e847ef1a4d
Add trig tests for wind calculations, and fix bugs / edge cases
2021-01-18 16:26:53 +01:00
7482413005
Add Range-based RTL
2021-01-18 16:26:53 +01:00
e817fb83f5
pwm_extra: Add PWM_EXTRA parameters.
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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2021-01-18 15:43:28 +01:00
78c05275d2
tailsitter: Fix differential thrust in FW mode.
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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2021-01-18 09:04:27 +01:00
2ed48f041c
mavlink: Templated SCALED_IMU mavlink stream
2021-01-17 12:32:51 -05:00
031bbb7f3e
FlightModeManager: handle commands all the time
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Moving the command handling to a separate function that gets called
whenever a vehicle command is available to always react on commands
and not just when already a task is running.
This solves e.g. commanding an Orbit when in Staibilized.
2021-01-17 15:46:30 +01:00
df54f938ef
FlightModeManager: correct setpoint struct initialization
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It is important that setpoints get initialized with NAN and not overwritten
if specifically set by a successful flight task execution. It's then
clear if any setpoints were intentionally and successfully set.
Crucial for the position controller's emergency failsafe and the
seamless setpoint handover to the next flight task.
2021-01-17 15:46:30 +01:00
63db61a700
FlightModeManager: correct acceleration setpoint feedback naming
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The variable was never renamed correctly in this in between layer when
we switched from normalized thrust to acceleration setpoints.
2021-01-17 15:46:30 +01:00
4d7b875ee2
flight_mode_manager: merge with flight_tasks
2021-01-17 15:46:30 +01:00
eaa2ae9dc9
ekf2: add param to enable synthetic mag Z fusion mode
2021-01-17 12:06:59 +01:00
983234e29d
ekf2: add param to set rng check hysteresis
2021-01-17 12:06:59 +01:00
195a900ecf
change default of RTL_LAND_DELAY to 0
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-17 12:05:30 +01:00
cee4016665
Preflight checks: Airspeed checks update
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-check for valid airspeed_validated (declared valid plus updated less than 1s ago)
-added param (COM_ARM_ARSP_EN) to enable/disable check for max airspeed for arming set max
airspeed limit to half of stall airspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-16 10:26:55 -05:00
ba6a8080ea
mavlink: don't respond to MAV_CMD_REQUEST_MESSAGE if component doesn't match
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PX4 is responding with NACK to MAV_CMD_REQUEST_MESSAGE from a GCS to
payload-manager which confuses a GCS.
PX4 shouldn't respond to commands that are not broadcasted or specificaly
addressed to it.
2021-01-15 10:57:20 -05:00
5ae5c03c66
mavlink: handle param4/5 from mission_item_int
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It turns out that we did not properly handle param4 and param5 if they
are transferred using mission_item_int if the frame is
MAV_FRAME_MISSION.
2021-01-15 10:57:20 -05:00
df41c99b61
make failsafe handling consistent over all VTOL types
2021-01-15 09:19:07 +03:00
38e46ff341
Rename VtolAttitudeControl::abort_front_transition(const char *reason) to VtolAttitudeControl::quadchute(const char *reason)
2021-01-15 09:19:07 +03:00
40fbfdc054
Undo make format change
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-01-15 09:19:07 +03:00
83ddb77a5f
delete excess empty lines
2021-01-15 09:19:07 +03:00
b90fafd5cd
Fix quadchute logic so that it also works during back transition
2021-01-15 09:19:07 +03:00
a0d8d5ac74
sensors/vehicle_gps_position: untangle and remove unnecessary state
2021-01-13 20:17:49 -05:00
f05599caff
tecs: use speed derivative provided by local position
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
dca89763b3
TECS: apply FW_LND_THRTC_SC to altitude error time constant
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
3d3ff75495
TECS: update some params to latest results from flight testing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
2ca4269464
TECS: separate integral gains for throttle and pitch loops
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
72dfb2078a
TECS: adapt params to new control structure
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
01f891618b
TECS: move to new control loop architecture
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
447e14906c
TECS: log more TECS states to enable better analysis
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
d0e8b882a2
TECS: added alpha filter classes to energy rate and tas derivative
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
be0f5a7fe4
Fix implicit float->double conversions in tests
2021-01-13 10:26:10 +01:00
2d6758a39d
Cleanup of dataman mocks and check interval definition
2021-01-13 10:26:10 +01:00
a97a4d8bb8
Fix enum and param update
2021-01-13 10:26:10 +01:00
c745c8bb45
Small navigator refactor/cleanup
2021-01-13 10:26:10 +01:00
04d859e36e
Fix test failure from parameter autosave starting WQ
2021-01-13 10:26:10 +01:00
f97dcde4e2
GeofenceBreachAvoidanceTest: added tests for max dist to home
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
3fa15cec91
GeofenceBreachAvoidance: improve behavior when using max dist to home option
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- ensure that the vehicle is loitering with sufficient clearance to the boundary
Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
0ac597fba8
Use new GeofenceBreachAvoidance from Navigator
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
e536868104
Add GeofenceBreachAvoidance class
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
a57b9f9381
delete drv_baro.h, drv_mag.h, drv_range_finder.h, drv_device.h and purge UAVCAN CDev usage
2021-01-12 22:04:52 -05:00
48f125f150
estimated IMU bias preflight checks
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- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
- ekf2 publish estimated bias limits in estimator_sensor_bias
- preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
2021-01-12 09:09:42 +01:00
abec2bd8df
msg: estimator_status_flags shorten fields
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- previously this message exceeded the logger total field length (1500 bytes)
2021-01-11 11:49:51 -05:00
04f9ada500
ekf2: selector improve fallback selection when the primary becomes unhealthy
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- if an ekf instance becomes unhealthy prefer switching to the next best healthy instance on a different IMU
2021-01-11 09:38:26 -05:00
967d35a6b6
rate limit most parameter_update subscriptions
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- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
2021-01-10 21:09:15 -05:00
9b9163813d
avoid re-initiate RTL or land in battery emergency
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if the mode is already running
2021-01-10 21:19:52 +01:00
3cc8e7a210
commander_params: Make multicopter only COM_RC_OVERRIDE more visible
2021-01-10 21:12:09 +01:00
cef3d36af2
simulator: delete PublicationMulti ptrs for sensor_gps
2021-01-10 19:58:54 +01:00
f73d93ef6c
ekf2: selector improve status reporting
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- publish estimator_selector_status at minimal rate or immediately on change
- log all estimator_selector_status updates
2021-01-10 19:25:53 +01:00
2fc212e064
geofence_params: clarify EKF vs baro altitude source
2021-01-10 18:40:58 +01:00
d5c8d0a233
GF_ALTMODE: Update in line with Lorenz feedback
2021-01-10 18:40:58 +01:00
d43444fce7
geofence: GF_ALTMODE clarification
2021-01-10 18:40:58 +01:00
Julian Kent