927c0c4296
McRateControl: publish torque and thrust setpoint for control allocator
2021-10-08 09:35:40 +02:00
d5e3e9a7bc
[Kconfig] Decompose Kconfig, now each module has its own Kconfig
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Which is better for versioning and decomposability
2021-10-07 10:09:01 -04:00
d504b49695
mc_rate: compute control energy and publish to status msg
2021-10-02 18:12:05 -04:00
b824f33ae9
battery: publish measured values also when battery not connected
2021-07-01 14:24:38 +02:00
5493d96d17
mathlib: merge LowPassFilter2p, LowPassFilter2pArray, and LowPassFilter2pVector3f
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- fix reset for direct form 2
- push NAN checks out to filter users
2021-05-31 10:26:45 -04:00
629f7ba15b
params: ensure short description is only a single line
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So a UI can display it properly
2021-03-23 12:55:11 -04:00
dff975698e
mc_rate_control: delete unused _landing_gear_pub
2021-03-09 10:47:00 -05:00
cc3c6f63e5
mc_rate_control: simplify manual_control_setpoint update
2021-03-09 10:47:00 -05:00
bb12fce66c
delete RATTITUDE flight mode
2021-03-09 10:47:00 -05:00
d0c9a5fc93
OFFBOARD mode architecture overhaul ( #16739 )
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- 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
cc11fb2818
Multicopter rate controller: Protect for full throttle scaling
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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
967d35a6b6
rate limit most parameter_update subscriptions
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- 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
ef6209ba03
new manual_control_switches msg (split out of manual_control_setpoint) ( #16270 )
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- 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
27f23ac290
move initial sensor priority to parameters and purge ORB_PRIORITY
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- 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
c5eb084236
mc_rate_control: use angular velocity timestamp for dt
2020-08-10 10:51:52 -04:00
e9eae1bd76
Refactor: Name manual_control_setpoint the same way everywhere
2020-06-22 12:06:27 -04:00
31fe7af454
selectively increase optimization -Os -> -O2
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- 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
093e9ba1ce
mc_rate_control: use vehicle_angular_acceleration topic instead of differentiating
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* 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
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
21a8d7db7f
WorkItem modules: Run() shouldn't be public
2020-01-22 12:03:03 -05:00
904ab16558
Fix trailing whitespace, EOF newline, indentation
2019-12-09 13:22:19 +01:00
22a005c9f4
delete module's redundant print_status()
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- 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
0cc250194d
VTOL: explicitly start all FW & MC controllers in VTOL mode
2019-11-30 12:58:36 -05:00
75da6e351b
mixer: organize by type
2019-11-22 16:48:10 -05:00
79dc676c8f
mixer: move MixerGroup out of Mixer hierarchy and delete mixer.h header
2019-11-22 15:00:25 -05:00
84fe64b1c2
create new multicopter rate controller module (mc_rate_control) split out of mc_att_control
2019-11-19 17:03:11 -05:00
bresch