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Commit Graph
16349 Commits
Author SHA1 Message Date
Matthias Grob 935423b563 ManualControl: start to distinguish rc arming methods 2021-03-04 10:41:21 +01:00
Matthias Grob c16b48fd2c Commander: Replace manual_control_setpoint use 2021-03-04 10:41:21 +01:00
Matthias Grob 49c240f49e Commander: simplify rc arming disabling logic 2021-03-04 10:41:21 +01:00
Matthias Grob ca3bfb5ea1 ManualControl: simplify multicopter manual thrust logic 2021-03-04 10:41:21 +01:00
Matthias Grob a796903e21 ManualControl: fix arm button use case 2021-03-04 10:41:21 +01:00
Matthias Grob 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
Matthias Grob 00a4133042 ManualControl: make members private again 2021-03-04 10:41:21 +01:00
Matthias Grob ee2d408edc Commander: move rc availability to ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob 0e1f1a9f57 Commander: use parameters directly in ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob dda895c94b Commander: split out rc override logic into ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob 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
Matthias Grob 3d87982bba Commander: reintroduce last stick position 2021-03-04 10:41:21 +01:00
Julian Kent cdadfabccc Bring back RC throttle override with a parameter to disable it 2021-03-04 10:41:21 +01:00
Matthias Grob 28b89b024f MulticopterPositionControl: fix Takeoff ramp use 
- guard against NAN speed_up limit as input to ramp see #14339
- allow negative speed_up limit for ramp to work
 2021-03-03 18:53:56 +01:00
Daniel Agar 0eb327743e move min/max distance to ground limits to FlightTask ManualAltitude 2021-03-03 18:53:56 +01:00
Daniel Agar ecd5e57ab5 remove debug 2021-03-03 18:53:56 +01:00
Daniel Agar 0ada59e57b ekf reset remove NAN checks 2021-03-03 18:53:56 +01:00
Daniel AgarandMatthias Grob 7a7d316a32 Update src/modules/mc_pos_control/PositionControl/CMakeLists.txt 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel AgarandMatthias Grob 87f835710b Update src/modules/flight_mode_manager/FlightModeManager.hpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel AgarandMatthias Grob c891db19f9 Update src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar 266ea377da move takeoff state machine flight_mode_manager -> mc_pos_control 2021-03-03 18:53:56 +01:00
Daniel Agar c9a2d0ed34 IMU_GYRO_RATEMAX set system default to 400 Hz 
- MC default is still 800 Hz
 2021-03-02 10:08:49 -05:00
Kalyan Sriram b257f9d1fd actuator: add support for MAV_CMD_DO_SET_ACTUATOR 
Adds support for using the MAVLink command MAV_CMD_DO_SET_ACTUATOR to
update the actuator values on control group 3 aux{1, 2, 3}. A simple
deconfliction with rc_update is implemented: when a MAVLink command is
sent, RC is disabled for that channel until a major stick movement is
detected.
 2021-03-02 12:41:02 +01:00
Beat Küng ada05165f1 mc_pos_control_params: fix param descriptions for negative values 2021-03-02 08:29:58 +01:00
Daniel Agar 0ba1bc0ce1 MPC_POS_MODE remove old metadata and explicitly handle invalid configuration 2021-03-01 09:10:11 +01:00
Daniel Agar 9d0c966b15 sensors: publish sensor_selection initially regardless of SENS_IMU_MODE 
- in multi-EKF mode the EKF selector becomes repsonsible for sensor
selector rather than the sensors module
 - this updates the sensors module to still make the initial primary IMU
selection on startup before the EKF selector (including if the
estimators never fully initialize)
 2021-02-27 20:19:05 +01:00
Daniel Agar 9d47f7ecda simulator: make first accel/gyro simulated FIFO 2021-02-26 18:40:37 -05:00
Matthias Grob c2151cb4fa Commander: remove unused arm mode command residue 2021-02-26 07:38:02 -05:00
Daniel Agar 94bcda7c57 navigator: poll mission to run feasibility checks immediately 2021-02-26 10:28:49 +01:00
Daniel Agar fd1fff89d4 dataman: remove flash backend 2021-02-26 00:28:48 +01:00
Daniel Agar a63e25f581 mavlink: GPS_GLOBAL_ORIGIN on by default, but only send on change or when requested 2021-02-25 12:43:30 -05:00
garfieldG 8db37225d6 Added rc.mavlink_override to test the new parameters with sitl 2021-02-25 08:52:38 -08:00
garfieldG 3cd9b3c2cf Added support in Mavlink Ethernet channel parameters 
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
 2021-02-25 08:52:38 -08:00
Daniel Agar b66a9629e0 ekf2: update to latest ecl with new global origin helpers 2021-02-25 10:43:07 -05:00
Daniel Agar 6482120d9a sensors/vehicle_angular_velocity: use full raw FIFO data (sensor_gyro_fifo) if available 2021-02-25 10:06:17 -05:00
Beat Küng 46b9acac6d mag_calibration: fix typo 2021-02-24 17:27:31 +01:00
Beat Küng 836c7c6575 StickAccelerationXY: brake a bit faster 
The drag is based on max_acc/max_vel, which means that increasing the
maximum velocity leads to slower braking (at the same starting speed).

Especially a combination of small max_acc (slow responsiveness) with high
max_vel led to an exceedingly high braking distance.
This improves that while still being smooth.
 2021-02-24 17:27:31 +01:00
Beat Küng 1be4163506 mc_pos_control_params: increase velocity limits a bit 
I hit those on my vehicle
 2021-02-24 17:27:31 +01:00
Beat Küng ad9688e63c mc: remove unused param definitions MPC_JERK_MIN and MPC_DEC_HOR_SLOW 2021-02-24 17:27:31 +01:00
Beat Küng 14bf9cf753 mc: add SYS_VEHICLE_RESP param to configure vehicle responsiveness 2021-02-24 17:27:31 +01:00
Daniel Agar 5f3e883f2c sensors/vehicle_imu: vehicle_imu_status include accel/gyro full raw FIFO sample rate 2021-02-24 08:13:53 -05:00
Nicolas MARTIN d65d06f82d SIH/gps: express gps position noise in meters and reduce noise value 
Previous horizontal position noise was a white Gaussian noise with std=0.8m
It results in a noise with high frequencies too high making some ekf
position tests fail (test ratio to allow arming).

The new noise values are below real GPS errors but as theses errors are
generally low frequency, so they cannot be modeled with a white noise.
 2021-02-23 13:27:28 -05:00
Nicolas MARTIN 80a73ab5b5 SIH: add distance sensor fault simulation 2021-02-23 12:57:40 -05:00
Nicolas MARTIN ab41319009 SIH: add distance sensor 2021-02-23 12:57:40 -05:00
brad112358 d53fcb0bab mavlink: use RADIO_STATUS to regulate parameter sending 2021-02-22 18:57:29 -05:00
Daniel Agar 7cc4aa6fe2 vtol_att_control: fix code style 2021-02-22 12:09:39 -05:00
Nicolas MARTIN 50ec809fdf SIH: add mag offset from parameters 
An absolute value superior to 10000 block mag publication
 2021-02-22 11:56:16 -05:00
Nicolas MARTIN 8f54dc402d SIH: add baro offset (or pressure change) from parameters 
An absolute value superior to 10000 block barometer publication
 2021-02-22 11:56:16 -05:00
Nicolas MARTIN 1df63cb6b1 SIH: add gps fix loss simulation from parameters 
A new parameter allows to change the SIH number of gps satellites used
If it is below 4, fix is lost
 2021-02-22 11:56:16 -05:00
Sander Smeets a8a9832b59 Allow new modes for forward thrust 2021-02-22 11:18:49 -05:00