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e36e0b6ad037d72809233d4cec8b5003e9e6ac87
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1715 Commits

Author SHA1 Message Date
Julian Oes e36e0b6ad0 posix: print warning before backtrace 2018-12-22 10:32:18 +01:00
Julian Oes 4ef0d74ea3 platforms: remove old lockstep functionality 
These functions won't be used any longer with the new implementation.
 2018-12-22 10:32:18 +01:00
Julian Oes cc7cae4e7f DriverFramework: updated submodule 
This fixes a race/lockup happening in the DriverFramework scheduler.
 2018-12-22 10:32:18 +01:00
Julian Oes 3f508c99fd parameters: commented out strange usleep 2018-12-22 10:32:18 +01:00
Julian Oes 3e6e1f5c2b POSIX: use lockstep_scheduler to fake time 
This integrates the lockstep_scheduler, so that the system time is set
by the mavlink HIL_SENSOR message.

This means that the speed factor is removed and the speed is entirely
given by the simulator.
 2018-12-22 10:32:18 +01:00
Julian Oes 6466e690fe DriverFramework: update submodule 2018-12-22 10:32:18 +01:00
Julian Oes db6de38b19 Work in progress to support a speed factor in SITL 
These contains some rough changes trying to get SITL to speed up by a
SPEED_FACTOR.

This platform time code probably requires some more thought and refactor
but this gets a demo at 4x working.
 2018-12-22 10:32:18 +01:00
Julian Oes d70b0f1c8c Replace sleep with px4_sleep 
This is another step to isolate time from the system.
 2018-12-22 10:32:18 +01:00
Julian Oes 5b9dea5604 Replacing usleep with px4_usleep 
This is a step towards isolating time from the system.
 2018-12-22 10:32:18 +01:00
PX4 Build Bot 582658f2e0 Update submodule matrix to latest Sat Dec 22 00:38:42 UTC 2018 
- matrix in PX4/Firmware (3e5d66580520e5ae64555c5fc9252c6c661389e3): https://github.com/PX4/Matrix/commit/9c0acfba36a928b7b002eea3a9dca54a5a0c1250
    - matrix current upstream: https://github.com/PX4/Matrix/commit/18fba8221cc1840964c43f04d8c2aa21857e1b9b
    - Changes: https://github.com/PX4/Matrix/compare/9c0acfba36a928b7b002eea3a9dca54a5a0c1250...18fba8221cc1840964c43f04d8c2aa21857e1b9b

    18fba82 2018-12-16 Matthias Grob - quaternion: improve comments
a4f39c0 2018-12-16 Matthias Grob - quaternion: reuse existing dot product
 2018-12-21 23:39:07 -08:00
Christian Rauch 0764c76836 check CONFIG_I2C for I2C 2018-12-21 05:43:21 -08:00
Matthias Grob 3d42c495aa FlightTaskOrbit: clip radius to range 2018-12-19 18:22:08 +01:00
Matthias Grob 25de837c23 FlightTaskOrbit: fix rotation direction in telemetry 2018-12-18 14:40:07 +01:00
Matthias Grob 8b419efa2c FlightTaskOrbit: fix rotation direction from command 2018-12-18 14:40:07 +01:00
Matthias Grob 25aa2b9c8c orbit: fix telemetry message content 2018-12-18 14:40:07 +01:00
Alessandro Simovic f11465bb26 orbit: publish uorb message 2018-12-18 14:40:07 +01:00
Beat Küng cfad556a16 mixer_multirotor: use reduce_only instead of -1000 for yaw thrust reduction 
This is more accurate, because if we use -1000 as lower bound, a very large
yaw command can reduce thrust more than needed.

The difference can be seen in the following example
(with roll/pitch airmode):
p_dot_sp = -1.0 # roll acceleration
q_dot_sp = 0.9 # pitch acceleration
r_dot_sp = -0.9 # yaw acceleration
 2018-12-13 09:50:07 +01:00
Beat Küng 418df2516d mixer multirotor: add to CI 2018-12-13 09:50:07 +01:00
Beat Küng e8e3b00a10 refactor mixer: rename delta_outputs to desaturation_vector 2018-12-13 09:50:07 +01:00
Beat Küng 3eefc93e5d mixer_multirotor.py: avoid scientific notation for vector printf 
makes it easier to compare.
 2018-12-13 09:50:07 +01:00
Beat Küng cf66656258 mixer multirotor: add unit-tests 
To run:
cd src/lib/mixer
make tests

This will validate the C++ implementation by taking the python
implementation as ground-truth. It runs through various actuator control
command values for all airmode variations and several mixer types.

The python script also allows to prototype new mixer algorithms.

It is not integrated into the existing build system, because it's easier
to use that way, with less dependencies, and faster testing workflow.
It could however be a bit more integrated.

Reference: https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
 2018-12-13 09:50:07 +01:00
Beat Küng c659d2bcc2 mixer: minor refactoring to reduce header include dependencies 
- avoid including <px4_defines.h> from the math headers
- avoid driver include <drivers/drv_mixer.h> from the mixer
 2018-12-13 09:50:07 +01:00
Beat Küng 8bcf54688a mixer: complete refactoring & add airmode for yaw 
Provides a more generic desaturation algorithm, making it easier to
handle the different mixer strategies.

python reference implementation:
https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation

The behavior for non-airmode and roll/pitch airmode should be the
same as before.

CPU load is slightly higher for the non-airmode case (+0.5%), for airmode
it is the same.
 2018-12-13 09:50:07 +01:00
Beat Küng 19ccab28bb mixer: use an enum for airmode 2018-12-13 09:50:07 +01:00
Beat Küng 9406fa5246 refactor mixer.h: use override keyword, fix set_airmode argument type (uint32_t -> int32_t) 2018-12-13 09:50:07 +01:00
bresch 7cc00f41d2 AirModeYaw - Change airmode type from bool to int 2018-12-13 09:50:07 +01:00
Kārlis Seņko c1d50d35d3 Move common shmem parameter declarations to shmem.h. 2018-12-11 09:21:15 -05:00
Kārlis Seņko 859b242cb8 Fix some dynamic linking errors. 
_Stof, bsearch, param_find_changed
 2018-12-11 09:21:15 -05:00
Simone Guscetti 2c06cb71c8 FlightTask: use convetion for definition of the landing gear default value 2018-12-10 16:17:23 +01:00
Simone Guscetti 9ee3d79a96 FlightTask Manual: Gear react only on switch changes and not states 2018-12-10 16:17:23 +01:00
Simone Guscetti f4fc0cd291 FlightTAsk AutoMapper: Adapt to new message 2018-12-10 16:17:23 +01:00
Simone Guscetti be7416c823 FlightTask Auto: Adapt to new message and rename variable 2018-12-10 16:17:23 +01:00
Simone Guscetti 1412e0494c FlightTask AutoMapper: Use deploy gear information 2018-12-10 16:17:23 +01:00
Simone Guscetti 66f85ff9ae FlightTask Auto: Save deploy gear information 2018-12-10 16:17:23 +01:00
Simone Guscetti aaddb845c4 FlightTask: Add initialisation of the landing gear 2018-12-10 16:17:23 +01:00
Simone Guscetti de185726b3 vehicle constraints: remove landing gear 
- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition
 2018-12-10 16:17:23 +01:00
Simone Guscetti 6dbed6636d FlightTasks: Add interface for landing gear 2018-12-10 16:17:23 +01:00
Simone Guscetti bf9a18a200 FlightTask: Add interface for landing gear 2018-12-10 16:17:23 +01:00
Daniel Agar d42fe1826a parameters also include all module configs when scoping disabled (#10992) 
* fixes parameters on Snapdragon
 2018-12-06 14:21:06 -05:00
Daniel Agar 766c33799d move all navio2 drivers to emlid navio2 board directory 2018-12-04 01:06:54 -05:00
Matthias Grob 94d4f0391a FlightTaskAuto: fix newline at end of file 2018-11-30 09:30:00 -05:00
Dennis Mannhart 55947d2782 exponentialFromLimits make small number const 2018-11-30 09:30:00 -05:00
Dennis Mannhart be4900f61d FlightTaskAutoMapper2: remove speed_at_target 2018-11-30 09:30:00 -05:00
Dennis Mannhart b3cde5ac44 FlightTaskAutoLine: replace NAV_ACC_RAD with _target_acceptance_radius 2018-11-30 09:30:00 -05:00
Dennis Mannhart 6110ddc8b1 math Functions constrain X_in of exponentialFromLimits function 2018-11-30 09:30:00 -05:00
Dennis Mannhart c97b2a3071 FlightTaskAuto: move method getVelocityFromAngle to FlightTaskAutoLine 2018-11-30 09:30:00 -05:00
Dennis Mannhart 23afb939f0 math Functions: exponential function with constraints 2018-11-30 09:30:00 -05:00
Dennis Mannhart 80193cd227 math Functions: replace float with T 2018-11-30 09:30:00 -05:00
Dennis Mannhart 370371767f FlightTaskAutoLine: ensure that desired speed along track does not exceed maximum speed at threshold to target 2018-11-29 12:32:56 +01:00
Daniel Agar c3448c19c4 make vcdevtest a generic cdev test 2018-11-26 14:40:14 -08:00