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12100 Commits

Author SHA1 Message Date
RomanBapst
f0cdd9be60 MPC_Z_VEL_I: changed default from 0.02 to 0.1 
- generally better attitude tracking
- much better altitude control immediately after takeoff (hover throttle offset)
- faster landing detection

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
Daniel Agar
be99d2f111 sih: fix code style 2019-07-28 11:18:02 -04:00
Daniel Agar
09eaef82f6 sih: move to PX4Accelerometer/PX4Gyroscope/PX4Magnetometer/PX4Barometer helpers 2019-07-28 11:18:02 -04:00
Daniel Agar
97445b60aa
commander preflightcheck update orb usage to uORB::SubscriptionData 2019-07-28 10:22:47 -04:00
TSC21
3d9f83a4f2 microRTPS_bridge: structural change to make possible to generate pub/sub code for multi-topics/aliased msgs 2019-07-26 15:05:54 +02:00
Julian Oes
98dfa30838 commander: fix disarming for rovers 
We have to ignore the landed flag for rovers, it doesn't really apply
for them.
 2019-07-26 02:52:38 -07:00
Julian Oes
308d91e5ff commander: prevent potential disarms in-air 
This fixes the terrifying case where the drone disarms in-air just
because it receives a MAVLink disarm command. We now check param2 for a
magic number which enforces arming/disarming.

This is added to the mavlink protocol in:
https://github.com/mavlink/mavlink/pull/1162
 2019-07-26 02:52:38 -07:00
Timothy Scott
80f2603b17 Fixed timing of rover pos control 2019-07-25 10:53:39 -04:00
Beat Küng
72ddf3e0aa tune_control: use orb queue advertisement consistently 2019-07-25 10:38:57 -04:00
David Sidrane
e296297ab7 Revert "hotfix for logger: use '%i' instead of '%zu'" 
This reverts commit e6aa03520993201c618de32197ab3ee92d4b0738.
  Root cause was fixe in Nuttx and backported
 2019-07-25 05:28:46 -07:00
Hamish Willee
2b8337e5e2 Add units for EKF2_RNG_A_HMAX and EKF2_RNG_A_VMAX (#12545) 2019-07-25 08:09:35 +02:00
RomanBapst
2fbb70d9ca mc_att_control: output zero throttle in manual mode when landed 
- MPC_MANTHR_MIN is used as minimum throttle in attitude control mode when
the vehicle is in air. This is useful to retain some control around roll and
pitch axis if airmode is not enabled and the user demands zero throttle.
However, when the vehicle is landed there is not need to keep the throttle
at a higher value than zero.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-23 17:12:45 +02:00
Timothy Scott
2ed8ebf889 rover_pos_control: refactor to ModuleBase and use C++ Param API 2019-07-23 11:16:52 +02:00
Matthias Grob
e964af9262 commander_params: enable RC override by default 
It doesn't affect fixed wing flying anymore. I disabled it for the
deltaquad since I presume @sanderux prefers to have the feature disabled
even when flying in multicopter mode.
 2019-07-22 09:57:37 +02:00
Matthias Grob
706500f19c Commander: make RC override multicopter only 
AAs discussed in the devcall this functionality is only useful for
rotary-wing (multicopter) flying since it's a big safety hazard to
accidentally bring a fixed wing out of an auto mode e.g. a mission
and fly away in a straight line or into an obstacle.
 2019-07-22 09:57:37 +02:00
Matthias Grob
5c1ab06343 Commander: pure refactor of RC override conditions 2019-07-22 09:57:37 +02:00
Matthias Grob
aaad71faab commander_params: enable automatic disarming after land detection by default 2019-07-18 14:36:50 +02:00
Daniel Agar
9986a88697 mavlink: split BATTERY_STATUS from SYS_STATUS update and handle all bricks (#12034) 2019-07-18 13:32:41 +02:00
Timothy Scott
ecf396443f Minor bugfix 2019-07-17 10:47:56 +02:00
Timothy Scott
b9a2c9daf8 Fixed uninitialized variable 2019-07-17 10:47:16 +02:00
Beat Küng
e6aa035209 hotfix for logger: use '%i' instead of '%zu' 
Work-around for https://github.com/PX4/Firmware/issues/12485.

This can be reverted after the root-cause is fixed.
 2019-07-16 13:11:41 +02:00
bresch
d24c415fd7 PID rate controller - Add controller gain to support Ideal PID form (ISA standard) 2019-07-16 10:24:19 +02:00
Timothy Scott
7c05073044 Fixed overflowing tslc. 2019-07-16 09:43:58 +02:00
Timothy Scott
e25ad348e8 Added message handler for UTM_GLOBAL_POSITION 2019-07-16 09:43:58 +02:00
Martina Rivizzigno
8aad105265 mc_pos_control: increase stack size by 100 bytes 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
0ee770e853 logger: log obstacle_distance_fused instead of obstacle_distance 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
ff6a4d9e71 stream mavlink message OBSTACLE DISTANCE 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
09bfb00c88 Obstacle_distance: use only one increment in float directly 
CollisionPrevention: rename a few variables to make the code more readable
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
aff131774e simulator mavlink: add horizontal and vertical fov + quaterion orientation 
to distance sensor
 2019-07-15 10:58:00 +02:00
bresch
15ec73629b MPC auto - Add MPC_YAW_MODE: towards waypoint (yaw first) mode. This mode ensures that 
the vehicle yaws towards the next waypoint before accelerating. This is
required for drones with front vision and aerodynamic multicopters such
as standard vtol planes or highspeed multirotors.
 2019-07-11 17:46:44 +02:00
Timothy Scott
2ed00c9cb6 Rover: Rewrote gnd_pos_control and removed gnd_att_control (#12239) 2019-07-11 09:39:13 -04:00
Hamish Willee
27ef1899c7 Fix up MAV_X_RATE as html tag doesn't render (#12449) 
* Fix up MAV_X_RATE as html tag doesn't render

* Update src/modules/mavlink/module.yaml

Co-Authored-By: Beat Küng <beat-kueng@gmx.net>
 2019-07-11 08:07:20 +02:00
Beat Küng
aa86bf5f92 landdetector flight time: fix cast to 64 bits 
`_param_total_flight_time_low.get()` is an int32_t and gets sign-extended
if cast directly to uint64_t. To avoid that we first cast to uint32_t.
 2019-07-09 20:26:40 -04:00
Matej Frančeškin
2aa05e3914 Mavlink FTP - process only messages that have our component id 2019-07-09 20:21:15 +02:00
Jacob Dahl
59c555aec3 Multicopter Auto: Adjustable land speed via RC (#12220) 2019-07-08 23:55:21 -04:00
Mathieu Bresciani
e54075abe8 MC pos control - Force cruise and manual speeds below max speed. (#12404) 
- Force hover thrust between min and max thrust
 2019-07-05 15:40:28 -04:00
RomanBapst
7c8fa82e76 rtl cone angle: expose a few values to the user 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-05 18:05:09 +02:00
RomanBapst
81ee40eac8 rtl: implemented RTL based on cone shape 
- user defines a cone half angle which defines the RTL altitude behavior
- if vehicle is outside the cone it will climb until it intersects the cone
and then return at this altitude.
- if vehicle is inside the cone or above the predefined return altitude (RTL_RETURN_ALT)
then it will return at the current altitude

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-05 18:05:09 +02:00
Nicolas de Palezieux
2f1cfa60f4 precland: store result of _target_pose_sub.update() for later use 
- Fixes #12391
 2019-07-04 11:02:14 -04:00
BazookaJoe1900
72a449490a Mavlink: Use MAV_BROADCAST only in context of ethernet 2019-07-03 14:02:37 -04:00
Timothy Scott
dce1dda871 Fixed incorrect timestamps 2019-07-03 14:39:59 +02:00
Beat Küng
a2471fb539 logger: handle 'char' type in messages 
Fixes errors like:
ERROR [logger] No definition for topic char[10] key;uint8_t[2] _padding0; found
when the Debug logging profile is selected.
 2019-07-03 10:43:59 +02:00
alessandro
fecb32f88d
Parameter for virtual battery in SITL (#12299) 
* New parameter for virtual battery in SITL

* Update src/modules/simulator/simulator_mavlink.cpp

Co-Authored-By: Beat Küng <beat-kueng@gmx.net>

* Updated description for parameter SIM_BAT_MIN_PCT
 2019-07-02 15:53:18 +02:00
Daniel Agar
6ef61e5c19 landing_target_estimator: update to uORB Subscription and Publication 2019-07-01 10:35:41 -04:00
Daniel Agar
c165a6f71b attitude_estimator_q: move most orb subscriptions to uORB::Subscription 2019-06-29 15:51:49 -04:00
Daniel Agar
4b778fd0c2
navigator: fix vehicle_status update (#12364) 2019-06-28 21:35:29 -04:00
Daniele Pettenuzzo
55b5e7552c mavlink: add new extvisionmin mode (#12279) 
Signed-off-by: DanielePettenuzzo <daniele@px4.io>
 2019-06-28 10:44:22 -04:00
Mark Sauder
c22ed9397e land_detector: Implement ModuleParams inheritance in the FixedwingLandDetector class. 2019-06-28 10:26:59 -04:00
RomanBapst
0b2af5c519 FixedWingAttitudeControl: don't lock integrator during transition 
- airframes that are not well trimmed rely on the integrator to learn
the offset. This change can help improve altitude hold during transitions

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-06-28 09:54:40 -04:00
RomanBapst
afd95b14cf vtol_att_control: use VT_MOT_ID instead of VT_MOT_COUNT 
- VT_MOT_COUNT assumed that motors were always the first outputs. This
does not have to be true always. VT_MOT_ID allows to specify precisely how
many motors we have for hovering and to which channel they are connected.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-06-27 20:14:10 +02:00