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39,263 Commits 852 Branches 161 Tags
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Commit Graph
166 Commits
Author SHA1 Message Date
Daniel Agar 1981519aad L1 position controller: use double precision floating point for all lat/lon 2021-02-12 21:59:56 +01:00
Silvan Fuhrer 31a6edff07 Fixed-wing: remove roll offset param (FW_RSP_OFF) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Silvan Fuhrer a70cf950f4 fw_pos_control_l1: apply pitch setpoint offset centrally 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Daniel Agar f61d8539cb fw_pos_control_l1: add takeoff minimum pitch parameter 
- remove mavlink mechanism for setting minimum pitch
 2021-02-12 13:57:15 -05:00
Daniel Agar cb7aabf932 fw_pos_control_l1: cleanup body velocity and acceleration usage 
- minimize storing unnecessary state (msg copies)
 2021-02-12 00:41:39 +01:00
Daniel Agar d1dfa26903 consume all available queued vehicle_commands 2021-01-26 12:00:18 -05:00
Silvan Fuhrer 92f2043d8b TECS: add EAS_sp to tecs_status.msg and rename other airspeeds to TAS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-23 09:34:34 -05:00
Silvan Fuhrer 5e32e9be5a TECS: rename variables and methods to make clear which are EAS and which TAS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-23 09:34:34 -05:00
RomanBapst f05599caff tecs: use speed derivative provided by local position 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer dca89763b3 TECS: apply FW_LND_THRTC_SC to altitude error time constant 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 2ca4269464 TECS: separate integral gains for throttle and pitch loops 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 01f891618b TECS: move to new control loop architecture 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 447e14906c TECS: log more TECS states to enable better analysis 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst d0e8b882a2 TECS: added alpha filter classes to energy rate and tas derivative 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 0b86c11c66 FW POS: remove setting of curr_sp to LOITER if next wp invalid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 11:58:16 +01:00
Silvan Fuhrer edaf9f2bb6 FW Position Controller: consolidate mission throttle adaptions for position and loiter waypoints 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 12:08:36 -05:00
Silvan Fuhrer b58e270fd4 FW Position Control: remove manual climbout mode trigger via pitch stick 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-16 14:41:01 +01:00
Silvan Fuhrer 5dd14dfd54 FW Position Control: re-add wrongly removed airspeed_poll() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-11 19:20:03 -05:00
Silvan Fuhrer 99833eb001 FW Position Control: remove duplicated position_sp_triplet update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-03 15:47:57 +01:00
Silvan Fuhrer 67a0e1993a FW Position controller: add option to swap throttle and pitch stick 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-02 22:49:05 +01:00
Daniel AgarandRomanBapst c01fabaf11 FW move altitude first order hold (FOH) and loiter to position special cases from navigator to position controller 
Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2020-10-06 16:57:12 -04:00
Silvan Fuhrer 8f858d95e6 Rename equivalent airspeed (EAS) to calibrated airspeed (CAS) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-10-06 09:31:58 +02:00
JaeyoungLim 0592f6ba6e Support gliding setpoints for autonomous soaring (#14643) 
* Enable offboard gliding position setpoints

Adds a capability to make the vehicle glide when given position setpoints.

Gliding setpoints are enabled by setting POSITION_TARGET_TYPEMASK_Z_IGNORE, POSITION_TARGET_TYPEMASK_VZ_IGNORE,  POSITION_TARGET_TYPEMASK_AZ_IGNORE on the typemask of position setpoints.
Include zero cruising throttle
Invalid setpoints with nan

* Handle nans for curise_throttle
 2020-09-14 10:56:29 +02:00
Jonathan HahnandJonathan Hahn 7e5e8259f3 fw_pos_control_l1: fix swapped TECS time parameters (#15685) 
Co-authored-by: Jonathan Hahn <hahn@wingcopter.com>
 2020-09-04 15:11:31 -04:00
Daniel Agar 560c22e612 fw_pos_control_l1: pass time through from run 2020-08-10 10:51:52 -04:00
Daniel Agar bdb4251fa4 fw_pos_control_l1: if using air data (baro) copy every cycle 
- vehicle_air_data won't necessary have an update every iteration and these adjusted throttle values aren't stored
 - this only would have worked in the past because the vast majority of systems were using the ms5611 barometer with a publication rate that's faster than the controller
 2020-07-17 17:14:45 -04:00
Daniel Agar 9a1ca00285 fw_pos_control_l1: replace sensor_baro with vehicle_air_data 
- controllers shouldn't be accessing raw sensor data directly
 2020-07-17 09:42:19 -04:00
Daniel Agar fa44cd5cd5 px4_work_queue: rename navigation_and_controllers -> nav_and_controllers 
- keep the thread within the current NuttX max length
 2020-07-14 09:48:47 -04:00
Matthias Grob e9eae1bd76 Refactor: Name manual_control_setpoint the same way everywhere 2020-06-22 12:06:27 -04:00
Daniel Agar 326d8efc16 move attitude controllers to new wq:attitude_ctrl 2020-04-27 21:34:35 -04:00
RomanBapst 2b276a3ad8 FixedWingPositionControl: set waypoint straight ahead for front transition 
- this fixes the case where the navigator publishes a loiter waypoint or any
waypoint which is too close to the vehicle.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-26 22:59:07 -04:00
RomanBapst b6a80253d7 run l1 during transition 2020-04-02 13:45:52 +03:00
Silvan Fuhrer 477092fa24 Fw pos control move to local pos: minimal changes to make it compile 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-03-31 15:03:23 +03:00
Daniel Agar 59a7262c31 FW use lpos 2020-03-31 15:03:23 +03:00
Daniel Agar a89b69b0ea vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz) 
* attitude_estimator_q: get velocity from local position (if available)
 2020-03-11 23:57:43 -04:00
Matthias Grob f90d3671c0 vehicle_attitude_setpoint: get rid of unused q_d_valid flag 2020-02-27 09:17:52 +01:00
Daniel Agar 3dc23afb3e fw_pos_control_l1: move to px4::params 2020-02-02 21:04:21 -05:00
Daniel Agar 6630087654 TECS: remove height rate complementary filter 2020-01-16 11:04:28 -05:00
David Jablonski 3d60ef9383 FW: Allow counterclockwise loiter 
Before, this check was always true, thus always falling back to
NAV_LOITER_RAD, which can't be negative.
 2020-01-08 12:30:50 -05:00
Daniel Agar 22a005c9f4 delete module's redundant print_status() 
- we can already get the running status from ModuleBase and the other misc information is already available through perf or uORB
 2019-11-30 18:22:19 -05:00
Daniel Agar 0cc250194d VTOL: explicitly start all FW & MC controllers in VTOL mode 2019-11-30 12:58:36 -05:00
Silvan Fuhrer ebdc29bc5f Airspeed Selector: enable airspeed_validated in control modules (#12887) 
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
 2019-11-21 14:14:25 -05:00
Daniel Agar a475d71ca9 astyle shift module documentation to bottom of files 
- Astyle chokes on the module description strings, so for now we can keep them near the bottom of each file.
 2019-11-02 10:58:47 -04:00
JaeyoungLim 71fbe58e20 fw_pos_ctrl_l1: enable loiter type offboard position setpoint for Fixedwing vehicles 
* Use NAV_LOITER_RAD when provided offboard position setpoints
 2019-10-28 17:42:27 -04:00
Daniel Agar 26364d44c9 px4_work_queue: command line status output and shutdown empty queues 
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
 * WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
 2019-10-02 12:23:17 -04:00
Daniel Agar c8e59c4e39 parameter_update use uORB::Subscription consistently 2019-09-29 10:49:03 -04:00
Daniel Agar fd67bd0680 uORB: SubscriptionCallback cleanup naming 2019-09-28 13:43:56 -04:00
Silvan Fuhrer 702c6f6df4 FW pos C: fix altitude control for VTOL/FW by also publishing attitude sp if in altitude, not only if position or velocity controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-10 13:20:07 -04:00
Daniel Agar 7162000e80 fw_pos_control_l1: update orb_publish to uORB::Publication<> 2019-09-02 16:20:44 -04:00
Jaeyoung-Lim 914417f580 Enable offboard local position setpoints for fixed wing position control 2019-08-21 12:12:29 +02:00