and smoothes orbit approach trajectory
 2021-11-03 17:37:52 +01:00
Daniel Agar
8f6fd5f37b sensors/vehicle_angular_velocity: gyro RPM dynamic notch filter handle negative RPM 
- some UAVCAN ESCs report negative RPM for reverse rotation
 - lower hard coded safety limit RPM limit to 10 Hz (600 RPM)
 - avoid disabling notch filters that weren't configured
 2021-11-02 09:36:02 -04:00
Daniel Agar
fec0d6c5ed ekf2: change indication further reduce data precision 2021-11-02 10:21:54 +01:00
bresch
1317b1a6e1 [AUTO COMMIT] update change indication 2021-11-01 13:59:34 +01:00
bresch
9e54c6d1aa ekf2: move generic functions to control.cpp 
these functions aren't specific to GPS fusion
 2021-11-01 13:59:34 +01:00
bresch
e90734881b ekf2_test: add more GPS fusion control tests 2021-11-01 13:59:34 +01:00
bresch
8aae39e82a ekf2: move GPS control logic to separate source file 2021-11-01 13:59:34 +01:00
bresch
689ab12845 ekf2: refactor gps vel/pos fusion control logic 2021-11-01 13:59:34 +01:00
bresch
9afc390552 ekf2: move gps yaw reset in starting function 2021-11-01 13:59:34 +01:00
Daniel Agar
1461eb0e32 logger: increase optimization to ${MAX_CUSTOM_OPT_LEVEL} 
- ${MAX_CUSTOM_OPT_LEVEL} is -O2 on boards that aren't flash constrained
 2021-11-01 09:13:12 +01:00
Thomas Debrunner
32be88404a
commander: Only run estimator navigation checks when armed 2021-10-28 12:06:31 -04:00
Silvan Fuhrer
e715e6c245 Fixed-wing position control: set yaw_sp to yaw_current instead of nav_bearing when not controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 14:35:00 +03:00
Silvan Fuhrer
b53808d11b fixed-wing: set yaw_sp to yaw_current instead of 0 when not controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 14:35:00 +03:00
RomanBapst
eee5f501cd navigator: fix flyaway when altitude change is commanded without a valid 
triplet

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
RomanBapst
bf6a47ba6a navigator: cleanup of set_loiter_item 
Unwraps the set_loiter_item() to solve the issue where the altitdue setpoint
in a MC takeoff wasn't correctly used.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
Silvan Fuhrer
cb78ba34d7 Mission: for tangential loiter exit, set current position setpoint typ to position 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 11:01:13 +03:00
Silvan Fuhrer
4b21c0c49e Fw Pos C: always reset pos_sp type from LOITER to POSITION if far away 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 11:01:13 +03:00
RomanBapst
d678e792cc mission_block: don't require an exiting heading when loitering if the next 
waypoint is within the loiter radius of the current waypoint

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
Michael Schaeuble
5e1f62e9d0 Add option to warn the pilot in case of strong magnetic interference but still allow arming. 
This PR changes the COM_ARM_MAG_STR parameter to accept values. If the parameter is set to 2, the check is performed and a warning is logged but the vehicle can still arm.
 2021-10-27 09:59:18 +02:00
Beat Küng
48344c6e2a state_machine_helper: add missing 'break' (no behavior change) 2021-10-27 08:03:55 +02:00
dagar
a2801bab80 [AUTO COMMIT] update change indication 2021-10-26 14:39:58 -04:00
bresch
d0f89f7fff ekf2: refactor wind reset functions 2021-10-26 10:18:56 +02:00
bresch
456dfcb4b9 ekf2: update getter for true airspeed 2021-10-26 10:18:56 +02:00
bresch
3927c183de ekf2_test: adjust airspeed unit test 
an airpseed of > 2m/s is required to start the fusion (set by param)
fw mode is also required

Given the larger estimated windspeed after those changes, the change of
static pressure is larger and the height estimate takes more time to
reach the final value
 2021-10-26 10:18:56 +02:00
bresch
6e8f0e92ff ekf2: refactor airspeed fusion control logic 2021-10-26 10:18:56 +02:00
bresch
8873e92c7c ekf: force fallback to baro if GPS is stopped while in GPS height mode 
Otherwise, no height aiding source is used
 2021-10-26 10:05:28 +02:00
bresch
0a140ec59a ekf2_test: add GPS height to baro fallback 2021-10-26 10:05:28 +02:00
bresch
f4c21cedd9 ekf2_test: use motion_planning for dynamic yaw emergency test 2021-10-25 18:06:38 -04:00
bresch
340a2caa8e ekf2_test: use motion_planning library 
The VelocitySmoothing class from the motion_planning library is used to
generate trajectories in order to test the EKF convergence during motion
 2021-10-25 18:06:38 -04:00
bresch
6ec9ab11f2 add fw auto-tune module to board configs 2021-10-25 13:41:31 +02:00
bresch
95e2941b17 fw att: inject system identification signal to controller 2021-10-25 13:41:31 +02:00
bresch
6af0856558 add FF to FW rate controllers 2021-10-25 13:41:31 +02:00