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23664 Commits

Author SHA1 Message Date
Julian Oes
e49b596edc commander: add desired main state 
This is an intermediate solution to carry forward the initial state of
the mode slot. Basically, it allows that we start up in Stabilized but
switch to POSCTL as soon we have the required GPS.
 2021-11-09 16:05:25 +01:00
Julian Oes
b6af068f25 commander: always reset posvel validity 
I assume reseting posvel validity is ok for any case, not just all cases
except manual, acro, stabilized.
 2021-11-09 16:05:25 +01:00
Julian Oes
52563264e6 commander: move valid mission check inside 
I think it makes more sense to move this check inside of
main_state_transition.
 2021-11-09 16:05:25 +01:00
Julian Oes
916ffef04c manual_control: send initial mode in the beginning 
In order for commander to know the desired mode we need to send the
initial position of the mode slot.
 2021-11-09 16:05:25 +01:00
Julian Oes
a91fa7f3c1 commander: only move to POSCTL when armed 
I don't think we want to switch to POSCTL when the sticks are moved when
armed.
 2021-11-09 16:05:25 +01:00
Julian Oes
66b069e788 commander: move main_state_transition out 
This is a first step to having a desired main state.
 2021-11-09 16:05:25 +01:00
Julian Oes
e2e908d0fc mavlink: remove unused methods 2021-11-09 16:05:25 +01:00
Julian Oes
97aa06cc19 commander: move switch handling to manual_control 2021-11-09 16:05:25 +01:00
Julian Oes
08e58a44e9 Fix style 2021-11-09 16:05:25 +01:00
Julian Oes
71d6aa913d manual_control: starting to implement switches 2021-11-09 16:05:25 +01:00
Julian Oes
ac121c676a commander: check for valid flag for manual_control 2021-11-09 16:05:25 +01:00
Julian Oes
cda6524421 manual_control: move override detection 
This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
 2021-11-09 16:05:25 +01:00
Julian Oes
1c15cc11d8 manual_control: implement (dis)arming via command 2021-11-09 16:05:25 +01:00
Julian Oes
8876af9150 manual_control: add instance to selector 
This instance is then used to schedule the callback for the
subscription.
 2021-11-09 16:05:25 +01:00
Julian Oes
14eb656a59 rc_update: use snake_case for namespace name 2021-11-09 16:05:25 +01:00
Julian Oes
6e8ccf6a45 rc_update: rename update method 
This reflects better what it actually does.
 2021-11-09 16:05:25 +01:00
Julian Oes
723db8bf2a manual_control: add selector class [WIP] 
This adds a selector class with unit tests.
The idea is to have a valid flag in manual_control_septoint and set that
according to the selection and/or timeout of manual_control_inputs.
 2021-11-09 16:05:25 +01:00
Daniel Agar
2d816e0b3e [WIP] manual_control selector hacks 2021-11-09 16:05:25 +01:00
Daniel Agar
e18cf3da3e sensors/vehicle_imu: use WelfordMean for online mean and variance 2021-11-09 15:19:35 +01:00
Daniel Agar
e0d9ccdc18 sensors/vehicle_angular_velocity: small FFT notch update simplification 2021-11-08 19:14:32 -05:00
Daniel Agar
47afab62e7 gyro_fft: limit noise floor to configured range (IMU_GYRO_FFT_MIN/MAX) 2021-11-08 19:14:32 -05:00
Daniel Agar
dd3e0b723a gyro_fft: add IMU_GYRO_FFT_SNR parameter 2021-11-08 19:14:32 -05:00
Silvan Fuhrer
b216cddf49 state_machine_helper: add place holder in array nav_state_names for removed LANDGPSFAIL mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-08 13:42:55 +01:00
JaeyoungLim
031f7f831b
Fixedwing Pos Control: Handle vehicle transition waypoints outside controllers (#18503) 
* Handle VTOL transition waypoints outside FW auto control modes
 2021-11-08 11:21:08 +01:00
Jaeyoung-Lim
6a2ebfc0cc Handle setpoint types properly for fixedwing position control 
Handle setpoint types properly for fixedwing position control
 2021-11-07 19:21:00 -05:00
Silvan Fuhrer
dbd9b88bea FW position controller: only allow switching to AUTO_ALTITDUE or AUTO_CLIMBRATE if pos_sp_curr_valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-07 23:31:21 +01:00
Daniel Agar
2f8cb5a1c2 mavlink: initial support for MAG_CAL_REPORT stream 2021-11-07 16:03:34 -05:00
JaeyoungLim
cda7c6ceaa
Enable offboard actuator setpoints 2021-11-07 15:38:42 -05:00
Daniel Agar
68026eadeb
save significant IMU bias changes learned by the EKF 
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-11-07 15:34:27 -05:00
Jacob Crabill
5969508fa7
mavlink: cmake generate mavlink headers at build time 
- mavlink/mavlink is now directly included as a submodule instead of the generated mavlink/c_library_v2
 - this also switches to mavlink development.xml by default
 2021-11-05 23:01:38 -04:00
Julian Oes
88489ae8bd mavlink: Check target for mavlink shell 
The SERIAL_CONTROL MAVLink message now contains a target_system and
target_component field that we should check.

Without this we might be answering to a command on the network that is
meant for another system.
 2021-11-05 23:48:44 +01:00
RomanBapst
56cf77a74c addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst
e36e527488 fixed wrong path 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
Roman Bapst
d58d13b2e8 APX4-1617: Fix manual climb rate in TECS (#1463) 
* tecs: workaround for the fact that vel smoothing lib uses a DOWN coordinate system

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst
7cb99f521c moved ManualVelocitySmoothing to motion_planning lib 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst
924298e9c3 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst
0ac3077bdc tecs: use trajectory generation library to compute height rate setpoint 
- added ability to specify maximum acceleration constraint for height rate setpoint
- added support for locking altitude setpoint when in height rate control
mode and height rate input is zero

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst
6e75b7cffd FixedWingPositionControl: push altitude setpoint locking into TECS 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
Beat Küng
296db60a58 camera_capture: use output functions for pin configuration if SYS_CTRL_ALLOC==1 2021-11-05 12:36:04 -04:00
Beat Küng
6d993a9301 camera_trigger: use output functions for pin configuration if SYS_CTRL_ALLOC==1 2021-11-05 12:36:04 -04:00
Silvan Fuhrer
f492fa9d3a fix typo 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
RomanBapst
514cf12c57 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
3bd114bf9f RTL: if vehicle is a VTOL in hover, always consider all safe landing points 
Unless there is already a mission landing in progress,
in that case stay on the mission landing if RTL_TYPE
isn't set to closest.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
1163a52c17 Navigator: remove unnecessary (duplicated) info messages for RTL 
There is already (a more precise) info message on RTL activation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
f4f9b8ebf2 RTL: replace deny_mission_landing logic by getDestinationTypeMissionLanding() 
The rtl instance decides on destination of RTL, and Navigator then switches to
mission mode if required.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
ab08bbdb58 RTL: improve RTL info message 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
775a1eb4b6 RTL: remove unused function and non-informative comments 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
dd987c08a5 RTL: rename enum names for RTLType 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
a012f01dbc Navigator: clean up get_rtl_type() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer
8dc6d5f208 RTL: set destination type to mission landing also in MC 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00