I'm starting the separate battery info message because no char[32] should be published and logged
at high rate and we need a separate battery info message for static information as discussed.
add RunwayControl messge to pass wheel steering controls to wheel controller
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Runway takeoff: specify that RWTO_TKOFF is directly applied during takeoff
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
msg/RateCtrlStatus: remove unused wheel_rate_integ field
The wheel rate controller is not run in the moduels that are now
running the MC/FW rate controllers, so thsi field canot be filled.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
wheel rate controller: use speed scaler quadratically on integrator
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
wheel yaw controller: use a time constant of 0.1
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
FW Attitude Controller: lock heading setpoint for wheels to initial heading
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- split up old module into two, one handling setpoint generation, one control
- add lateral and longitudinal control setpoints topics that can also be
injected from companion computer
- add configuration topics that (optionally) configure the controller
with limits and momentary settings
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* Bidirectional DShot
Co-authored-by: Julian Oes <julian@oes.ch>
* f4/f1 support, not supported
* fix f1 build target
* sanity check timer_channel value, fix CCxNP ifdef, debug stuff
* removed debug code, added define for H7 HAVE_GTIM_CCXNP
* round robin sampling for less than 4 DMA
* unlimited esc_status logging
* dshot: fix formatting
* dshot: add define for number of DMA channels to use
This allows individual boards to override the number of DShot channels
and hence avoid round robin capture of the RPM feedback.
* ARK: enable 4 DMA channels for DShot on 6X
* dshot: publish when all channels are updated
This slows down the ESC_STATUS publication in the case of round robin
capture. E.g. for 800 Hz output with one DMA channel, the ESC_STATUS is
now published at 200 Hz.
* dshot: avoid duplicate publications for bidir and telem
Instead of publishing both bidirectional dshot updates as well as
telemetry updates, we now combine the data from both streams, and
publish whenever we get RPM updates, as the latter arrives with higher
rate, e.g. 200 Hz with round robin, or faster otherwise.
When combining the data, we take RPM from bidirectional dshot, and the
rest from telemetry.
When we have only one of the two, either telemetry or bidirectional
dshot, we just publish that one.
* boards: add ark fpv and pi6x BOARD_DMA_NUM_DSHOT_CHANNELS
* dshot: turn off debug build
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Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: alexklimaj <alex@arkelectron.com>
Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default.
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Pernilla <pernilla@auterion.com>
Improve the slow down effect and add support for speed change in mission mode.
Seperate code related to turning setpoints into motor commands into its own folder and refactor code.
- new parameter EKF2_LOG_VERBOSE to enable (currently enabled by default)
- force advertise topics immediately (based on EKF2_LOG_VERBOSE and per aid source configuration)
- logger optionally log all estimator topics at minimal rate
* battery: make time remaining estimation dependent on level flight characteristis for FW
* battery: fix that FW flight is also correctly detected when vehicle_status is not updated
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FixedwingPositionControl: Move constant to header file
* flight phase estimation: use tecs height rate reference to check for level flight
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
- fake_pos only if at rest or tilt variances becomes large
- fake pos: don't run when grav fusion is enabled
- gravity fusion enabled by default
- gravity: only fuse when accel norm and lpf norm are consistent
Co-authored-by: bresch <brescianimathieu@gmail.com>
