6b7aed3d44
Boats: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
95a35c972d
Rovers: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
0be6069b83
TiltrotorVTOL: allow stopping front tilted motors in fast forward flight
2023-07-10 18:58:37 +02:00
66b451e61f
TailsitterVTOL: allow explicitly stop forward motor with zero thrust
2023-07-10 18:58:37 +02:00
5568afbb12
StandardVTOL: explicitly stop forward motor with zero thrust
2023-07-10 18:58:37 +02:00
6b7b34a71a
FixedWing: explicitly stop forward motor with zero thrust
...
This allows PWM and all other output methods to configure
stopped, idling and full thrust points and use them consistently.
The fact that a fixed wing motor can be stopped when zero thrust
is demanded is explicit and could in principle even be disabled.
The mechanism is the same as for a standard VTOL stopping the
multicopter motors in the fixed wing flight phase.
2023-07-10 18:58:37 +02:00
2a077181d9
ActuatorEffectiveness: add function to delectively stop motors with zero thrust
2023-07-10 18:58:37 +02:00
a8bf47e606
Set default minimum and maximum PWM for motors
...
This allows to consistently define:
Motor stopped - disarmed PWM
Motor idling - minimum PWM
Motor at full thrust - maximum PWM
Any allocation can then distinctly decide if
a motor should be running or not depending
on the context and also explicitly command that.
2023-07-10 18:58:37 +02:00
646f711b1a
fake_magnetometer: add dpends=fake_magnetometer
2023-07-06 22:43:13 -04:00
0d6cb46c83
lightware_laser_i2c: add SF30/D
2023-07-06 22:42:39 -04:00
afa085da7f
geofence: fix altitude change fence check
...
When asking for an altitude change only, the current position needs to
be used, otherwise the geofence check is be skipped
2023-07-06 22:39:39 -04:00
c1cb48c2ea
EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers
...
Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com >
2023-07-06 09:36:27 +02:00
39e04d9712
lib: matrix: SquareMatrix: Deal with the special case of M=1
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com >
2023-07-06 08:24:33 +02:00
dccfcb85c1
(Mission) FeasibilityChecker: remove duplicate line
2023-07-04 11:17:23 +02:00
a617e9c54b
Navigator RTL: run find_RTL_destination() only on_inactive
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-07-04 09:36:22 +02:00
f275085e84
Navigator: Loiter: always establish new Loiter with center at current pos
...
When switching into Hold mode establish a Loiter around current position,
even if we were before already loitering (eg in Mission mode).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-07-04 09:35:40 +02:00
288e3ae74a
EKF2: vision attitude error filter ( #21791 )
...
* ekf2-ev: filter q_error for frame correction
* ekf2: filter EV attitude error centrally
2023-07-03 11:13:59 -04:00
24665f10f2
VL53L1X: fix scheduling ( #21787 )
...
* should be 50 Hz instead of 50,000 Hz
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
2023-07-03 10:49:53 -04:00
a36c922fc0
ActuatorEffectivenessHelicopterTest: adapt to new constructor
2023-07-03 16:21:27 +02:00
77d6c722a7
helicopter: add tail servo support
...
as a separate CA_AIRFRAME, as the UI cannot switch between servo/motor.
2023-07-03 16:21:27 +02:00
018ec97c41
mavlink_log_handler: handle _next_entry ( #21784 )
2023-07-03 10:30:07 +02:00
b7e2a9c320
FlightTaskAltitude: remove duplicate, deprecated yaw stick handling
2023-07-03 09:52:47 +02:00
4d465533b5
FlightTaskManualAcceleration: remove duplicate yaw stick handling
...
It's already instanciated and ran by FlightTaskManualAltitude
which FlightTaskManualAcceleration inherits from.
2023-07-03 09:52:47 +02:00
03183ccacf
mc_pos_control_params: remove forgotten trailing zeroes
2023-07-03 09:52:47 +02:00
4348dcce2a
Navigator: loiter: remove unnecessary _loiter_pos_set ( #21776 )
...
* Navigator: loiter: remove unnecessary _loiter_pos_set
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* Navigator: loiter: remove commented line
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2023-06-30 15:40:20 +02:00
e34993969b
tiltrotor: expose tilting duration of backtransition in param
...
Instead of hard-coding the tilting duration (from FW to MC tilt),
expose it as a parameter (VT_BT_TILT_DUR). The default is the same
as the hard-coded value previously (1s).
Slower tilting mechanisms need a higher value here, while for smaller
ones a too high value results in unnecessary delays till the motors
are in hover configuration.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-27 10:11:41 +02:00
05489f9ecf
tiltrotor: reduce BACKTRANS_THROTTLE_UPRAMP_DUR_S to 0.5s
...
This reduces the motor ramp up time after a transitions is declared over.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-27 10:11:41 +02:00
c26b699f8a
tiltrotor: reduce BACKTRANS_THROTTLE_DOWNRAMP_DUR_S from 1 to 0.5s
...
This affects how soon after a backtransition the vehicle has the
full hover controller running again. Specifically it reduces the
duration of the ramp down of the motors prior to tilting them.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-27 10:11:41 +02:00
98d8935034
drivers/barometer/invensense/icp201xx: increase delay after configuration ( #21765 )
...
- fixes wrong altitude reporting
2023-06-26 14:16:06 -04:00
eb70c9f6f3
ekf2: update auto-generated code to SymForce 0.9.0
2023-06-26 14:10:54 -04:00
fdf7867a3e
ekf2: update derivation to SymForce 0.9.0
2023-06-26 14:10:54 -04:00
c99f56f010
wind_estimator: update generated code to Symforce 0.9.0
2023-06-26 14:10:54 -04:00
73e5ff109c
wind_estimator: update derivation to use SymForce 0.9.0
2023-06-26 14:10:54 -04:00
7e79d65aa4
mc_pos_control_params: clarify maximum vertical velocity parameters
2023-06-26 17:01:20 +02:00
439670444f
mc_pos_control_params: more gain & velocity decimals, more clear wording
2023-06-26 17:01:20 +02:00
a6a913bf25
mc_pos_control: remove trailing zeroes
2023-06-26 17:01:20 +02:00
54a351639c
mc_pos_control: improve parameter metadata
...
- Adapted descriptions to be more clear
- Adjusted some limits and decimals
2023-06-26 17:01:20 +02:00
d00ad1b815
mc_pos_control: separate parameter metadata into multiple files
...
because the original file was almost 1k lines and
the order of parameters more historical than after topic.
2023-06-26 17:01:20 +02:00
20d0661e87
HealthAndArmingChecks: disallow arming via parameter
...
COM_ARMABLE is set to "Disabled" will prevent arming.
This allows to set the parameter when ground demoing a drone or
if it's in maintenance for safety reasons.
2023-06-22 13:17:47 +02:00
173407581b
HealthAndArmingChecks: reorder CMakeLists alphabetically
2023-06-22 13:17:47 +02:00
18d89e4bc1
lightware_lase_serial: fix pointer for enabling serial mode
...
const char *data = "www\r\n";
Defines a cstring of 6 bytes: 'w', 'w', 'w', '\r', '\n', '\0'
type of data: char const*
type of &data: char const**
So when we call
write(_fd, &data, strlen(data));
then strlen(data) == 5
and we send the 4 byte memory address of data
+ some additional random byte.
Correct is
write(_fd, data, strlen(data));
where char const* gets casted to const void * and we pass
the pointer to the content of data.
The fundamental problem here is write() not being typesafe.
2023-06-21 15:59:12 +02:00
fd267fb9a5
param save: Add a blocking API for param saves to be used from shell.
2023-06-21 08:19:52 +02:00
18f0311161
Navigator: Mission: improve survey mission resume
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-20 14:38:03 +02:00
24b1ef93b2
Mission: reset mission on landing only if last item was reached
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-20 14:38:03 +02:00
c6870006c7
Navigator: move disable camera trigger on mission inactivation to seperate function
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-20 14:38:03 +02:00
d9ae2ed7ac
ekf2: regenerate yaw estimator symforce
...
- remove underscore uppercase variable naming that can be problematic
2023-06-19 21:00:25 -04:00
65ad6afb08
Micro-XRCE-DDS-Client: update submodule
...
Go get https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/359 .
2023-06-19 16:05:36 -04:00
4632fbd600
FWRateController: use param find for VT_DIFTHR_EN as pure FW build doesn't have VTOL module built
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-19 10:59:20 +02:00
69aebe650b
FixedwingRateControl: rework VTOL differential thrust saturation
...
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-19 10:59:20 +02:00
53b9e66c66
RateControl: allow setting individual saturation flags
...
This helps for more complicated cases where certain axes are controlled
through and get feedback from a different allocator.
2023-06-19 10:59:20 +02:00
Matthias Grob