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2428 Commits

Author SHA1 Message Date
Daniel Agar
2e2ac36cab
drivers/uavcan: make firmware server available on both CAN1/CAN2 always (if enabled) 
- uavcan firmware server no longer shuts down when arming (nodes might restart in flight)
 - always handle UAVCAN parameters with or without the FW server active
 - remove legacy ESC enumeration in FW server
 2022-01-10 11:13:02 -05:00
Daniel Agar
daa925137c boards: move default battery calibration defines to parameter defaults 2022-01-10 09:49:36 -05:00
romain-chiap
4264ec992d Update 1101_rc_plane_sih.hil 
This bugged me for a while, the sih FW would not takeoff from the ground. Now, I found it!
 2022-01-05 16:18:53 -05:00
Matthias Grob
bbb04ab4b8 Remove relaying of maximum altitude through land detector 2022-01-05 14:54:59 +01:00
Daniel Agar
7df1721d32 ROMFS: rcS disable simplistic SD I/O test 
- this was added when trying to identify SD card issues at boot and
trigger a format, but didn't provide any value
 2022-01-01 18:43:27 -05:00
Daniel Agar
990d7c159d pwm_out: cleanup and prep for linux compatibility 2021-12-28 11:04:00 -05:00
Silvan Fuhrer
1ad66e606b ControlAllocation: introduce convention for control surface deflection sign 
- horizontal control surfaces: up=positive deflection
- vertical control surfaces (rudder): right=positive deflection
- mixed (V-Tail): up=positive deflection

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng
203e253dfe airframes: sitl boat: switch to dynamic control allocation 2021-12-24 20:06:13 -05:00
Beat Küng
8486ca5766 airframes: sitl cloudship: switch to dynamic control allocation 2021-12-24 20:06:13 -05:00
Silvan Fuhrer
07306c4be3 control_allocator: add support for Tailsitter VTOL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng
d688e5dee4 sitl airframes: add control allocation config to some airframes (not enabled) 
To use them, manually set SYS_CTRL_ALLOC
 2021-12-24 20:06:13 -05:00
Beat Küng
2362feddac airframes/uuv_bluerov2_heavy: switch over to control allocation 2021-12-24 20:06:13 -05:00
Beat Küng
43e15148f6 rover: switch sitl configs to control allocation 2021-12-24 20:06:13 -05:00
Beat Küng
70e46a194f control_allocator: major refactoring & additions 
- allow effectiveness matrix to select control allocator method
  (desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
  to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
 2021-12-24 20:06:13 -05:00
Beat Küng
230aae580f ROMFS: add control_allocator to all types 2021-12-24 20:06:13 -05:00
Daniel Agar
14c2225b1c ROMFS: rcS dump parameter backup contents before using 
- this is mainly for debug comparion
 2021-12-23 17:45:50 -05:00
Thomas Debrunner
43bc6db99e PPS capture: Add a param to enable / disable PPS capture module. This is important, since it takes over an FMU pin which can no longer be used for actuator output. 2021-12-17 07:56:08 +01:00
Igor Mišić
298a8c4637 boards/fmu-v5x: allocating PPS pin 
- start pps_capture before pwm_out
 2021-12-17 07:56:08 +01:00
Daniel Agar
ca3f6f59f9 dataman: add SYS_DM_BACKEND parameter 2021-12-10 09:10:02 -05:00
Daniel Agar
1f6acd0171 parameters: add simple backup and restore mechanism 2021-12-06 09:37:08 -05:00
Daniel Agar
e692f4ca01 ROMFS: rcS param import fail try to gather data 
- startup tune and console message to notify user
 - save dmesg and param bson copy to microsd
 - run param dump to show full contents of bson
 2021-12-06 09:37:08 -05:00
Julian Oes
7c0165ea0c ROMFS: avoid setting none params 2021-12-02 11:40:26 -05:00
Julian Oes
f537b30c86 init.d-posix: exit on error 
This fixes a case where the px4 startup is not stopped when the
px4 process is killled using -SIGKILL against the px4 deamon.
In that case, the currently executing command/client is killed
and properly shutting down with result -1, however, the next command
is started anyway.

This means that the next time we try to run the simulation we get a
"PX4 daemon already running for instance 0" error and PX4 doesn't start
properly.

By adding exit on error, we properly exit in the case where the startup
script gets stopped/killed.
 2021-12-02 11:40:26 -05:00
Silvan Fuhrer
42845d6c6e SITL configs VTOL/plane: improve SITL tuning a bit 
remvoe some tecs params from configs that acutally lead to worse performance than defaults

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-26 09:24:23 -05:00
Daniel Agar
c049c26ac5 ROMFS: rcS attempt to format SD if .format file exists 2021-11-25 13:11:45 -05:00
Beat Küng
2809dd8944 control_allocator: remove min/max/scale params 2021-11-23 12:40:22 -05:00
Beat Küng
f99c2617ad control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults 2021-11-23 12:40:22 -05:00
Beat Küng
dbc889a2ae rc.mc_apps: remove 'param set MPC_USE_HTE 0' for control allocation 
this is working now
 2021-11-23 12:40:22 -05:00
Silvan Fuhrer
e596607e2e minor comments update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-23 14:48:51 +01:00
Daniel Agar
f5d9b01f5c
NuttX build in place 
- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
    - slightly faster skipping necessary copying (depending on system)
    - allows debugging in place
    - easier to work directly in NuttX following official documentation
    - simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
 - the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
 - also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
 2021-11-15 18:47:38 -05:00
Julian Oes
4a5ef1c81e ROMFS: whitespace 2021-11-09 16:05:25 +01:00
Julian Oes
eeb7682fd9 ROMFS: start manual_control for SITL 2021-11-09 16:05:25 +01:00
Daniel Agar
2d816e0b3e [WIP] manual_control selector hacks 2021-11-09 16:05:25 +01:00
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
Jaeyoung-Lim
5dcaadf492 Fix px4vision defaults 2021-10-25 16:29:52 -04:00
bresch
55f0860c31 fw atune: add fixed-wing auto-tuning module 2021-10-25 13:41:31 +02:00
Thomas Debrunner
f4a85fa951 rcS: Allow startup files to be located on SD card 2021-10-19 14:08:38 -04:00
mcsauder
21163d859e Whitespace cleanup. 2021-10-19 13:29:26 -04:00
Daniel Agar
b08f20806b ROMFS: rcS don't play startup tune until after UAVCAN and px4io 
- fixes potential duplicate startup tune
 2021-10-18 21:37:09 -04:00
Beat Küng
e36a8f3765 ROMFS: disable vtol airframes for kakutef7 2021-10-18 18:45:19 -04:00
Beat Küng
ab1d76ae7d params: use PWM_MAIN_* instead of PWM_FMU_* 2021-10-18 18:45:19 -04:00
Beat Küng
838ec5d485 airframes: set output function params for ctrlalloc airframes 2021-10-18 18:45:19 -04:00
Beat Küng
a01cf2efc0 rc.mc_apps: allow to set COM_PREARM_MODE with control allocation 
This is safe now.
 2021-10-18 18:45:19 -04:00
Beat Küng
c1e5e666f0 pwm_out, dshot: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng
38fa65a47e control_allocator: remove direct mixer, add actuator_{motors,servos} instead 2021-10-18 18:45:19 -04:00
Beat Küng
a51c465b54 control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets 2021-10-18 18:45:19 -04:00
mcsauder
a732ddaefb Deprecate 4250_teal from CMakeLists.txt. 2021-10-13 17:25:18 -04:00
mcsauder
c1b0d78077 Minimize flash by migrating MIXER quad_x and PWM_OUT 1234 to rc.mc_defaults. Deprecate 4250_teal config file. 2021-10-13 17:25:18 -04:00
Jaeyoung-Lim
e2f048f608 Add sitl glider model 
Add airframe configs for SITL glider model

This commit adds an airframe config for a glider model
 2021-10-10 12:33:25 -04:00
bresch
d1a2d6e1aa h480_ctrlalloc: tune rate controller 2021-10-08 09:35:40 +02:00