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Author SHA1 Message Date
Roman e0ca38e794 standard vtol: fix mc weight calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 23257bf6ee standard vtol: simplify blending weight calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman b66bc712af tailsitter: avoid doing same calculation twice 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 1d8f588d37 vtol_att_control: switch from division to multiplication for variable 
calculation

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 9e16543dbe tiltrotor: represent time since transition in seconds 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman ae2e6c7a18 tailsitter: represent time since transition in seconds 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman bf22f02567 tailsitter: removed usage of hrt_elapsed and small cleanup 
- do not call hrt_elapsed_time since it's expensive
- remove P2 front transition phase (was not even used)

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 196d0e40b4 standard vtol: use time in second since transition start instead of using 
microseconds

- seconds is more intuitive
- avoids tons of divisions by 1e6f

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 5a2a5127fa tailsitter: removed common vtol parameters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 2c0436c37c sitl tiltrotor config: front transition throttle parameter name change 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 07a84f2246 tiltrotor: removed common vtol parameters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 6900f97b72 vtol_att_control: use airspeed_disabled flag instead of airspeed mode 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 8f71633516 sitl configs: updated VT_TRANS_THR parameter name change 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 4859cc04dc ROMFS: updated VT_TRANS_THR parameter name change 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman daa6c6ffc8 vtol_att_control: consolidated standard parameters & fix usage of hrt_elapsed time 
- standard vtol was implementing many custom parameters although they
are generic and should be shared between the vtol types
- removed heavy usage of hrt_elapsed_time() which is a system call and
could be computationally expensive
 2018-03-07 14:01:51 +01:00
Julian Oes 9c6b1a0f04 navigator: fix incorrect takeoff altitude 
This fixes a problem where we do not properly go to the set takeoff
altitude but end up lower.

The problem was that the setpoint triplet is reset when the navigation
mode changes. So in this case, the triplet is reset when we switch from
takeoff to loiter which can happen before reaching the actual takeoff
altitude.

The fix is an ugly hack to prevent the reset in the case of takeoff to
loiter. A better solution would be to remove the general reset and have
all navigation modes do the proper resets themselves.

This hotfix should however be lower risk.
 2018-03-07 08:48:44 +01:00
Daniel Agar 623e16e8be logger SITL add additional messages by default 2018-03-06 17:42:33 +01:00
Daniel Agar 6f47894929 rc.sensors ms5611 driver auto detect ms5607/ms5611 2018-03-06 13:47:37 +01:00
Daniel Agar ba90952e07 px4fmu-v2 board_on_reset also reinit spi 2018-03-06 13:47:37 +01:00
AlexKlimaj 83d01a7c76 Updated batt_smbus. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature. (#8991) 
* Updated and expanded batt_smbus to work with bq40z50-R2. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature, added commented out expanded battery_status.msg parameters for future mavlink expansion.

* Changed errx to PX4_ERR

* Added PX4_ERR returns
 2018-03-06 10:42:20 +01:00
Roman bf097d7fa4 convergence config: increase idle speed in mc mode 
- this makes sure that all motors are idling in mc mode. having this too
low can lead to a motor stopping in flight which is critical for
attitude control
- experienced loss of attitude control in RTL during descent prior to this
change

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-05 15:48:13 -05:00
Daniel Agar 493c41c76e VtolLandDetector require vehicle_status timestamp 2018-03-05 15:46:24 -05:00
Daniel Agar 354584acfc MulticopterLandDetector initialize all class members 2018-03-05 15:46:24 -05:00
Daniel Agar 69470f6991 land_detector use THROTTLE index 2018-03-05 15:46:24 -05:00
Daniel Agar 458db2e508 vehicle_global_position remove redundant evh and evv 
- vehicle_status_flags condition_global_velocity_valid is also unnecessary
 2018-03-05 13:20:28 -05:00
Beat Küng 03b8cd78b3 gps: explicitly disable flow control 
If the GPS driver was used on another port (e.g. TELEM2), it would get
stuck in a `write` call and not return anymore. Disabling flow control
fixes that.

CPU usage is unchanged.
 2018-03-05 16:43:14 +01:00
Daniel Agar 1290db7cb7 differential pressure sensors delete test helpers 
- these are redundant with listener differential_pressure
 2018-03-05 08:32:59 +01:00
Daniel Agar b9081fb0ab vehicle_global_position delete unused pos_d_deriv 2018-03-05 01:41:18 -05:00
Daniel Agar 2ddd04cba6 px4fmu-v2 disable ulanding 2018-03-05 01:19:56 -05:00
Coby 664001921e quad_plus geometry fix typo in rear motor name (#9008) 2018-03-04 18:24:10 -05:00
Daniel Agar 2f96dbb216 gnd_att_control param fix incorrect FW metadata 2018-03-04 18:23:12 -05:00
Daniel Agar 5cbd19aef2 Jenkins archive nuttx elf files 2018-03-04 17:52:34 -05:00
Daniel Agar 5ef27c5425 mavlink add minimal mode (#8947) 2018-03-04 17:50:28 -05:00
Daniel Agar 6caeb2da4f pwm_out_sim reduce stack 1310 -> 1000 2018-03-04 14:12:15 -05:00
Daniel Agar 38f5f60a1e pwm_out_sim cleanup 
- move to ModuleBase
 - strip down to PWM 8 and 16 modes only
 - remove all dead code
 - implement missing pwm ioctls (current value, rates, etc)
 - default rate 50Hz -> 400Hz
 2018-03-04 14:12:15 -05:00
PX4 Jenkins 3d6854099e Update mavlink v2.0 submodule Sun Mar 4 07:43:12 UTC 2018 2018-03-04 10:45:51 -05:00
ToppingXu e340f6fd7a FixedwingPositionControl: fix air_gnd_angle judgement condition. 
air_gnd_angle is from acos(), and never return a value that bigger than
M_PI_F
 2018-03-02 21:57:11 +01:00
Matthias Grob d39a8b5a48 Battery: Switch thrust based load compensation back to linear 
To account for the parameter definition.
My tests if quadratic is actually better in practise were anyways not conclusive.
 2018-03-02 21:07:09 +01:00
Matthias Grob 5bb9babc20 Mavlink: round battery percentage up instead of down 2018-03-02 16:18:52 +01:00
Daniel Agar 4c4f990b3b EKF2 remove FW_ARSP_MODE check 2018-03-02 08:58:08 +01:00
Sander Smeets 2ef9c4ec35 VTOL force land even when transitioning to FW (#8958) 2018-03-01 16:51:50 -05:00
Roman ff86d15c13 caipirinha vtol: do not lock elevons in hover mode 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-01 22:07:36 +01:00
Daniel Agar 3b0b5645e1 vtol_att update poll fd before poll call 2018-03-01 18:27:57 +01:00
Anthony Lamping 1ef7b351be CI: assmue plan file format 2018-03-01 12:21:22 -05:00
Anthony Lamping 3be6a439f1 CI: better detect end of mission 
if the vehicle doesn't land and disarm at the end of the mission, the current sequence doesn't reset to 0
 2018-03-01 12:21:22 -05:00
Anthony Lamping 25b02a9d0f CI: Jenkins use plan file missions 2018-03-01 12:21:22 -05:00
Anthony Lamping 3b69361a00 CI: move missions into a folder 2018-03-01 12:21:22 -05:00
Anthony Lamping 4158b5e6a9 CI: remove old mission formats 2018-03-01 12:21:22 -05:00
Anthony Lamping e9c7023083 CI: add missions in plan file format 2018-03-01 12:21:22 -05:00
Roman ea3586cfd9 tailsitter: stop fiddling with thrust during transition and just let 
the mc pos controller handle it for now

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-01 12:16:27 -05:00