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cc3c6f63e5acb997d5025632be21095aaa264432
Commit Graph

22530 Commits

Author SHA1 Message Date
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 d37510a43d update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields 2021-03-09 10:36:34 -05:00
Daniel Agar bd1c575ce8 lib/sensor_calibration: add simple offset and scale sanity checks 2021-03-09 09:27:21 -05:00
Peter van der Perk c4ab2797eb Added the notion of BaseSubscriber which allows to 
subsscription for services responses and request and helps the usage of fixed
port subscribers Furthermore move register autconfigure logic from Uavcan.cpp
to NodeManager
 2021-03-09 14:35:50 +01:00
CUAVcaijie 9f9b01504d Modify the way to clear Data 2021-03-09 11:00:03 +01:00
David Jablonski 063bb75891 simulator: fix lidar sensors 2021-03-08 21:27:39 -05:00
Matthias Grob c96d9a79b8 mc_att_control_params: remove frequency unit from attitude gains 2021-03-08 11:14:01 -05:00
Daniel Agar cbb2fa440b sensors/vehicle_angular_velocity: only allocate dynamic notch perf counters if enabled (IMU_GYRO_DYN_NF) 2021-03-08 10:35:48 -05:00
Daniel Agar 68c171fd4f land_detector: continue respecting hover thrust throughout descent 2021-03-08 11:33:36 +01:00
Jaeyoung-Lim 1fa08c3997 Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR 
Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR
 2021-03-07 20:31:24 -05:00
Paul Riseborough 4465c4fbf6 ekf2: Publish and log EKF warning and information events (NEW msg estimator_event_flags) 
* msg: Add estinator information and warning events message (estimator_event_flags)
 * ekf2: publish information and warning events
 * logger: log estimator_event_flags
 * update ecl submodule to latest

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-03-07 16:16:48 -05:00
Peter van der Perk 18a8d89fa4 PNP fixed allocation scheme 
Fixed register scheme
Incrased wq:uavcan stack since it overflowed when sending register response
 2021-03-07 21:49:05 +01:00
Peter van der Perk 28c76663cd UAVCANv1 Move PNP from UAVCAN.cpp to NodeManager.cpp 2021-03-07 21:49:05 +01:00
Daniel Agar 35488337d3 mc_pos_control: add OFFBOARD takeoff intent 2021-03-07 11:04:17 +01:00
Daniel Agar 263b00b65f ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage 
- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
 2021-03-05 18:25:14 -05:00
Nicolas MARTIN 66beffa2f3 Enable pre-arm checks in HIL modes 
by airframe parameters HIL mode will still disable:
 - usb check
 - power checks
 - safety switch
 2021-03-05 21:23:31 +01:00
CarlOlsson b4b424bf7d tecs: also fix the bug in update_vehicle_state_estimates() 2021-03-05 19:44:20 +01:00
CarlOlsson 0f461f7f60 TECS: Fix internal state init if dt is large 2021-03-05 19:44:20 +01:00
Matthias Grob 114e85d260 MultiCopterPositionControl: hotfix emergency failsafe 
that prevents the vehicle from crashing with invalid setpoints or
states.

This broke with #16869 when the scheduling of the position control module
and the setpoint generation got independent. The failsafe mechanism assumed
the setpoint is overwirtten by the possibly infeasible input on every loop
iteration which is not the case anymore. As a result the failsafe reset its
histeresis based on the failsafe setpoint from the last loop iteration.

Keeping the failsafe_setpoint separate solves this issue. Note that
these setpoints to the bare minimum to keep the vehicle safely in the air
and do not suffer from sideffects ignoring the EKF reset.
 2021-03-05 11:29:36 -05:00
Daniel Agar fddcb73802 sensors/vehicle_angular_velocity: dynamic notch filter support ESC RPM (untested) 2021-03-05 10:56:54 -05:00
Daniel Agar d5d5b7d82e sensors/vehicle_angular_velocity: add perf counters 2021-03-05 10:56:54 -05:00
Daniel Agar 19de1e57e3 gyro_fft promote to modules and include on all boards 2021-03-05 10:56:54 -05:00
Daniel Agar 00b3b3678b sensors/vehicle_angular_velocity: gyro dynamic notch filters updated from onboard FFT 2021-03-05 10:56:54 -05:00
Daniel Agar 077afdf9aa commander: extend reliant on opt flow to ALTCTL (degraded from POSCTL) 
If you're flying in manual position control mode and lose position the state machine will put you in altitude control mode. Extending the reliant on optical flow relaxed position validity thresholds allows you to potential get back into position control mode with flow alone.
 2021-03-05 10:07:36 -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
David Jablonski 5233737a86 adjust some limits to prevent divide-by-zero 2021-03-05 10:42:19 +01:00
Matthias Grob 5bbc66f3af ManualControl: name, message, comment, const qualifier improvements 
addressing review from @bresch, @julianoes and @JonasVautherin
 2021-03-04 10:41:21 +01:00
Matthias Grob 2f39651f77 ManualControl: use current sample for timeout check 2021-03-04 10:41:21 +01:00
Matthias Grob a43a829fdf Commander: gate manual control setpoint processing on new data 2021-03-04 10:41:21 +01:00
Matthias Grob 935423b563 ManualControl: start to distinguish rc arming methods 2021-03-04 10:41:21 +01:00
Matthias Grob c16b48fd2c Commander: Replace manual_control_setpoint use 2021-03-04 10:41:21 +01:00
Matthias Grob 49c240f49e Commander: simplify rc arming disabling logic 2021-03-04 10:41:21 +01:00
Matthias Grob ca3bfb5ea1 ManualControl: simplify multicopter manual thrust logic 2021-03-04 10:41:21 +01:00
Matthias Grob a796903e21 ManualControl: fix arm button use case 2021-03-04 10:41:21 +01:00
Matthias Grob 37ea78a7ff Commander: move rc arming to ManualControl class 
Separating the different arming methods is the next step.
 2021-03-04 10:41:21 +01:00
Matthias Grob 00a4133042 ManualControl: make members private again 2021-03-04 10:41:21 +01:00
Matthias Grob ee2d408edc Commander: move rc availability to ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob 0e1f1a9f57 Commander: use parameters directly in ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob dda895c94b Commander: split out rc override logic into ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob a4da15edf5 Commander: RC override back to stick change 
Instead of deflection mainly because:
- Spring loaded throttle -> bad user experience
- Stale RC data -> Vehicle not savable
 2021-03-04 10:41:21 +01:00
Matthias Grob 3d87982bba Commander: reintroduce last stick position 2021-03-04 10:41:21 +01:00
Julian Kent cdadfabccc Bring back RC throttle override with a parameter to disable it 2021-03-04 10:41:21 +01:00
Matthias Grob 28b89b024f MulticopterPositionControl: fix Takeoff ramp use 
- guard against NAN speed_up limit as input to ramp see #14339
- allow negative speed_up limit for ramp to work
 2021-03-03 18:53:56 +01:00
Daniel Agar 0eb327743e move min/max distance to ground limits to FlightTask ManualAltitude 2021-03-03 18:53:56 +01:00
Daniel Agar ecd5e57ab5 remove debug 2021-03-03 18:53:56 +01:00
Daniel Agar 0ada59e57b ekf reset remove NAN checks 2021-03-03 18:53:56 +01:00
Daniel Agar 7a7d316a32 Update src/modules/mc_pos_control/PositionControl/CMakeLists.txt 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar 87f835710b Update src/modules/flight_mode_manager/FlightModeManager.hpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar c891db19f9 Update src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00