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34108 Commits

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Author SHA1 Message Date
Jakub Kákona
b87dd317d4
airframes: add new airframe for ThunderFly TF-G2 autogyro (#16551) 
Co-authored-by: Roman Dvorak <romandvorak@mlab.cz>
 2021-01-15 13:54:17 +01:00
Thomas
df41c99b61 make failsafe handling consistent over all VTOL types 2021-01-15 09:19:07 +03:00
Thomas
38e46ff341 Rename VtolAttitudeControl::abort_front_transition(const char *reason) to VtolAttitudeControl::quadchute(const char *reason) 2021-01-15 09:19:07 +03:00
Thomas Stauber
40fbfdc054 Undo make format change 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-01-15 09:19:07 +03:00
Thomas
83ddb77a5f delete excess empty lines 2021-01-15 09:19:07 +03:00
Thomas
b90fafd5cd Fix quadchute logic so that it also works during back transition 2021-01-15 09:19:07 +03:00
Daniel Agar
420ceb76fc cmake: NuttX generated vscode launch.json requires DEBUG_DEVICE found 2021-01-14 10:32:26 -05:00
SalimTerryLi
1ee98417f8
scumaker pilotpi updates 
* replace default mag with qmc5883l
* fix rotation and quiet startup
* fixedwing script & Multi-EKF cfg
* set default params only when initial startup
 2021-01-14 09:16:13 -05:00
Daniel Agar
52b07a932a github actions build and store cannode uavcan firmware 2021-01-14 08:52:38 -05:00
RomanBapst
96dfa7fc71 ROMFS: set cruise throttle correctly for all gazebo vtol configs 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer
0633c3956f ROMFS: improve tuning of tailsitter VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer
6104fe8932 ROMFS: improve tuning of tiltrotor VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer
2ce310925c ROMFS: improve tuning of standard VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
Daniel Agar
e96571b45d uavcannode: GPS working on cuav_can-gps-v1 
- use sensor_gps directly from sensor rather than vehicle_gps_position (aggregated value)
 2021-01-13 22:06:46 -05:00
Daniel Agar
d8e8e23947 vscode: add cuav_can-gps-v1_canbootloader variant 2021-01-13 22:06:46 -05:00
Daniel Agar
58909b208d boards: cuav can-gps-v1 add safety button and LED 2021-01-13 22:06:46 -05:00
Daniel Agar
a894ca30e8 cmake: add STM32F412CE debug helper 2021-01-13 22:06:46 -05:00
David Sidrane
529841ba7c make_can_boot_descriptor:Get padding math correct 2021-01-13 22:06:46 -05:00
David Sidrane
1ac70cc72f can-gps-v1:Correct Memory size used by app and bootloader size 2021-01-13 22:06:46 -05:00
David Sidrane
d04216aa48 Nuttx with stmf412 fixes 2021-01-13 22:06:46 -05:00
David Sidrane
618bd5978a can-gps-v1:canbootloader SAFETY is GETNODEINFO_JUMPER 2021-01-13 22:06:46 -05:00
David Sidrane
2deef30d12 canbootloader:Add 48Mhz CAN Clock Settings 2021-01-13 22:06:46 -05:00
David Sidrane
177109a1af can-gps-v1:LED Trimming 2021-01-13 22:06:46 -05:00
David Sidrane
54abd997de canbootloader:Update to use NuttX 2021-01-13 22:06:46 -05:00
David Sidrane
271f87f8d2 canbootloader:Fixed Warning 2021-01-13 22:06:46 -05:00
David Sidrane
238c28d458 SK6812 Led driver 2021-01-13 22:06:46 -05:00
David Sidrane
85bd04f0c7 can-gps-v1:canbootloader Fixed 2021-01-13 22:06:46 -05:00
David Sidrane
3e08fd6682 can-gps-v1: Removed GPIO_CAN_CTRL 2021-01-13 22:06:46 -05:00
David Sidrane
c2c92cb2c8 can-gps-v1: Added LED pin 2021-01-13 22:06:46 -05:00
David Sidrane
cdae8bf168 can-gps-v1:Fixed Clock 2021-01-13 22:06:46 -05:00
Daniel Agar
a0d8d5ac74 sensors/vehicle_gps_position: untangle and remove unnecessary state 2021-01-13 20:17:49 -05:00
Daniel Agar
bc8ec5d1f5 uavcannode: support optical_flow 2021-01-13 19:35:28 -05:00
RomanBapst
47364ce8d6 updated tuning for gazebo plane airframe config 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
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
b230bbfe88 ROMFS: remove outdated TECS parameter from configs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
RomanBapst
e546584555 tecs: moved trivial getter methods to header file 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Roman Bapst
701c105ab6 Update src/lib/tecs/TECS.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst
fa559aef43 TECS: stop learing integrator if airspeed is not available, but don't zero it 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst
d4d1c0fe01 TECS: some cosmetics 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst
97cc1e25dd TECS: hande pitch and throttle integrator saturation consistently 
- don't decay integrator during saturation but prevent it from being learned
into the direction which causes more actuator saturation

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst
77627a08ca TECS: don't allow speed height weights to be larger than one 
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
3d3ff75495 TECS: update some params to latest results from flight testing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer
3102b9f071 TECS: remove throttle integral limits 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
RomanBapst
987c320825 TECS: removed unused parameter 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst
5c4c2c240c tecs: dot not clip throttle integrator during saturation but only allow 
it to propagate into a direction which does not saturate

Signed-off-by: RomanBapst <bapstroman@gmail.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
Silvan Fuhrer
72dfb2078a TECS: adapt params to new control structure 
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