This adds support for the TI LP5562 RGB LED driver.
Things to note:
- The driver is initialized in simple PWM mode using its internal clock,
for R,G,B, but not for W(hite).
- The chip doesn't have a WHO_AM_I or DEVICE_ID register to check.
Instead we read the W_CURRENT register that we're generally not using
and therefore doesn't get changed.
- The current is left at the default 17.5 mA but could be changed using
the command line argument.
Datasheet:
https://www.ti.com/lit/ds/symlink/lp5562.pdf
Signed-off-by: Julian Oes <julian@oes.ch>
The entire logic did not work for the case when the throttle channel is
reversed because then QGC sets trim = max for that channel and
the result is only half the throttle range.
set_vtol_transition_item sets the params of the mission item directly
to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't
for other NAV_CMDs. So make sure that whenever we use it, we then in
the next step reset the touched mission_item fields.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* refactored uncommanded descend quadchute
- use fixed altitude error threshold
- compute error relative to higest altitude the vehicle has achieved
since it has flown below the altitude reference (setpoint)
* disabled altitude loss quadchute by default
* altitude loss quadchute: added protection against invalid local z
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Transitions in Stabilized mode are done manually, the pilot controls the pitch angle
and if it's above the threshold the transition is declared finished (plus airspeed
check for front transition). Thus we can't have fixed thresholds but need to link
them to the actual max pitch angle in Stabilized mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
We currently fuse 0 as airspeed rate measurement, and thus simply low-pass
filter the airspeed measurements. Testing has shown that the current default
on the airspeed rate measurement noise is set to low, and thus the airspeed
mesurement is filtered too much.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
A VTOL plane in MC mode has no yaw setpoint during takeoff because of
weather-vane. To align for the front transition, the yaw target jumps
and caused a step in the controller, making it reach saturation.
With this commit, the previous yaw setpoint is set to the current yaw
when no yaw setpoint is sent in order to create a smooth yaw trajectory
starting at the current orientation when yaw target is suddenly finite.
The yawspeed filter also now contains the yaw speed instead of dyaw in
order to prevent chattering due to dt jitter.
The API is cleaner if the control_data is const reference and the device
compid is an explicit output argument.
Signed-off-by: Julian Oes <julian@oes.ch>
The resets in the modes (eg Loiter mode) are not active yet, so manually
set rep->current.cruising_speed = -1.f if not already in the same flight mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
When we fall back to another link, we are already doing a uORB copy when
checking the data. Therefore, we should further down use/send that data
instead of overwriting it immediately.
Signed-off-by: Julian Oes <julian@oes.ch>
I don't think it makes sense to slow down switching RTCM injection to
once every 5 seconds. If we don't have corrections, we should check and
use whatever we get as soon as possible.
Signed-off-by: Julian Oes <julian@oes.ch>
We need to reset the instance after looping through all instances.
Otherwise, we are left with the last instance if none is valid but have
not updated the _selected_rtcm_instance which is what is logged.
Therefore, this change fixes the logged RTCM instance.
Signed-off-by: Julian Oes <julian@oes.ch>
Matthias Grob