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Author SHA1 Message Date
Roman 29c5c25f47 fix bug in the logging app: 
- either sensor combined or the replay topic where copied into
the union buffer but at times the memory was overwritten by other
topics which updated below
- this change makes sure that the two topics are copied into the union
buffer at the correct location in the code
 2016-04-27 21:40:07 +02:00
Roman b1b8ab62a3 updated ecl ekf 2016-04-19 13:25:41 +02:00
Roman c6668cae6c provide ekf2 with eas2tas factor 2016-04-19 11:20:57 +02:00
Roman f5730dc7b5 updated ecl ekf 2016-04-19 11:19:36 +02:00
Roman cf7145c8d9 calculate large error rotation correclty in attitude controller 2016-04-18 18:44:14 +02:00
Roman f7c0518a61 log pitch setpoint after modifying it 2016-04-11 14:56:50 +02:00
tumbili db2a53d95d added parameter to allow scaling the forward thrust used to acclerate forward 
in multirotor mode
 2016-04-11 14:56:50 +02:00
tumbili 34fe340864 added parameter for maximum allowed standard vtol down pitch 2016-04-11 14:56:49 +02:00
Roman e11d4ae302 standard vtol: 
implement moving forward using pusher
 2016-04-11 14:56:49 +02:00
Roman 65d491cafc ekf2: update airspeed fusion (not yet active) 2016-04-05 21:37:36 +02:00
Roman 42a5be5afe replay cleanup 2016-04-05 21:24:11 +02:00
Roman f3e147f57b make replay faster 2016-04-05 21:24:11 +02:00
Roman 1ce99e3b96 ekf2 replay: some cosmetics 2016-04-05 21:24:11 +02:00
Roman bd4a0e30de ekf2 replay: allow user to change parameters 2016-04-05 21:24:11 +02:00
tumbili 2f48317a9e ekf2: publish indicated airspeed in control state topic 2016-03-31 14:03:42 +02:00
tumbili ff338d8920 set mavlink data rate for snapdragon 2016-03-30 18:05:48 +02:00
Roman 99723975a6 ekf2 replay: apply parameter values from log at the beginning 2016-03-30 07:45:54 +02:00
tumbili 07246efef9 added snapdragon rc pwm driver 2016-03-27 12:40:10 +02:00
Roman 77697c586f write flow innovations and flow innovation variances to replay log 2016-03-13 17:47:56 +01:00
Roman 7a6a09f1a1 ekf2_replay: support parsing a uint32_t 2016-03-13 17:47:56 +01:00
Roman 89ace03133 ekf2_replay: added support for flow and range data 2016-03-13 17:47:56 +01:00
Roman 8e1b824ecb ekf2 app: only copy flow and range into replay message if they updated 2016-03-13 17:47:56 +01:00
Roman 37079dc743 sdlog2: 
added separate replay messages for flow and range
 2016-03-13 17:47:56 +01:00
Roman 4965926392 make ekf2 replay app work with sparse gps data 2016-03-13 17:47:56 +01:00
Roman 06ffd59f17 sdlog2: only log gps replay data if updated 
Conflicts:
	src/modules/sdlog2/sdlog2.c
 2016-03-13 17:47:56 +01:00
Roman 181a5fd60d ekf2 app: only publish gps in replay if updated 2016-03-13 17:47:56 +01:00
Roman 5abd11c6b9 fixed rebasing issues 2016-03-13 17:47:56 +01:00
tumbili 030b544dd7 removed UART read experiment for now 2016-03-10 17:06:01 +01:00
tumbili e80fb86b42 uart_esc: made sending motor commands to pixhawk work 
- experimented with reading rc data from uart but this fails
- mixer loading works
 2016-03-10 16:41:48 +01:00
tumbili 3867e7709d added uart_esc app to dsp startup script, this will output 
serial data on the snapdragon ESC connector (J13)
 2016-03-10 16:31:51 +01:00
tumbili 8463dddb8c strip comments from quad x mixer file because else it fails to load on Snapdragon 2016-03-10 16:31:34 +01:00
Roman a62046625b mc_pos_control: only reset position setpoint if we are not in rotary wing mode 2016-03-07 21:14:41 +01:00
tumbili 2d2b0a2d43 mc pos: in auto mode reset the position to current position. Velocity controller ensures continuous attitude setpoint 2016-03-04 08:45:13 +01:00
tumbili 9297a02ac2 move code which clears the pos and alt hold flags to the correct place. 
this should fix the problem of the jump in the altitude setpoint when
switching into altitude hold mode.
 2016-03-04 08:45:13 +01:00
tumbili 989a4a0984 mc pos control: 
-when switching into vel control mode (xy) choose vel sp such that attitude
setpoint is continuous
 2016-03-04 08:45:13 +01:00
tumbili b1a890f0cd updated ecl 2016-03-03 10:56:23 +01:00
Roman 68e45057a0 sdlog: compute logging rate correctly 2016-03-01 21:35:36 +01:00
tumbili 7d893703d7 ensure suitable PWM min/max/disarmed param values for multirotor and vtol 2016-03-01 09:45:42 +01:00
tumbili 457dc6a0a4 vtol defaults: use parameters for pwm values 2016-03-01 09:36:23 +01:00
tumbili 413f63ab93 Caipiroshka: set correct MAV_TYPE, set correct pwm output channels 2016-03-01 09:21:59 +01:00
tumbili b88a8baa76 log replay topic correctly 2016-02-29 10:27:05 +01:00
tumbili f25702c29f increased default logging to 100Hz 2016-02-29 09:51:55 +01:00
tumbili aa130b1b03 added missing parenthesis to fix logging 2016-02-29 09:51:36 +01:00
Roman bdf373c897 final cleanup 2016-02-27 11:51:05 +01:00
tumbili 3ab6fe7edd do not allocate unnecessary memory in logging app 2016-02-27 11:51:05 +01:00
tumbili 36e3600809 take into account laneded and armed flag for ekf2 replay 2016-02-27 11:51:05 +01:00
tumbili 2e40d4d4fd sdlog2: log attitude in replay mode for consistency checks 2016-02-27 11:51:05 +01:00
tumbili b98602df8b sdlog2: 
increase stack size and fix indentation
 2016-02-27 11:51:05 +01:00
tumbili 527f9886f9 ekf2 app: 
- support use of replay
 2016-02-27 11:51:05 +01:00
tumbili d73e3a7318 start sdlog2 app with different arguments in replay mode 2016-02-27 11:51:05 +01:00
tumbili e0a489a749 added ekf2 replay message 2016-02-27 11:51:05 +01:00
tumbili ec803a650e sdlog2 replay: 
- added PRIO_BOOST parameter to avoid log data loss
- added replay mode which disabled logging of uneeded topics
- run mainloop based on polling of either sensor_combined or replay topic
depending on mode
- log ekf2_replay topic
 2016-02-27 11:51:05 +01:00
tumbili 7da3c6ceaa sdlog2 messages: 
- added ekf2 replay message
 2016-02-27 11:49:49 +01:00
tumbili 652fb5e99e ekf2 app: 
- support use of replay
 2016-02-27 11:48:31 +01:00
tumbili 35d573e12a added ekf2 replay module 2016-02-27 11:48:31 +01:00
tumbili 3e8b2c4ad1 better PWM_MIN defaults for 250 airframes 2016-02-25 17:04:51 +01:00
tumbili efe9344fc2 removed text from generic quav250 startup script because it was interpreted as a command 2016-02-19 14:37:26 +01:00
tumbili 228a54fd51 - fixed bad pitch setpoint in fw pos controller for tailsitter 
- created enum for vtol types
- minor cleanup and fixes
 2016-02-18 18:55:56 +01:00
tumbili 4c61b05ef3 tailsitter, tiltrotor: 
- use the transition trust when waiting for TECS to kick in
after transition
 2016-02-18 18:55:56 +01:00
Roman 59a571d22f TECS: 
- do not run TECS for VTO which are in rotary wing mode
- reinitialise TECS the first time we start using it again
 2016-02-18 18:55:56 +01:00
tumbili fa52aa322a VTOL: pull up generic setpoint publishing 2016-02-18 18:55:56 +01:00
Roman 1da686b125 TECS: 
- do not run TECS for VTO which are in rotary wing mode
- reinitialise TECS the first time we start using it again
 2016-02-18 18:55:56 +01:00
tumbili b7919e0039 initialise all tecs class members 2016-02-18 17:07:09 +01:00
tumbili c1e1d0b031 put TECS init bug to rest: 
the uncostrained demanded pitch was never initialized which
could lead to large initial pitch integral values
 2016-02-18 16:29:04 +01:00
Roman 2a556f91ed added autoconfig gains for caipiroshka 2016-02-16 22:57:09 +01:00
Roman f11a619bf8 multirotor landing: 
prevent sudden thrust setpoints when vehicle has reached ground
after landing
 2016-02-16 10:26:13 +01:00
Roman 15b0baf555 ekf2: fixed call to save parameter 2016-02-15 12:52:49 +01:00
Roman 1d5cf70e83 implemented vtol weathervane yaw control for landing and loiter mission item 2016-02-15 09:49:24 +01:00
Roman 8c2eec6161 use correct struct names for virtual topics 2016-02-15 09:48:37 +01:00
Roman 80f8fcbdf6 implemented vtol weathervane yaw control for landing and loiter mission item 2016-02-15 09:48:37 +01:00
Roman be0f680863 orb topic messages: 
-added flag to enable weathervane yaw control for vtol
-added comment to keep virtual topics and original topic identical
 2016-02-15 09:48:37 +01:00
Roman 11df8168ee provide ekf2 with landed flag from landing detector 2016-02-14 21:26:47 +01:00
Roman 2177c0e18a ekf2: remove unused print functions 2016-02-14 20:51:01 +01:00
Roman 38ecec86f7 mc pos control: 
do not run takeoff code when disarmed
 2016-02-11 16:53:35 +01:00
tumbili f8f208dbe6 vtol: reset multirotor positon and altitude 
when not in rotary wing mode
 2016-02-08 11:09:11 +01:00
Roman fcf642fe4e fixed bad formating of ekf2 CMakeFile 2016-02-05 18:28:32 +01:00
Roman fdc0ef00b3 fix TECS logging 2016-02-05 17:14:10 +01:00
Roman c75cc75d25 ekf2 module: be consistent in constructor 2016-01-31 22:28:19 +01:00
Roman f35e3335be - only use takeoff strategy when in auto mode 
- after jumped takeoff set previous vel setpoint such
that thrust setpoint is continuous
 2016-01-27 11:47:41 +01:00
Roman ba169ce0b5 do not do jumped takeoff if already in air 2016-01-27 09:55:47 +01:00
Roman c9b1fb154d hotfix: 
multirotors shouldn't use tailsitter recovery code.
 2016-01-26 13:29:53 +01:00
Roman 0102e47708 for multicopter landings make sure that the copter moves 
to the landing waypoint first before the descending phase starts
 2016-01-22 18:27:13 +01:00
tumbili 7a8ef6c0e4 elc ekf2: 
support logging
 2016-01-22 14:24:36 +01:00
Roman c185a12c8e log ekf2 innovations and innovation variances 2016-01-22 14:24:36 +01:00
Roman 21f7641e8d log ekf2 estimator status 2016-01-22 14:24:36 +01:00
Roman 67eed88767 added message for ekf2 innovations message 2016-01-22 14:24:36 +01:00
Roman 7a8adaa591 multirotor landinging sudden fall protection: 
remove condition which made activation of the protection
very unlikely
 2016-01-22 11:51:38 +01:00
tumbili 93a9032f87 ekf2: parameter cleanup 2016-01-22 11:40:35 +01:00
tumbili b6cf1b54f9 ecl ekf2: added default parameter values 2016-01-22 11:40:35 +01:00
Roman 7817924aef multirotor takeoff: 
instead of altering the velocity setpoint for the vehicle to takeoff
use the thrust setpoint directly. this does not depend on the tuning of
the velocity loop.
 2016-01-21 10:18:13 +01:00
Roman e6d2d17109 initialise topic structs properly 2016-01-21 07:25:18 +01:00
Roman Bapst 93042eccb6 Merge pull request #3550 from PX4/level_horizon 
fix level horizon feature:
 2016-01-20 15:22:39 +01:00
tumbili afb01e6d9a fix level horizon feature: 
allow attitude to settle for a while if changes to the board rotation
parameters are done
 2016-01-20 13:46:50 +01:00
Roman Bapst efd7e202f7 Merge pull request #3518 from PX4/mc_checks 
multirotor mission feasibility checks:
 2016-01-17 15:43:53 +01:00
tumbili 07fafc4913 multirotor mission feasibility checks: 
make sure that the relative altitude of the takeoff waypoint is
at least one meter higher than the acceptance radius of the waypoint.
This makes sure that the takeoff waypoint is not reached before the vehicle
is at least one meter in the air.
 2016-01-17 13:09:28 +01:00
Roman Bapst 0db264bc79 Merge pull request #3519 from PX4/mc_pos_quick_fix 
quick fix:
 2016-01-15 23:29:15 +01:00
tumbili be1db2ced5 quick fix: 
Remove throttle non-increase condition for landing since this has lead to
quads falling out of the sky.
 2016-01-15 16:15:27 +01:00
Roman Bapst b26fc1f089 fix waypoint handling in position control 2016-01-14 18:30:30 +01:00
tumbili 0d1872f223 support building standard vtol plane in SITL gazebo 2016-01-14 16:07:01 +01:00
tumbili 5fb6c75a2a added mixer for standard quad vtol plane in SITL gazebo 2016-01-14 16:07:01 +01:00