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Author SHA1 Message Date
Beat Küng
c665c34d2a MC stabilized: allow yaw control at 0 throttle if yaw-airmode is selected 2018-12-13 09:50:07 +01:00
Beat Küng
24dc316973 commander: enforce yaw-airmode to have an arming switch mapped 
Yaw airmode w/o arming switch is most likely not what you want and will
lead to surprising results.
 2018-12-13 09:50:07 +01:00
Beat Küng
cf66656258 mixer multirotor: add unit-tests 
To run:
cd src/lib/mixer
make tests

This will validate the C++ implementation by taking the python
implementation as ground-truth. It runs through various actuator control
command values for all airmode variations and several mixer types.

The python script also allows to prototype new mixer algorithms.

It is not integrated into the existing build system, because it's easier
to use that way, with less dependencies, and faster testing workflow.
It could however be a bit more integrated.

Reference: https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
 2018-12-13 09:50:07 +01:00
Beat Küng
c659d2bcc2 mixer: minor refactoring to reduce header include dependencies 
- avoid including <px4_defines.h> from the math headers
- avoid driver include <drivers/drv_mixer.h> from the mixer
 2018-12-13 09:50:07 +01:00
Beat Küng
8bcf54688a mixer: complete refactoring & add airmode for yaw 
Provides a more generic desaturation algorithm, making it easier to
handle the different mixer strategies.

python reference implementation:
https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation

The behavior for non-airmode and roll/pitch airmode should be the
same as before.

CPU load is slightly higher for the non-airmode case (+0.5%), for airmode
it is the same.
 2018-12-13 09:50:07 +01:00
Beat Küng
19ccab28bb mixer: use an enum for airmode 2018-12-13 09:50:07 +01:00
Beat Küng
9406fa5246 refactor mixer.h: use override keyword, fix set_airmode argument type (uint32_t -> int32_t) 2018-12-13 09:50:07 +01:00
bresch
7cc00f41d2 AirModeYaw - Change airmode type from bool to int 2018-12-13 09:50:07 +01:00
TSC21
b2fd8abf9e CI: add rostest to 'px4' and MAVROS in caktin and colcon builds 2018-12-13 02:09:31 +00:00
James Goppert
4ecb8746d6 Formatting. 2018-12-13 02:09:31 +00:00
TSC21
870c513aad readd CMAKE_RUNTIME_OUTPUT_DIRECTORY install for the posix build 2018-12-13 02:09:31 +00:00
James Goppert
78f109bbab Add ros pub test. 2018-12-13 02:09:31 +00:00
TSC21
a6121e1655 Cmake build: do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY if building with catkin 2018-12-13 02:09:31 +00:00
James Goppert
c7eb21be86 Fix catkin/ROS build paths. 2018-12-13 02:09:31 +00:00
David Sidrane
53bc357cda nxphlite-v3:SDHC setting is for EMI issue with GPS and FCC (#11029) 
This updating of the driver setting is for EMI issue with GPS and FCC.
   With this setting the clock is sinusoidal

   N.B. sd_bench fails on SanDISK HC, but Passes SanDISK **HC1** and
   Kingston cards.

   ****Use HC1 or Kingston cards!***

   Testing done on SanDISK HC all failed sd_bench with Drive/Slew other
   than default and _PIN_OUTPUT_FAST|_PIN_OUTPUT_HIGHDRIVE

	_PIN_OUTPUT_FAST|_PIN_OUTPUT_HIGHDRIVE    Square noisy, pass SanDISK HC
        _PIN_OUTPUT_FAST|_PIN_OUTPUT_LOWDRIVE     Square noisy, pass SanDISK HC
        _PIN_OUTPUT_HIGHDRIVE|_PIN_OUTPUT_SLOW    sinusoidal fail SanDISK HC, pass SanDISK HC1
        _PIN_OUTPUT_LOWDRIVE |_PIN_OUTPUT_SLOW    sinusoidal fail SanDISK HC, pass SanDISK HC1
                              _PIN_OUTPUT_SLOW    sinusoidal fail SanDISK HC, pass SanDISK HC1
 2018-12-12 20:51:57 -05:00
David Sidrane
11f9925b02 rcS,rc.serial.jinja:ensure proper unset hygiene 
Delete auto generated vars, and others that were missed.
v1.9.0-alpha 		2018-12-12 15:14:11 -05:00
Daniel Agar
f851978101
commander run preflight immediately (#11018) 
- partially addresses #11017
 2018-12-12 09:24:50 -05:00
Kārlis Seņko
c1d50d35d3 Move common shmem parameter declarations to shmem.h. 2018-12-11 09:21:15 -05:00
Kārlis Seņko
d1a1a1b9fe Use correct path when looking up df wrapper. 2018-12-11 09:21:15 -05:00
Kārlis Seņko
859b242cb8 Fix some dynamic linking errors. 
_Stof, bsearch, param_find_changed
 2018-12-11 09:21:15 -05:00
Kārlis Seņko
606bff2634 Fix paths in snapdragon upload code. 2018-12-11 09:21:15 -05:00
Kārlis Seņko
950ab879ff Make name mangling type consistent. 2018-12-11 09:21:15 -05:00
Hamish Willee
11364c0e01 Improve forcefail/terminatefail docs 2018-12-10 15:30:53 -08:00
Simone Guscetti
2c06cb71c8 FlightTask: use convetion for definition of the landing gear default value 2018-12-10 16:17:23 +01:00
Simone Guscetti
9ee3d79a96 FlightTask Manual: Gear react only on switch changes and not states 2018-12-10 16:17:23 +01:00
Simone Guscetti
f4fc0cd291 FlightTAsk AutoMapper: Adapt to new message 2018-12-10 16:17:23 +01:00
Simone Guscetti
be7416c823 FlightTask Auto: Adapt to new message and rename variable 2018-12-10 16:17:23 +01:00
Simone Guscetti
82d4cd6dfa position_setpoint: Change deploy gear to landing gear 
- Use the values from landing_gear.msg
 2018-12-10 16:17:23 +01:00
Simone Guscetti
2f7c8569cb mc_pos_ctrl: Remove gear intialisation 
- Handled in the flight task
 2018-12-10 16:17:23 +01:00
Simone Guscetti
1412e0494c FlightTask AutoMapper: Use deploy gear information 2018-12-10 16:17:23 +01:00
Simone Guscetti
66f85ff9ae FlightTask Auto: Save deploy gear information 2018-12-10 16:17:23 +01:00
Simone Guscetti
aaddb845c4 FlightTask: Add initialisation of the landing gear 2018-12-10 16:17:23 +01:00
Simone Guscetti
de185726b3 vehicle constraints: remove landing gear 
- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition
 2018-12-10 16:17:23 +01:00
Simone Guscetti
6dbed6636d FlightTasks: Add interface for landing gear 2018-12-10 16:17:23 +01:00
Simone Guscetti
bf9a18a200 FlightTask: Add interface for landing gear 2018-12-10 16:17:23 +01:00
Simone Guscetti
6938b7fe02 Rename the invered state and make namespace more clear 
- Addressing review comments
 2018-12-10 16:17:23 +01:00
Simone Guscetti
aac9221d95 msg landing_gear: change type to int8 2018-12-10 16:17:23 +01:00
Simone Guscetti
ee41e3181f mc_pos_ctrl: Replace landing gear logic 
- It takes the input from the constrains from the active flight task
 2018-12-10 16:17:23 +01:00
Simone Guscetti
163d201c28 remove the landing gear from the attitude setpoint 
- An new message is created just for the landing gear
- The old logic is repalaced by publishing this new topic
 2018-12-10 16:17:23 +01:00
Matthias Grob
e979d24fff commander: fix orbit failsafes for data link & rc loss 2018-12-08 22:34:57 +01:00
Matthias Grob
5b5d5ac6d5 mc_pos_control: let orbit task do its work 2018-12-08 22:34:57 +01:00
Matthias Grob
34fb52d8bd commander: add orbit state handling 2018-12-08 22:34:57 +01:00
Matthias Grob
77d37c5b7f msg: add orbit main and navigation state 2018-12-08 22:34:57 +01:00
Jake Dahl
21bcc0d2f4 mav_cmd_do_reposition now obeys the ground speed argument 2018-12-07 21:40:16 -05:00
Beat Küng
dc49e259b3 logger: add separate profile for vision/avoidance 
Keeps things more modular.
 2018-12-07 11:51:59 +01:00
Beat Küng
fced1ce33b logger: remove some unused logged topics in SITL 2018-12-07 11:51:59 +01:00
Daniel Agar
d42fe1826a
parameters also include all module configs when scoping disabled (#10992) 
* fixes parameters on Snapdragon
 2018-12-06 14:21:06 -05:00
Daniel Agar
0c60fff6bd vscode add lldb SITL debug launch targets 2018-12-05 18:25:58 -05:00
Daniel Agar
783267bbc3 vscode initial jlink debug launch 2018-12-05 15:58:41 -05:00
Daniel Agar
fd8fe29ef3 vscode update targets and gdb debugging 2018-12-05 15:58:41 -05:00