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46 Commits
Author SHA1 Message Date
Jaeyoung-Lim f2877ce585 Replace rate controller with RateControlLibrary 
This commit makes the fw attitude controller take share the rate controller as a library with the mc_rate_control module
 2022-08-19 09:40:48 +02:00
Hamish Willee e6eed43648 Spelling errors (#19935) 2022-07-27 14:33:16 +10:00
Daniel Agar 8f8615e6c2 delete CBRK_RATE_CTRL 2022-07-20 01:14:53 -04:00
Jaeyoung-Lim 55eed0e125 Remove multirotor mixer include from MC Ratecontro; 
This commit removes multirotormixer includes since it is not being used
 2022-07-03 19:20:19 -04:00
Matthias Grob 5df266cedc MulticopterRateControl: use constructor to copy thrust setpoint array 2022-06-07 11:45:59 -04:00
Beat Küng 99a329f937 mc_rate_control: pass through 3D thrust 2022-06-04 07:40:29 +02:00
Beat Küng 016b8aeb35 MulticopterRateControl: fix thrust sign for acro 
Regression from fbc109436f
 2022-05-24 15:03:17 +02:00
mcsauder 6b0788ff46 Standardize variable naming and formatting across vehicle attitude controller files. 2022-05-21 12:22:18 -04:00
Matthias Grob fbc109436f MultiCopterRateControl: refactor setpoint naming 2022-05-06 04:12:18 -07:00
Daniel Agar 6135bb384b cleanup module callback registration failed errors 2022-03-23 20:44:50 -04:00
Jukka Laitinen 9449ed6e66 Add support for protected build in drivers, systemcmds and modules Kconfig 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-18 07:58:58 +01:00
Beat Küng a81f11acdd mc_rate_control: don't publish thrust + torque sp if vtol 2021-12-24 20:06:13 -05:00
Beat Küng 4ba84d56c9 logger: introduce optional topics 
The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.

This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
 2021-11-15 09:02:03 -05:00
bresch d47f9f155a MC mixer: replace multirotor_motor_limits by control_allocator_status 
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix

MCRateControl: use control_allocator_status to get saturation info
 2021-11-09 10:35:10 -05:00
Matthias Grob fabf865411 Use backwards compatible manual_control_setpoint instead of manual_control_input 2021-11-09 16:05:25 +01:00
Matthias Grob 21739c6937 MulticopterRateControl: Add event for landing gear retraction when landed 2021-11-09 16:05:25 +01:00
Matthias Grob 820ba07d4b Fix landing gear processing 2021-11-09 16:05:25 +01:00
Julian Oes 42af44700b mc_rate_control: always allow landing gear control 
Except of course when landed and we try to put it up.
 2021-11-09 16:05:25 +01:00
Julian Oes 6a6b8d49fc msg: re-use manual_control_input in setpoint 
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
 2021-11-09 16:05:25 +01:00
Julian Oes 97d01f200e commander: move manual_control and switches out 
This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
 2021-11-09 16:05:25 +01:00
bresch 927c0c4296 McRateControl: publish torque and thrust setpoint for control allocator 2021-10-08 09:35:40 +02:00
Peter van der Perk d5e3e9a7bc [Kconfig] Decompose Kconfig, now each module has its own Kconfig 
Which is better for versioning and decomposability
 2021-10-07 10:09:01 -04:00
bresch d504b49695 mc_rate: compute control energy and publish to status msg 2021-10-02 18:12:05 -04:00
Matthias Grob b824f33ae9 battery: publish measured values also when battery not connected 2021-07-01 14:24:38 +02:00
Daniel Agar 5493d96d17 mathlib: merge LowPassFilter2p, LowPassFilter2pArray, and LowPassFilter2pVector3f 
- fix reset for direct form 2
 - push NAN checks out to filter users
 2021-05-31 10:26:45 -04:00
Beat Küng 629f7ba15b params: ensure short description is only a single line 
So a UI can display it properly
 2021-03-23 12:55:11 -04:00
Daniel Agar dff975698e mc_rate_control: delete unused _landing_gear_pub 2021-03-09 10:47:00 -05:00
Daniel Agar cc3c6f63e5 mc_rate_control: simplify manual_control_setpoint update 2021-03-09 10:47:00 -05:00
Daniel Agar bb12fce66c delete RATTITUDE flight mode 2021-03-09 10:47:00 -05:00
Daniel Agar d0c9a5fc93 OFFBOARD mode architecture overhaul (#16739) 
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
 - FlightTaskOffboard not needed at all
 - bypass position_setpoint_triplet entirely (start removing extraneous fields)
 - simplify offboard_control_mode to map to supported control modes
 2021-03-05 09:39:46 -05:00
Lorenz Meier cc11fb2818 Multicopter rate controller: Protect for full throttle scaling 
PX4 supports -1 to 1 as input and this module was not protected against the input range.
 2021-02-14 11:17:28 +01:00
Daniel Agar 967d35a6b6 rate limit most parameter_update subscriptions 
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
 - limit modules from updating faster than once per second
 2021-01-10 21:09:15 -05:00
Daniel AgarandMatthias Grob ef6209ba03 new manual_control_switches msg (split out of manual_control_setpoint) (#16270) 
- split out switches from manual_control_setpoint into new message manual_control_switches
 - manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
 - simple switch debounce in rc_update (2 consecutive identical decodes required)
 - manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
 - manual_control_setpoint publish at minimal rate unless changing
 - commander handle landing gear switch for manual modes
 - processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
     - a future step will be to finally drop mode_switch and accompanying switches entirely

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2020-12-11 12:11:35 -05:00
Daniel Agar 27f23ac290 move initial sensor priority to parameters and purge ORB_PRIORITY 
- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
 2020-08-21 10:12:13 -04:00
Daniel Agar c5eb084236 mc_rate_control: use angular velocity timestamp for dt 2020-08-10 10:51:52 -04:00
Matthias Grob e9eae1bd76 Refactor: Name manual_control_setpoint the same way everywhere 2020-06-22 12:06:27 -04:00
Daniel Agar 31fe7af454 selectively increase optimization -Os -> -O2 
- targetted at modules/libraries that benefit without drastically
increasing flash usage
 - ignored on boards with CONSTRAINED_FLASH set
 2020-06-04 20:59:52 -04:00
Daniel Agar 093e9ba1ce mc_rate_control: use vehicle_angular_acceleration topic instead of differentiating 
* mc_rate_control: use vehicle_angular_acceleration topic
* IMU_DGYRO_CUTOFF change default to 30 Hz
* improve IMU_DGYRO_CUTOFF param documentation (updated from MC_DTERM_CUTOFF)
 2020-03-12 15:07:03 -04:00
Silvan Fuhrer 6c8f39c5d8 MC rate controller: limit K and P values of PID controller to in pitch and roll (#14210) 2020-02-23 11:45:07 +01:00
Daniel Agar 21a8d7db7f WorkItem modules: Run() shouldn't be public 2020-01-22 12:03:03 -05:00
Matthias Grob 904ab16558 Fix trailing whitespace, EOF newline, indentation 2019-12-09 13:22:19 +01:00
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
Daniel Agar 75da6e351b mixer: organize by type 2019-11-22 16:48:10 -05:00
Daniel Agar 79dc676c8f mixer: move MixerGroup out of Mixer hierarchy and delete mixer.h header 2019-11-22 15:00:25 -05:00
Daniel Agar 84fe64b1c2 create new multicopter rate controller module (mc_rate_control) split out of mc_att_control 2019-11-19 17:03:11 -05:00