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Author SHA1 Message Date
Silvan Fuhrer 3d87bfcc0a rename FW_T_CLIMB_R_SP to FW_T_CLMB_R_SP 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-06-04 14:51:27 +02:00
Silvan Fuhrer 697d713faf pwm out: disable PWM parameter update on param change 
Only update PWM params on initialisation.
Updating PWM params on param change was interfering with VTOL
parameter settings (e.g. PWM_MIN is set by VTOL at init, and
was then overwritten here after an arbitrary param change).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-06-03 00:52:05 -04:00
Silvan Fuhrer cf5e6e4133 Sensors: subscribe to differential_pressure in vehicle_air_data to calculate air density 
-constrain range to -20..35°C
-do not use temperature readings if exactly 0 (as likley not filled by driver at all in this case)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-31 09:53:47 +02:00
Silvan Fuhrer 4b42a1639b TECS: in airspeed-less mode, set airspeed estimate to cruise airspeed 
In airspeed-less mode, instead of the average of min/max airspeed, take the cruise
airspeed (from param) for current airspeed estimate. A diff of the airspeed setpoint
from this value results in increased enegery demand (incerase of throttle) even
in airspeed-less mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-28 14:25:53 +02:00
Silvan Fuhrer b7e563bdbe Airspeed selector: fix in_air_fixed_wing condition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer 596da5b7d3 Airspeed selector: use module params for FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer 2f73115b54 translate ASPD_STALL to FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer bf311ed77d addressed review comments (fixes in error message and comments) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer 63a53d48e7 FW Position controller: improve parameter sanity checks (provide more feedback) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer c8ec6b3d08 Airspeed selector: remove ASPD_STALL and replace by FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer 08dab18a8b vtol_type: in FW, set min PWM to PWM_DEFAULT_MIN instead of PWM_MOTOR_OFF 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-06 10:20:24 +02:00
Silvan Fuhrer 2c6b3eeb02 Navigator: NAV_CMD_DO_VTOL_TRANSITION: accept once in correct vtol state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-03 08:40:54 +02:00
Silvan Fuhrer 5579a1d789 Navigator: remove WORK_ITEM_TYPE_CMD_BEFORE_MOVE 
It was used to make the vehicle needing to accept the waypoint after a VTOL transition in the new VTOL mode

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-03 08:40:54 +02:00
Silvan Fuhrer 3c4b0c1b8c tiltrotor: only allow increasing tilt during first part of transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-02 21:51:09 -04:00
Silvan Fuhrer 381c97d3c6 Commander: baro check: only report failure of mandatory instances 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-04-12 09:27:12 -04:00
Silvan Fuhrer 8400f2c9bc FW attitude controller: add protection against division by zero in airspeed scaling 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-04-04 21:22:28 -04:00
Silvan Fuhrer 3983f0b833 ROMFS: add new VTOL config and mixer (generic quadplane tiltrotor VTOL) 2021-03-23 19:55:19 -04:00
Silvan Fuhrer 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
Silvan Fuhrer 0ea8104344 select single system-wide wind estimate message (current best) 
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
 - rename message wind_estimate to wind
 - publish wind from currently used ekf instance (ekf2selector)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-20 13:15:01 -05:00
Silvan Fuhrer 31a6edff07 Fixed-wing: remove roll offset param (FW_RSP_OFF) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Silvan Fuhrer a70cf950f4 fw_pos_control_l1: apply pitch setpoint offset centrally 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Silvan Fuhrer b9b9c55325 Navigator: change default of GF_ACTION to 2 (Hold) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-01 11:07:53 +01:00
Silvan Fuhrer 85d8e74609 Navigator: yaw error from param and pos_ctl_status.acceptence_rad checks before using 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer 4d6749edc2 mission_block: change loiter handling logic 
- add ability of "heading wait" for NAV_CMD_LOITER_TIME_LIMIT
- For both LOITER_TIME and LOITER_TO_ALT in fixed-wing flight, unify logic:
--> reach position --> start loitering --> reach altitude --> start timer (if applicable)
	--> reach exit heading (if applicable) --> declare mission item reached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer 5c9fac58c8 Mission: do not autocontinue if in multicopter mode and next wp has a hold time 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer f3adf6d67f mission_block: rename altitude_amsl to mission_item_altitude_amsl to make clear it's a setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer ab9d5498bc mavlink_mission: MAV_CMD_NAV_LOITER_TIME: set force_heading corresponding to param2 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer 017567792b Navigator: for loiter position acceptance, use L1 distance and loiter radius 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer acbada73dd RTL: VTOL: do the land delay loitering (RTL_LAND_DELAY) in fixed-wing flight 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 15:46:33 +03:00
Silvan Fuhrer 92f2043d8b TECS: add EAS_sp to tecs_status.msg and rename other airspeeds to TAS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-23 09:34:34 -05:00
Silvan Fuhrer 5e32e9be5a TECS: rename variables and methods to make clear which are EAS and which TAS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-23 09:34:34 -05:00
Silvan Fuhrer 4922659ef4 FW Position controller: specify in params that the airspeed setpoints are for calibrated airspeed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-23 09:34:34 -05:00
Silvan Fuhrer da7f6d06f3 AirspeedSelector: set default of ASPD_DO_CHECKS to 1 and ASPD_FS_INTEG to 5. 
That enables the sensor checks by default
The default for the innovation check integral of 5 is rather conservative, thus
makeing it less likely to be triggered by accidnet (e.g. due to bad wind estimate).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 28f9214e56 AirspeedSelector: parameter clean up and disable re-enabling if clear delay negative 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 98d057b8c9 AirspeedValidator: change logic for innovation checks 
Previously, the logic was not consistent with the description in the params.
It now, if the integral is enabled, declares innovation check failed if
integral is above threshold.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 0c2099e788 AirspeedSelector: improve messaging on airspeed sensor switches 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer aecc0aa0c3 AirspeedSelector: do checks for data stopped in airspeed selector, not validator 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 7132e674d6 AirspeedValidator: Simplify data missing check 
The data_stopped check should be independent of the innovation
and load factor check.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 083cd6f1c1 AirspeedValidator: remove unnecessary _checks_failing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 37a49dbb6a AirspeedValidator: improve readability 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 061fb9ac07 AirspeedSelector: add const 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer cd2c366e22 AirspeedSelector: remove unnecessary reboot required and Experimental comments in params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 11dbc7e17f AirspeedSelector: improve description of ASPD_FALLBACK_GW 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 0f1207dd7e AirspeedSelector: improve readability 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 195a900ecf change default of RTL_LAND_DELAY to 0 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-17 12:05:30 +01:00
Silvan Fuhrer 037c821142 ROMFS: increase max distance between waypoints for VTOL and FW to 5km 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-17 12:05:30 +01:00
Silvan Fuhrer cee4016665 Preflight checks: Airspeed checks update 
-check for valid airspeed_validated (declared valid plus updated less than 1s ago)
-added param (COM_ARM_ARSP_EN) to enable/disable check for max airspeed for arming set max
airspeed limit to half of stall airspeed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-16 10:26:55 -05:00
Silvan Fuhrer 0633c3956f ROMFS: improve tuning of tailsitter VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer 6104fe8932 ROMFS: improve tuning of tiltrotor VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer 2ce310925c ROMFS: improve tuning of standard VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer b230bbfe88 ROMFS: remove outdated TECS parameter from configs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer dca89763b3 TECS: apply FW_LND_THRTC_SC to altitude error time constant 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 3d3ff75495 TECS: update some params to latest results from flight testing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 3102b9f071 TECS: remove throttle integral limits 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 2ca4269464 TECS: separate integral gains for throttle and pitch loops 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 72dfb2078a TECS: adapt params to new control structure 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 706f806943 VTOL: standard VTOL and Tiltrotor manual MC throttle during transition 
This sets the throttle of the Multicopter actuators to the throttle stick position
while in Stabilized, Acro or Manual mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-08 10:28:00 +01:00
Silvan Fuhrer 850d0bc588 vtol_type: remvoe const from function declaration 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 15:32:00 +01:00
Silvan Fuhrer 92634e7549 RTL: during climb, set NAV_CMD_WAYPOINT for RW modes, NAV_CMD_LOITER_TO_ALT for FW 
Do not use LOITER_TO_ALT for rotary wing mode as it would then always climb to
at least MIS_LTRMIN_ALT, even if current clib altitude is below
(e.g. RTL immediately after take off)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 11:58:16 +01:00
Silvan Fuhrer 0b86c11c66 FW POS: remove setting of curr_sp to LOITER if next wp invalid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 11:58:16 +01:00
Silvan Fuhrer 55a1d090a1 RTL: use NAV_CMD_LOITER_TO_ALT for Climb state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 11:58:16 +01:00
Silvan Fuhrer 7c727edc3f Simple mixer: add output slew rate 
This adds the option to limit the rate of change (slew rate) of an output that's mixed by a simple mixer.
To enable it, a positive number has to be added at the end (6th number) of the output scaler line of the mixer,
specifying the min rise time of this output.
E.g. O:      10000  10000      0 -10000  10000 20000 for a rise time of 2s, resp. a max slew rate of 0.5s^-1.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 11:32:22 +01:00
Silvan Fuhrer 9849ff4a9c Standard VTOL: set idle PWM during backtransition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-24 09:25:08 +01:00
Silvan Fuhrer 7e01938341 VTOL: rename class variable flag_idle_mc to _flag_idle_mc 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-24 09:25:08 +01:00
Silvan Fuhrer a88b7fc517 ROMFS: Tiltrotor SITL: improve tuning and remove unnecessary params from config 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-20 21:25:50 -05:00
Silvan Fuhrer edaf9f2bb6 FW Position Controller: consolidate mission throttle adaptions for position and loiter waypoints 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 12:08:36 -05:00
Silvan Fuhrer 6d255df0a8 airspeed selector: disable beta fusion when not in fixed-wing mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 11:43:27 -05:00
Silvan Fuhrer 59564af860 wind_estimate message: add identifier for source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 11:43:27 -05:00
Silvan Fuhrer 3309bf21dd FW att C: do not lock or reset integrator if tailsitter and in hover 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-27 17:28:52 +03:00
Silvan Fuhrer efe42451b6 tailsitter_duo mixer: remove output scaling (that reduced the max deflection of the elevons) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-27 17:28:52 +03:00
Silvan Fuhrer 646b5bb578 L1: Do only check for wrong tangent_vel if in circle_mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-27 17:04:06 +03:00
Silvan Fuhrer 5382d3b8fb rc.VTOL_defaults: enable wind estimation in EKF by default and remove MPC_LAND_SPEED being, as it's just set to param default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-26 08:50:49 +01:00
Silvan Fuhrer b58e270fd4 FW Position Control: remove manual climbout mode trigger via pitch stick 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-16 14:41:01 +01:00
Silvan Fuhrer 5dd14dfd54 FW Position Control: re-add wrongly removed airspeed_poll() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-11 19:20:03 -05:00
Silvan Fuhrer 99833eb001 FW Position Control: remove duplicated position_sp_triplet update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-03 15:47:57 +01:00
Silvan FuhrerandJaeyoung-Lim d4d02f449f Improve tailsitter tuning master (#16078) 
* tailsitter SITL: improve hover tuning

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Add SITL testing for tailsitter VTOLs

This enables SITL testing for Tailsitter vehicles

Co-authored-by: Jaeyoung-Lim <jaeyoung@auterion.com>
 2020-11-02 23:41:12 +01:00
Silvan Fuhrer 67a0e1993a FW Position controller: add option to swap throttle and pitch stick 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-02 22:49:05 +01:00
Silvan Fuhrer 4ed3ecea41 lis2mdl: reduce update rate from 50Hz to 20Hz to reduce spikes 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-10-15 09:55:40 +02:00
Silvan Fuhrer 84455ac9e3 logger: increase logging rate of airspeed_validated from 1Hz to 5Hz 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-10-06 09:31:58 +02:00
Silvan Fuhrer 5a184d2f5c Commenting and formating fixes 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-10-06 09:31:58 +02:00
Silvan Fuhrer 8f858d95e6 Rename equivalent airspeed (EAS) to calibrated airspeed (CAS) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-10-06 09:31:58 +02:00
Silvan Fuhrer f8d5b09b56 airspeed: remove duplicated comments from cpp (they should only be in header) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-10-06 09:31:58 +02:00
Silvan Fuhrer 7a71cbb9bf FlightTask Auto: use yaw setpoint from Navigator if disable_weather_vane is true 
When disable_weather_vane is true, the vehicle is aligning for the transition waypoint
(VTOL) and thus the yaw setpoint from Navigator should be used.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-08-04 11:45:08 +02:00
Silvan Fuhrer 57cbf212be PreFlightchecks: remove duplicated VTOL mode prearm check 
This removes the check for the current position of the VTOL swtich, as arming is already prevented if in transition mode,
plus also if VTOL and in fixed-wing mode (unless CBRK_VTOL_ARMING is set).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-07-09 10:41:43 -04:00
Silvan Fuhrer 504794eddc VTOL: reject transition command in certain flight modes 2020-05-20 15:54:31 -04:00
Silvan Fuhrer b5cc3c4ef5 mavlink_messages: send EAS instead of IAS (#14858) 
Send equivalent_airspeed_m_s instead of indicated_airspeed_m_s for HUD on groundstation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-05-18 10:34:39 +02:00
Silvan Fuhrer 0c75385395 replace IAS with EAS in FW attitude controller (#14868) 
The EAS is the calibrated airspeed corrected with a scaling factor to account for sensor error/placement of pitot.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-05-08 10:46:24 +02:00
Silvan Fuhrer 45ebbb895a Airspeed Selector: do not run it within the first 2s after system boot 
This is to prevent a wrong (false positive) failure detection of the airspeed
shortly after system boot due to delays in driver and/or estimator startup (seen in SITL).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-05-06 12:46:22 -04:00
Silvan Fuhrer f78847b26f VTOL: Pusher assist: add configuration for enabling it in LAND /disable below some altitude (#14706) 
* VTOL type: add new parameter VT_FWD_TRHUST_EN for customizing pusher/tilt assist

Depending on the setting of this param, the pusher assist is:
-completely disabled (default)
-enabled in pos, alt and auto mode (except LAND)
-enabled in pos, alt and auto mode if above MPC_LAND_ALT1
-enabled in pos, alt and auto mode if above MPC_LAND_ALT2
-enabled in pos, alt and auto mode
(before it was always disabled in LAND mode)

-change default of VT_FWD_THRUST_SC from 0 to 0.7

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-04-28 10:44:57 +02:00
Silvan Fuhrer 172e435ec0 VTOL: add parameter to set the PWM_OUTPUT_DEVICE_PATH (#14732) 
The device path is needed to apply PWM limits on the motors that are not
used for FW flight (switch them off). With this parameter the device path can be set
to either IO or FMU, depending on whether the motors are on the IO or FMU port.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-04-22 20:42:23 +02:00
Silvan Fuhrer 4e3f65e376 disable spinup tilt sequence if spinup tilt parameter is set to 0 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-04-08 21:12:53 -04:00
Silvan Fuhrer 477092fa24 Fw pos control move to local pos: minimal changes to make it compile 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-03-31 15:03:23 +03:00
Silvan Fuhrer b9fab04adb tiltrotor: improve comments and renaming of one variable 
This is to point out that also rear motor can be used in FW flight and not only the front motors

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-03-05 11:49:42 +03:00
Silvan Fuhrer 9edb1179d0 VTOL: run vtol state update not only when mc or fw sp are updated, but always 
This change is necessary to give the pilot the ability to switch VTOL state
even if for some reason no attitude sp are published anymore.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-03-02 14:10:58 +03:00
Silvan Fuhrer 342e0da796 VTOL land detector: extend fall_detection from multicopter land detector and disable in fixed-wing mode 
Extend the get_freefall_state() from MC land detector to have a VTOL-specific
one that just enables free fall detection if in rotary wing or transition mode.
This is done to prevent wrong free-fall detected warnings while doing low-G maneuvers
(parabolic flights). Land detection is anyway disabled in FW flight for VTOL so
no logic change.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-02-14 17:46:30 +03:00
Silvan Fuhrer dad9c154a3 VTOL Land Detector: move to airspeed_validated 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-02-14 17:46:30 +03:00
Silvan Fuhrer a3710fcdef VTOL: flight task auto: disable weather vane when not stationary 
Use yawrate setpoint from weather vane only if velocity setpoint is small
(smaller than half the cruise velocity)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-02-07 16:46:29 +01:00
Silvan Fuhrer 98aee29ddc VTOL: Manual Pos Flight Task: do not use yawrate sp from weather vane if position isn't locked 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-02-07 16:46:29 +01:00
Silvan Fuhrer 9ba0d5b706 tiltrotor tilt support: fix thrust compensation constraining 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-02-07 16:43:44 +01:00
Silvan Fuhrer 4c9dba8692 VTOL type and tiltrotor: use math::constrain() for constraining 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-02-07 16:43:44 +01:00