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Author SHA1 Message Date
Silvan Fuhrer cd080289c6 FW attitude controller: constrain rates correctly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer 15c95a7b6a FW attitude controller: improve readability and fix euler rate sp vs. body rate sp 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Silvan Fuhrer e0a998e6ad FW attitude controller: remove unused control_input.scaler 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim 33d068cfb2 Added feedforward terms in fw att control 2022-08-19 09:40:48 +02:00
Jaeyoung Lim 958c61dbba Populate rate control setpoints properly 2022-08-19 09:40:48 +02:00
JaeyoungLim 6f24f4cd1c Update src/modules/fw_att_control/fw_att_control_params.c 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-19 09:40:48 +02:00
Jaeyoung Lim dcff481219 Map derivative gains for rate controls 2022-08-19 09:40:48 +02:00
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
Thomas Debrunner 44a18acd51 Fix race condition in px4io serial driver (#20005) 
* px4io: prevent memory corruption on corrput io data

* px4io_serial: Prevent race between handling wait timeout case and interrupt posting semaphore
 2022-08-18 17:46:47 +02:00
bresch 02c4e0361c MCPosControl: fix horizontal anti-reset windup algirithm 
Since the horizontal and vertical velocity controllers are now
decoupled, it can be that the horizontal acceleration produced by the
controller is actually greater than the desired one (by design). This
condition would actually make the ARW run "backwards", degrading the
controller performance.
 2022-08-18 14:19:10 +02:00
mcsauder 87a5705960 Rename math::gradual() to math::interpolate() and add unit tests to cover additional corner cases. 2022-08-18 14:18:02 +02:00
bresch 021b23826d wind_replay: allow estimated local vel and GNSS vel sources 
local vel by default, set --gnss to use GNSS vel instead
 2022-08-18 14:09:23 +02:00
bresch be6acb0a68 wind_est: add python script to replay wind estimator equations 2022-08-18 14:09:23 +02:00
bresch 4d21c90cbb wind_est: generate wind estimator equations for python use 2022-08-18 14:09:23 +02:00
Kalyan Sriram deb938fcea drivers/uavcan: update libuavcan 2022-08-16 11:05:51 -04:00
Daniel Agar 1c72f86761 Update src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp 
Co-authored-by: Kabir Mohammed  <kabir@corvus-robotics.com>
 2022-08-16 08:40:43 -04:00
Daniel Agar 49d87f1907 adis16470: fix accel and gyro scaling 2022-08-16 08:40:43 -04:00
bresch 616b5689ba Python: move symforce to optional requirements 
symforce requires python 3.8 which isn't available by default on ubuntu
18.04.
 2022-08-15 21:14:07 -04:00
Silvan Fuhrer a7a8daaf4d ROMFS: tiltrotor sitl config: some small tuning improvements in hover 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-16 02:48:44 +02:00
Silvan Fuhrer 771dbf9395 ROMFS: tiltrotor sitl config: adapt CA params to new output indexes 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-16 02:48:44 +02:00
Silvan Fuhrer 09f83016c9 update sitl_gazebo (tiltrotor index fixes) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-16 02:48:44 +02:00
Junwoo Hwang d7a962b426 mavlink: fix PX4_DEBUG message formats 2022-08-12 09:43:12 +02:00
Junwoo Hwang 0c218e6628 atl/mantis-edu: enable mavlink ftp 2022-08-12 09:43:12 +02:00
Silvan Fuhrer ffb8fb4383 Allocation: add SteeringWheel type control surface 
Directly use yaw controls for it, and don't add it to the allocation matrix,
as that would have an effect on rudder scaling if the wheel also would have
a yaw effectiveness.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Silvan Fuhrer 9e18b351bc Allocation: add Single Channel Aileron to CS types 
This is the control surface type for airframes that have only a
single aileron servo or have the ailerons on a single output channel.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Silvan Fuhrer c6d1b1f50f Allocation: add A-tail servo type 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-08-12 09:43:12 +02:00
Beat Küng f454dcef6b ROMFS: set control allocation parameters for airframes 
Removes some airframes:
- 1000_rc_fw_easystar.hil
- 10015_tbs_discovery
- 10016_3dr_iris
- 10018_tbs_endurance
- 13001_caipirinha_vtol
- 13002_firefly6
- 13003_quad_tailsitter
- 13004_quad+_tailsitter
- 13005_vtol_AAERT_quad
- 13006_vtol_standard_delta
- 13007_vtol_AAVVT_quad
- 13008_QuadRanger
- 13009_vtol_spt_ranger
- 13012_convergence
- 13050_generic_vtol_octo
- 14001_tri_y_yaw+
- 14002_tri_y_yaw-
- 15001_coax_heli
- 2105_maja
- 2200_mini_talon
- 3031_phantom
- 3032_skywalker_x5
- 3033_wingwing
- 3036_pigeon
- 3100_tbs_caipirinha
- 4003_qavr5
- 4009_qav250
- 4019_x500_v2
- 4030_3dr_solo
- 4031_3dr_quad
- 4051_s250aq
- 4072_draco
- 4080_zmr250
- 4090_nanomind
- 4100_tiltquadrotor
- 50003_aion_robotics_r1_rover
 2022-08-12 09:43:12 +02:00
Beat Küng 4d60fadc05 ROMFS: set control allocation parameters for sitl airframes 
Removes some airframes:
- if750a
- solo
- iris_ctrlalloc
- typhoon_h480_ctrlalloc
 2022-08-12 09:43:12 +02:00
Beat Küng f2db7b8deb control_allocator: hide motor positions for fixed-wings 
should not be set for now
 2022-08-12 09:43:12 +02:00
Beat Küng 923a90d78b control_allocator: set default control surface type to (not set) 
Before it was set to left aileron, but the torque values were all 0.
 2022-08-12 09:43:12 +02:00
Beat Küng 720cf5a485 config: enable dynamic control allocation by default (SYS_CTRL_ALLOC=1) 2022-08-12 09:43:12 +02:00
Oleg 6ea3c6a7d2 mavlink_ftp: fix to correctly trim reply messages 
Clear any not used payload data to correctly trim mavlink ftp message reply to avoid sending long ACK and NACK messages.
 2022-08-12 08:53:33 +02:00
David Sidrane cd971948da NuttX Backport critical F7 Ethernet issues 2022-08-12 08:22:55 +02:00
Matthias Grob 1f81101994 mc_att_control_main: do not jump throttle scaling when taking off 
2fbb70d9ca made the lowest possible
throttle value commanded by stick in Stabilized mode before taking off 0.
The real world problem with this is that when takeoff is detected then
the entire throttle scaling range jumps from
[0, MPC_MANTHR_MIN]
to [MPC_MANTHR_MIN, MPC_MANTHR_MIN].
As a result whenever MPC_MANTHR_MIN is not zero there is a thrust jump
on every takeoff just at the moment takeoff is detected even when the
stick is moved continuously.

Because of this I suggest to revert to having a higher throttle value
from the beginning on because it's less complicated and there's
no obvious value in starting out with zero thrust if anyways not
possible to go back to zero for safety once takeoff is detected.
 2022-08-11 14:18:54 +02:00
Matthias Grob 5b1b6f6080 mc_att_control_main: use gradual() for throttle curve rescale without hover thrust 2022-08-11 14:18:54 +02:00
Matthias Grob 7cb6a47714 TIME_ESTIMATE_TO_TARGET: fill unsupported fields with value representing unavailability 2022-08-11 07:27:04 +02:00
bresch 7996a1a70f ekf2: reset ekf preflight checks on takeoff correctly 
Using the control status flags isn't robust as this part of the code
runs at the EKF update rate while the in_air transition is don at the
prediction rate. It was then likely to miss the transition
 2022-08-10 16:52:28 +02:00
marcirsch a8b342722e mavlink_main: Add TIME_ESTIMATE_TO_TARGET stream to config, onboard, and onboard_low_bandwidth modes 
Signed-off-by: marcirsch <marcell@auterion.com>
 2022-08-10 09:13:58 +02:00
marcirsch 4bf6ebf4c3 TIME_ESTIMATE_TO_TARGET: Populate TIME_ESTIMATE_TO_TARGET MAVLink message with the estimated time to RTL 
mavlink_messages: Added newly created MAVLink stream
mavlink_main: Enabled stream

Signed-off-by: marcirsch <marcell@auterion.com>
 2022-08-10 09:13:58 +02:00
Daniel Agar 7f2fea1cca mpu9250: try all I2C addresses if not manually specified 2022-08-09 13:06:40 -04:00
Jaeyoung Lim d4b77a6172 Update sitl gazebo submodule 2022-08-09 16:35:27 +02:00
Jaeyoung Lim ea5b1be2d4 Disable rear motors tilt for tiltrotor SITL airframe 
This commit disables the rear motor tilt on the tiltrotor SITL airframe
 2022-08-09 16:35:27 +02:00
Jukka Laitinen c7aaf52fd4 Double the allocated stack size of 64-bit NuttX built-in modules 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-08-09 08:08:54 +02:00
Daniel Agar 7c809f034d replay: ReplayEkf2 disable parameter auto save 
- not needed and silences a startup error
 2022-08-08 21:27:47 -04:00
Daniel Agar 34dee09b74 ekf2: replay fixes, don't use HRT for timeout checks 
- this interferes with current ekf2 replay where the latest IMU sample
is effectively the current timestamp
 2022-08-08 21:27:47 -04:00
Daniel Agar 1c49a4349f ekf2: force skip multi-EKF config if replay is enabled 2022-08-08 21:27:47 -04:00
Daniel Agar 66b55d9d0a ekf2: fix yaw estimator velocity accuracy 
- additionally require GPS speed accuracy is within EKF2_REQ_SACC
 2022-08-08 21:27:01 -04:00
bresch d9d127a237 lightware dist sensor: set min range based on datasheet 2022-08-08 19:32:44 -04:00
Daniel Agar 0bce1ef573 drivers/imu: new TDK IIM-42652 IMU support 2022-08-08 13:51:39 -04:00
Thomas Stastny 0ea347a5c9 fw pos ctrl: fix the touchdown offset on flare, and nudge the wheel directly 2022-08-08 09:32:44 +02:00