eac6dfed3c
mc_att_control: Sync attitude loops to gyro data
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Sync the attitude controller to the raw gyro data to remove the latency in the rate loops caused by the sensor and estimator modules.
Attitude data latency will increase as it will be from the previous EKF update, however attitude loops are less latency sensitive.
Thermal compensation and bias data will be from the previous frame.
2017-01-19 19:24:52 +01:00
3a17c07b1e
Implement RC and DL failsafe action handling for multirotors
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Move RC and DL failsafe actions handling from navigator to commander (credits to @AndreasAntener)
Separate manual kill switch handling via manual_lockdown to prevent override and release of software lockdown by RC switch
Other changes:
Add failsafe tune
Fix LED blinking for Pixracer
Return back support for rc inputs in simulator but now it is configurable via cmake
2016-12-27 00:38:13 +01:00
b2d48f65bf
MC att ctrl: Properly initialize members
2016-12-13 16:14:15 +01:00
27d5ecaaa9
Fix multirotor code style
2016-12-13 16:14:15 +01:00
eb67686b11
mc_att_control: Improve integrator wind-up protection
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Use reporting from the motor mixer to only restrict integrator growth when it will result in increased saturation of the control axis concerned.
Enable absolute integrator limits to be set by parameter
2016-12-13 16:14:15 +01:00
a2c0391bcc
Rework TPA to have per-component setup and use more stable and intuitive function
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This also adds a ZMR250 config.
2016-12-10 12:42:47 +01:00
2799c0fae2
Change MC_BAT_SCALE_EN to boolean
2016-11-19 14:55:52 +01:00
a634c14582
Scale throttle outputs by battery level. Fixes #4751
2016-11-19 14:55:52 +01:00
2fff2ab9ac
Add switch for landing gear, pass it to actuators
2016-10-20 23:17:05 +02:00
a12780c88f
Remove attitude setpoint matrix from attitude setpoint topic
2016-10-19 10:17:41 +02:00
8ff237c69f
Remove size optimization for individual modules
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It makes more sense to set the optimization flags on a platform basis
instead of individually for each module. This allows for different
optimization options for SITL, NuttX, Snapdragon, etc.
2016-09-30 08:11:51 +02:00
7f04e3c759
Helicopter aiframe and basic PID control ( #5339 )
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* Helicopter aiframe and basic PID control
* codestyle
* Blade 130x gains working but not optimal
* Changed behaviour of feedforward for all multicopter
2016-08-19 22:20:59 +02:00
f1a1c9d7da
add breakpoint and slope params for TPA
2016-08-17 23:15:36 +02:00
5c78af0f36
simple linear throttle PID attenuation test
2016-08-17 23:15:29 +02:00
d4196f7f0c
mc_att_control fix and enforce code style
2016-08-07 10:40:17 +02:00
11f1a11934
Lock yaw integral if we hit a yaw limit
2016-07-31 14:14:55 +02:00
25e749de77
use MC auto rates always in AUTO
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removed duplicate weathervaning limit
2016-07-01 11:31:57 +02:00
8032787faa
MC att control: Be more efficient
2016-05-29 16:27:01 +02:00
76387b1693
uorb autogeneration
2016-05-14 11:27:07 +02:00
95faba391a
accel control in pos controller
2016-04-22 10:31:52 +02:00
ce810542e2
simple NED acceleration control interface
2016-04-22 10:31:52 +02:00
cf7145c8d9
calculate large error rotation correclty in attitude controller
2016-04-18 18:44:14 +02:00
967e4dd127
Modified cmake to use STACK_MAX and STACK_MAIN
2016-04-14 13:36:36 -04:00
1ad0ee0fae
mc_att_control: don't use main state for RATTITUDE
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Instead of the state use the boolean flags.
2016-04-11 18:01:48 +02:00
7a9427bc34
param remove empty @unit
2016-03-14 09:12:34 +01:00
55b33e97b3
mc_att_control param @unit
2016-03-14 09:10:29 +01:00
6b89ce0b7f
Fix decimal places in att control params
2016-03-10 09:15:49 +01:00
e3853ed4e5
MC att control: Support increment meta data
2016-02-28 19:42:34 +01:00
44e885f3c3
Att control: Allow higher yaw rate by default
2016-02-27 11:23:24 +01:00
4adfea7fa9
Resolved shared memory parameter problems and removed additional debug code.
2016-02-19 16:59:49 +01:00
d84639f8c4
This code is flyable, but a few problems exist which cause values in the .config files to be overwritten by the defaults in the .XML file.
2016-02-19 16:59:49 +01:00
1d5cf70e83
implemented vtol weathervane yaw control for landing and loiter mission item
2016-02-15 09:49:24 +01:00
dc7077b125
Move constraint after feed forward
2016-02-15 09:48:37 +01:00
80f8fcbdf6
implemented vtol weathervane yaw control for landing and loiter mission item
2016-02-15 09:48:37 +01:00
9cb82e93be
MC att control: Param meta data
2016-02-14 18:43:58 +01:00
9f2498af94
Attitude controller: Include process name in poll error message
2016-02-05 00:54:40 +01:00
c78fd7014d
MC: Only use auto yaw limits if manual control is off
2016-01-31 20:18:12 +01:00
7455a833d0
MC: Split yaw speed limiting between manual and velocity control modes
2016-01-31 20:18:12 +01:00
c9b1fb154d
hotfix:
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multirotors shouldn't use tailsitter recovery code.
2016-01-26 13:29:53 +01:00
17c3aa3bac
MC att control: Slightly increase max yaw rate
2016-01-26 12:32:26 +01:00
bf03b8cb18
Yaw rate limit: use a lower limit for less twitching
2016-01-24 11:13:47 +01:00
f22c574b87
Integrated cmake_hexagon for qurt build
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Still a WIP since the IDL file needs to be replace with the
muorb IDL file.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-01-10 20:54:26 +01:00
4d41f1d6ce
MC att control: Add time constant to simplify user-tuning of basic vehicle operation
2015-12-26 16:10:21 +01:00
623aeac18d
Fix code style in MC params
2015-12-24 13:13:10 +01:00
7c3a67e374
use optimal recovery strategy for tailsitters
2015-12-24 10:17:53 +01:00
ac4e95df05
use optimal recovery strategy for tailsitters
2015-12-24 10:17:31 +01:00
170f0032fd
updated to master (solve merge conflicts)
2015-11-06 12:18:31 +01:00
3f6fd8b94d
MC att ctrl: Do not build unused param file
2015-10-29 10:36:38 +01:00
4e5e8d1c95
Modified how mc_att_control handles rattitude mode
2015-10-28 08:37:12 -04:00
d4a19163bb
Added switching from attitude control generated rate setpoints to manual rate setpoints when in rattitude mode
2015-10-28 08:37:12 -04:00
Paul Riseborough