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Author SHA1 Message Date
Beat Küng
d9bf03b2dc holybro/durandal-v1: add capture pins to list of pwm pins 2021-10-18 18:45:19 -04:00
Beat Küng
0ab4a24de8 px4/fmu-v5: add capture pins to list of pwm pins 2021-10-18 18:45:19 -04:00
Beat Küng
a01cf2efc0 rc.mc_apps: allow to set COM_PREARM_MODE with control allocation 
This is safe now.
 2021-10-18 18:45:19 -04:00
Beat Küng
21c1671693 pwm_out_sim: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng
0871b7974d uavcan_v1: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng
ae15ad14a8 tap_esc: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng
35ce6d1b73 pca9685_pwm_out: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng
955179e992 linux_pwm_out: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng
c1e5e666f0 pwm_out, dshot: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng
3ff6014a3c uavcan: implement servo outputs 2021-10-18 18:45:19 -04:00
Beat Küng
07fa8c5295 uavcan: reduce sensor status output verbosity 2021-10-18 18:45:19 -04:00
Beat Küng
49f8131f82 uavcan: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng
5f0781b6e9 output modules: add param prefix argument to MixingOutput 2021-10-18 18:45:19 -04:00
Beat Küng
f5fbcb0770 dshot: handle telemetry index correctly when dynamic mixer is used 2021-10-18 18:45:19 -04:00
Beat Küng
d951c74a7d spracing/h7extreme: use single-line comments instead of multi-lines 
Required for output_groups_from_timer_config.py parser
 2021-10-18 18:45:19 -04:00
Beat Küng
916447e804 params: add script to parse timer_config.cpp for timer group info 
This allows to generate pwm params in the form of:
module_name: PWM Output
actuator_output:
  output_groups:
    - generator: pwm
      param_prefix: PWM_FMU
      channel_labels: ['PWM Main', 'PWM Capture']
      standard_params:
        disarmed: { min: 800, max: 2200, default: 900 }
        min: { min: 800, max: 1400, default: 1000 }
        max: { min: 1600, max: 2200, default: 2000 }
        failsafe: { min: 800, max: 2200 }
      extra_function_groups: [ pwm_fmu ]
      pwm_timer_param:
        description:
            short: Output Protocol Configuration for ${label}
            long: |
                Select which Output Protocol to use for outputs ${label}.

                Custom PWM rates can be used by directly setting any value >0.
        type: enum
        default: 400
        values:
            -5: DShot150
            -4: DShot300
            -3: DShot600
            -2: DShot1200
            -1: OneShot
            50: PWM50
            100: PWM100
            200: PWM200
            400: PWM400
        reboot_required: true
 2021-10-18 18:45:19 -04:00
Beat Küng
db28ea9cfa generate_params.py: extend params 'definitions' section to support a list 
allows to add multiple entries for a multi-instance param with different
instance_start
 2021-10-18 18:45:19 -04:00
Beat Küng
6f01b69f49 mixer_module: add param generation for disarmed, min, max, failsafe 2021-10-18 18:45:19 -04:00
Beat Küng
6424faccb1 generate_params.py: fix parse_yaml_parameters_config 
Correctly handle multiple parameter sections
 2021-10-18 18:45:19 -04:00
Beat Küng
15daded6b0 refactor output_limit: split output_limit_calc_single into separate function 2021-10-18 18:45:19 -04:00
Beat Küng
c55626d2d6 refactor Tools/serial: move non-serial param generation into separate script 2021-10-18 18:45:19 -04:00
Beat Küng
a65533b469 mixer_module: add output functions for servos, landing gear, parachute, RC passthrough & gimbal 2021-10-18 18:45:19 -04:00
Beat Küng
4b37a3d017 mixer_module: generate output_functions header from yaml file 2021-10-18 18:45:19 -04:00
Beat Küng
fd76e5488e mixer_module: add output functions 2021-10-18 18:45:19 -04:00
Beat Küng
ab3fe77f46 mavlink_receiver: publish MAV_CMD_DO_SET_ACTUATOR command 2021-10-18 18:45:19 -04:00
Beat Küng
5103f00de3 vehicle_command.msg: add VEHICLE_CMD_DO_SET_ACTUATOR 2021-10-18 18:45:19 -04:00
Beat Küng
38fa65a47e control_allocator: remove direct mixer, add actuator_{motors,servos} instead 2021-10-18 18:45:19 -04:00
Beat Küng
a51c465b54 control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets 2021-10-18 18:45:19 -04:00
Beat Küng
0c5a79d84d fix mixer_module: use PRIx32 for debug printf 2021-10-18 18:45:19 -04:00
Beat Küng
ad1bcfd77c commander: correct lockdown CLI description 2021-10-18 18:45:19 -04:00
AuroraRAS
62dd38fe35 Prepare for Android NDK build 
Modify CMakeList.txt prepare for Android NDK build

Signed-off-by: AuroraRAS <chplee@gmail.com>
 2021-10-18 14:55:56 -04:00
Alex Klimaj
b482986e8e
uavcannode: Add CANNODE_TERM parameter (configure CAN termination on ARK cannodes) 
- adds functionality to enable the built in can termination on the ARK cannodes
 2021-10-15 09:29:56 -04:00
Jari van Ewijk
55910caec5 UCANS32K146: Enable CONFIG_BCH to use EEEPROM as character driver 2021-10-15 05:54:27 -07:00
Silvan Fuhrer
a66b0829b0 Standard VTOL: add airspeed to back transition logic and refactor it a bit 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer
358c67226e Tiltrotor: backtransition logic improvements 
-use groundspeed in body x for exit condition
-use airspeed for speed exit condition if no valid groundspeed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer
cba80a6338 Tiltrotor: front transition: fade out yaw equally to roll 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer
641383cbfb VTOL backtransition improvements 
* vtol_type: only allow positive pitch setpoints during backtransition

* vtol params: set default of VT_B_DEC_FF to 0, as for most frames a FF is not necessary

* Tiltrotor: fix throttle during first part of back transition

* Tiltrotor: only enable all motors in second phase of backtransition (tilting phase)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
RomanBapst
af291e2040 FlightTaskTransition: Transition improvements 
- use fw pitch setpoint offset during transition
- take over previous vertical velocity and smooth out over transition

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-15 09:58:48 +02:00
Silvan Fuhrer
d39c32619e Tiltrotor: add minimum throttle of 0.25 during front transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-15 09:58:48 +02:00
RomanBapst
f61853d428 vtol: implement throttle blending out and into transition 
- blend into TECS throttle after front transition
- blend out of TECS throttle during backtransition

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-15 09:58:48 +02:00
RomanBapst
8dd76050e0 vtol: take fixed wing attitude setpoint during transition if altitude is 
not controlled

- required as there is no flightask running if altitude is not controlled

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-15 09:58:48 +02:00
Daniel Agar
435e5515df github actions: increase nuttx and linux ccache max size to 100M 2021-10-14 19:45:29 -04:00
Daniel Agar
7e71b7eafc github actions: compile nuttx archive bin files and remove duplicate nuttx cannode builds 2021-10-14 19:45:29 -04:00
Daniel Agar
12c7056ae5 drivers/imu: icm20602/icm20649/icm20948 remove timestamp_sample adjustments 2021-10-14 16:37:11 -04:00
Daniel Agar
56823b5ac9 ekf2: EKF control don't allow invalid flow gyro to propagate 2021-10-14 16:31:22 -04:00
Daniel Agar
e8a064af02
github actions: try increasing nuttx ccache limit 2021-10-14 11:54:19 -04:00
Daniel Agar
b88c8eb245 Jenkins: hardware stop commander before sensors module to avoid errors 
- this is only done to silence timeouts during small benchmarks
 2021-10-14 09:17:50 -04:00
Daniel Agar
d35cf78e4a commander: PX4_ERR if attitude or angular velocity become invalid 2021-10-14 09:17:50 -04:00
Daniel Agar
4559230de6 drivers/imu/invensense: adjust icm20602/icm20649/icm20948 rescheduling logic 
- this handles the case where the driver might be more than one full
transfer cycle behind
 2021-10-14 09:17:11 -04:00
Daniel Agar
ef4d4c3093 sensors/vehicle_imu: fix timestamp_sample increasing check 2021-10-14 09:12:45 -04:00