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24,812 Commits 852 Branches 161 Tags
d6a2002505dfd93a25cefbbfe3257e9faf0b6df8
Commit Graph
15935 Commits
Author SHA1 Message Date
ChristophTobler b41c471090 accelsim/gyrosim: fix seg fault if not enough arguments 
happens with 'accelsim/gyrosim -R'
 2017-10-05 07:18:20 +02:00
ChristophTobler 6843155357 gpssim: fix seg fault if not enough arguments 
happens with e.g. 'gpssim -f'
 2017-10-05 07:18:20 +02:00
ChristophTobler 2436a27848 gpssim: use px4_getopt 2017-10-05 07:18:20 +02:00
David Sidrane bed4714cfe kinetis:adc fix typo vailid->valid (#8054) 
Fix typo on master
 2017-10-04 08:05:18 -10:00
David Sidrane 86389930be drv_sensor:Part number changed to fxos8701cq 2017-10-04 04:49:35 -10:00
David Sidrane b363b794b1 fxos8700cq:Part number change fxos8701cq 2017-10-04 04:49:35 -10:00
David Sidrane e1496a6d57 kinetis:io_timer Added SYC on CCR setting 
Fixes error in fmu test "servo 0 readback error, got 900
                          expected 1002"
 2017-10-04 04:49:35 -10:00
David Sidrane b6c15d7223 nxphlite-v3:Manage Spektrum power & bind 2017-10-04 04:49:35 -10:00
David Sidrane e11b08aa68 nxphlite-v3:ADC 12 use bit 2017-10-04 04:49:35 -10:00
David Sidrane 3e863dff5d nxphlite-v3:ADC digital USB connected 2017-10-04 04:49:35 -10:00
David Sidrane 7a0254d9f3 nxphlite-v3:Use BOARD_HAS_CONTROL_STATUS_LEDS 2017-10-04 04:49:35 -10:00
David Sidrane 1615d5642e kinetis:drv_io_timer ensure the Mod register is updated 2017-10-04 04:49:35 -10:00
David Sidrane 99dc1b17e2 nxphlite-v3:Add PWM RGB LEDs 2017-10-04 04:49:35 -10:00
David Sidrane 36d4619045 nxphlite-v3:Define RGB LED timer assignments 2017-10-04 04:49:35 -10:00
David Sidrane 9c7fd0ab9c nxphlite-v3:Use LED D9 and D10, remove RGB LEDs (going to PWM) 2017-10-04 04:49:35 -10:00
David Sidrane f68da76701 kinetis:PWM LED driver 2017-10-04 04:49:35 -10:00
David Sidrane e11af2bc27 fmu:Add PWM6 mode for nxphlite v3.5 2017-10-04 04:49:35 -10:00
David Sidrane 2eaf0c8c0a fxos8700cq:Drop SCLK to 1 Mhz 2017-10-04 04:49:35 -10:00
David Sidrane 812128d565 nxphlite-v3:V3.5 HW changes 2017-10-04 04:49:35 -10:00
Beat Küng dd98ed565e protocol_splitter: fix type comparison 2017-10-04 14:13:14 +02:00
ChristophTobler ec61ae0003 ekf2: add some comments 2017-10-04 13:11:11 +02:00
Beat Küng 8016d69ba4 mavlink_log_handler: set current_log_filep to NULL after closing the file 
It probably did not cause further issues, except that fclose() was called
on an invalid file handle later on.
 2017-10-04 07:33:47 +02:00
Beat Küng 2dd34d639d commander: ignore internal commands during calibration 
if vmount was enabled in mavlink mode, it was continuously sending mavlink
commmands, which lead to 'command denied during calibration: 205' messages
during calibration.
 2017-10-03 07:50:27 +02:00
Beat Küng 29e85edac8 Revert "param MPC_MAN_TILT_MAX: decrease maximum from 90 to 85 degrees" 
This reverts commit d6df692b7a.

The changes to attitude controller improve this a lot.
 2017-10-01 15:36:21 +02:00
Beat Küng 98893c9f4f mc_att_control params: increase max roll/pitch/yaw rates to 1800 
If you want to go to the limit of what the vehicle can do, you need to be
able to set it so large that it is guaranteed that it's never limited by
software.

Tests showed that it's not a problem to increase it to very high numbers.
 2017-10-01 15:36:21 +02:00
Beat Küng f5d9155ab2 mc_att_control params: reduce default max acro rates from 360 to 120 deg/s 
360 is too fast if you just want to hover. Next step is to add expo(),
so that we still have fine-grained control at the center and high rates
at the edges.
 2017-10-01 15:36:21 +02:00
Beat Küng 55da07d3c4 mc_att_control: fix computation of yaw weight for attitude control 
Previously, the yaw weight was based on the tilt angle of the attitude
setpoint (R_sp(2, 2) == cos(tilt angle)). This makes no sense, it means
the weight is low for high tilt angles even if there is no roll-pitch error
at all.

This patch changes the weight computation to be based on the tilt angle
error: the yaw weight is 1 if there is no roll-pitch error (independent
from current tilt angle), and is reduced for higher tilt angle errors.

The weight was added in 05e9a30573, without any explanation or
derivation of how and why the weight is chosen that way.

However this patch works much better in practice. The yaw control is
improved, though it can be a bit slow to converge if you do continuous &
fast roll-pitch motions (which is expected).
 2017-10-01 15:36:21 +02:00
Beat Küng 2f1ca409b7 mc_att_control: add more comments to the code, better explaining what it does 
No semantic changes.
 2017-10-01 15:36:21 +02:00
Beat Küng 69b1bfca6c mc_att_control: fix yaw feedforwarding 
The feedforwarding was applied in the wrong frame: the term is given in
global coordinates, but was directly applied to body coordinates. This
patch adds the missing transformation from global to body frame.

In addition, it moves the feedforwarding before the rate limitation, so
that we cannot exceed the configured rates.
 2017-10-01 15:36:21 +02:00
Beat Küng 2cc18d2d52 mc_att_control: move the board_rotation computation to the parameters_update 
It's not necessary to do this computation in each loop iteration.
 2017-10-01 15:36:21 +02:00
Beat Küng 27f020af05 mc_att_control: remove the hardcoded max throttle limit of 0.9 for ACRO 2017-10-01 15:36:21 +02:00
José Roberto de Souza 0d5480e540 driver: ll40ls: Correctly instantiate with the right parameters (#8032) 
It was setting the rotation value to the I2C slave address
causing it to not be successfully probe.

Changing the constructor paramters order instead of
just fix line instantiating to keep consistency with
the other lidars and sonars.
 2017-09-29 20:25:09 -04:00
David Sidrane a9bd3aeb85 Fixed typo usb_vaild -> usb_valid 2017-09-29 10:46:50 -10:00
Daniel Agar 9ce3412a93 NuttX board build not needed (#8029) 2017-09-29 06:48:25 -10:00
Daniel Agar 352d65a14a navigator delete unused attitude setpoint (#8028) 2017-09-29 11:51:00 -04:00
Daniel Agar 3ac6d1aa27 px4fmu-v2 and px4fmu-v3 boards cleanup 2017-09-29 10:13:51 -04:00
Daniel Agar 2113772443 improve nuttx verbose build 2017-09-29 10:13:51 -04:00
Daniel Agar 48f1e3ed1c uORB generation move to msg/ 2017-09-29 10:13:51 -04:00
Lorenz Meier f9c9890a49 EKF2: Add minimal stack for M7 targets 2017-09-29 10:13:51 -04:00
David Sidrane e967e02c4d HW Rev & Ver:0 for no value, -1 for not supported 2017-09-29 10:13:51 -04:00
David Sidrane 7698c08eb7 HW Rev & Ver:0 for no value, -1 for not supported 2017-09-29 10:13:51 -04:00
David Sidrane 7ae999ecb3 HW Rev & Ver:0 for no value, -1 for not supported 2017-09-29 10:13:51 -04:00
David Sidrane 13c4a6cced HW Rev & Ver:0 for no value, -1 for not supported 2017-09-29 10:13:51 -04:00
David Sidrane 0b70a8cc44 px4fmu-v5:Add FMUv5 HW revision and version 2017-09-29 10:13:51 -04:00
David Sidrane 8451cb324e board_common: Add BOARD_HAS_HW_VERSIONING control 2017-09-29 10:13:51 -04:00
David Sidrane 04f7a7a47a stm32:Add board Revision and version API for FMUv5 HW detection 2017-09-29 10:13:51 -04:00
David Sidrane d4892bf179 stm32 adc:Create board accessible API for using the ADC prior to boot 
board_adc_init()    - initalise the ADC HW once.
   board_adc_sample()  - read a given channel dn
 2017-09-29 10:13:51 -04:00
David Sidrane f3e925497d board_common:Break into internal and public api. 
Internal functions are public functions that should realy only
   be called by the board config.
 2017-09-29 10:13:51 -04:00
David Sidrane 9cc7148211 board_common:Documentation clean up merged 2017-09-29 10:13:51 -04:00
David Sidrane 7dc8f215f6 samv7 board identity:fix sign-compare 2017-09-29 10:13:51 -04:00