7daa97f279
mavlink: move LOCAL_POSITION_NED to separate stream header
2021-03-11 11:46:14 -05:00
5f7d577e04
mavlink: move ESTIMATOR_STATUS to separate stream header
2021-03-11 11:46:14 -05:00
a1a557cfe3
mavlink: move VIBRATION to separate stream header
2021-03-11 11:46:14 -05:00
239ed19827
mavlink: move ATT_POS_MOCAP to separate stream header
...
- now only available on non flash constrained boards
2021-03-11 11:46:14 -05:00
3964cfb3a7
mavlink: move HOME_POSITION to separate stream header
2021-03-11 11:46:14 -05:00
f7ee6b3c5e
mavlink: move SERVO_OUTPUT_RAW to separate stream header
2021-03-11 11:46:14 -05:00
5eef9358d9
mavlink: move ACTUATOR_CONTROL_TARGET to separate stream header
2021-03-11 11:46:14 -05:00
ceb445caa0
Run mc_pos_control for acceleration control mode flag
2021-03-11 10:37:03 -05:00
8816601efb
FlightTaskManualAcceleration: fix velocity setpoint initialization
2021-03-11 00:40:27 +01:00
89b502b9a0
FlightModeManager: remove switching out of a task for every mode change
...
This was an idea to be able to reinitialize on mode change e.g. from
Holde mode to Land mode which are currently all still handled by
FlightTaskAuto and don't require a task switch.
But I found out it leads to issues because the last setpoint and the
ekf reset counter state from the previous task are lost and as a result
the setpoint transition cannot be handled consistently anymore.
2021-03-11 00:40:27 +01:00
63a35ccabd
StickAccelerationXY: fix losing the internal velocity setpoint state
...
because of a failing position unlock with NAN velocity setpoint feedback.
2021-03-11 00:40:27 +01:00
54fe0ae98c
FlightModeManager: rename updateVelocityController{IO} to {Feedback}
2021-03-11 00:40:27 +01:00
e53e001de1
Airspeed Selector: do not run checks during landing
...
Stall speed check would otherwise trigger during landing if airspeed falls below
stall speed before landing is detected.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-03-09 19:23:48 +01:00
a11d2207e4
commander: simplify failure detector is attitude stabilized check
2021-03-09 10:47:00 -05:00
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
d37510a43d
update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields
2021-03-09 10:36:34 -05:00
063bb75891
simulator: fix lidar sensors
2021-03-08 21:27:39 -05:00
c96d9a79b8
mc_att_control_params: remove frequency unit from attitude gains
2021-03-08 11:14:01 -05:00
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
68c171fd4f
land_detector: continue respecting hover thrust throughout descent
2021-03-08 11:33:36 +01:00
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
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
35488337d3
mc_pos_control: add OFFBOARD takeoff intent
2021-03-07 11:04:17 +01:00
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
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
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
fddcb73802
sensors/vehicle_angular_velocity: dynamic notch filter support ESC RPM (untested)
2021-03-05 10:56:54 -05:00
d5d5b7d82e
sensors/vehicle_angular_velocity: add perf counters
2021-03-05 10:56:54 -05:00
19de1e57e3
gyro_fft promote to modules and include on all boards
2021-03-05 10:56:54 -05:00
00b3b3678b
sensors/vehicle_angular_velocity: gyro dynamic notch filters updated from onboard FFT
2021-03-05 10:56:54 -05:00
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
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
5233737a86
adjust some limits to prevent divide-by-zero
2021-03-05 10:42:19 +01:00
5bbc66f3af
ManualControl: name, message, comment, const qualifier improvements
...
addressing review from @bresch, @julianoes and @JonasVautherin
2021-03-04 10:41:21 +01:00
2f39651f77
ManualControl: use current sample for timeout check
2021-03-04 10:41:21 +01:00
a43a829fdf
Commander: gate manual control setpoint processing on new data
2021-03-04 10:41:21 +01:00
935423b563
ManualControl: start to distinguish rc arming methods
2021-03-04 10:41:21 +01:00
c16b48fd2c
Commander: Replace manual_control_setpoint use
2021-03-04 10:41:21 +01:00
49c240f49e
Commander: simplify rc arming disabling logic
2021-03-04 10:41:21 +01:00
ca3bfb5ea1
ManualControl: simplify multicopter manual thrust logic
2021-03-04 10:41:21 +01:00
a796903e21
ManualControl: fix arm button use case
2021-03-04 10:41:21 +01:00
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
00a4133042
ManualControl: make members private again
2021-03-04 10:41:21 +01:00
ee2d408edc
Commander: move rc availability to ManualControl
2021-03-04 10:41:21 +01:00
0e1f1a9f57
Commander: use parameters directly in ManualControl
2021-03-04 10:41:21 +01:00
dda895c94b
Commander: split out rc override logic into ManualControl
2021-03-04 10:41:21 +01:00
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
3d87982bba
Commander: reintroduce last stick position
2021-03-04 10:41:21 +01:00
Daniel Agar