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15184 Commits
Author SHA1 Message Date
Beat Küng ea31f34d09 mc rate controller: add I term reduction factor 
Reduce the I gain for high rate errors to reduce bounce-back effects after
flips. Up to 200 degrees the gain is almost not reduced (<25%), so this
will only take noticeable effects for large errors (setpoint changes),
where we actually want to have an effect.

This allows to increase the MC_*RATE_I parameters w/o negative effects
when doing flips (i.e. bounce-back after flips).

The 400 degrees limit and the x^2 are empirical.

The better the rate tracking in general (high P gain), the less this is
required (because of the lower tracking error). At the same time it also
does not harm, as the i_factor will always be close to 1.
 2019-06-22 13:23:19 +02:00
JaeyoungLim 4c4bcc5fdb Mavlink: Fill in thrust field correctly for offboard rates setpoints on fixed wing (#12311) 
* Fill in thrust field for rates sp
 2019-06-20 17:17:32 +02:00
SalimTerryLi e0f3fc8d00 Mavlink receiver SET_ATTITUDE_TARGET fill the correct throttle field by checking its frametype in offboard mode (#12149) 2019-06-18 02:06:41 +02:00
alessandro 2deab6c607 commander: refactored state-machine strings 
- Follow-up changes to https://github.com/PX4/Firmware/pull/11796
 2019-06-17 20:09:05 +02:00
Daniel Agar 136962d125 uORB Subscription callbacks with WorkItem scheduling on publication (#12207) 2019-06-17 16:26:06 +02:00
mcsauder 8811c8315c Modify the update_params() comment to better reflect what is taking place in mavlink_receiver.h. 2019-06-17 09:41:30 +02:00
mcsauder 742c22d099 Rename _param_sub to _param_update_sub and initialize. Re-define and re-implement the update_params() method and only call if parameters have been updated. 2019-06-17 09:41:30 +02:00
mcsauder c92b8b03cd Move variable initialization from constructor to declarations in MavlinkReceiver class, alphabetize var lists. Added update_params() method to ensure that parameters subscribed to are updated routinely. 2019-06-17 09:41:30 +02:00
Daniel Agar 7c4bf6ddae Mavlink ODOMETRY (331) support MAV_FRAME_BODY_FLU 2019-06-16 13:23:57 -04:00
JaeyoungLim d7d0bd2764 Mavlink: Enable gimbal control using SET_ACTUATOR_CONTROL_TARGET while controlling the vehicle offboard (#12146) 
* Stop ignoring setpoints when actuator setpoints are for the gimbal
 2019-06-15 21:35:41 -04:00
Daniel Agar 106ee280c5 land_detector initiate cycle immediately 
- fixes #12190
 2019-06-15 21:30:09 -04:00
Daniel Agar 4e360064d9 commander refactor and cleanup offboard control mode 2019-06-15 20:45:26 -04:00
Daniel Agar 1657b5030a wind_estimator always copy attitude and local position data 2019-06-15 19:42:48 -04:00
Daniel Agar 4910bed45b mavlink send_statustext_critical() remove redundant print 2019-06-15 10:14:41 -04:00
Timothy Scott c4bb6b53e8 Changed soft stop check 2019-06-13 10:04:26 +02:00
Timothy Scott 21760a5856 Changed constant name to UNMANNED_GROUND_VEHICLE 2019-06-13 10:04:26 +02:00
Timothy Scott 714c90b9db Updated code style to fix confusing if conditions 2019-06-13 10:04:26 +02:00
Timothy Scott a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00
Timothy Scott 2ca40bfc65 Changed navigator to properly separate xy and z distance to waypoint 2019-06-13 10:04:26 +02:00
Daniel Agar 6816f2a4ce commander force offboard control update when first entering mode 
- fixes #12241
 2019-06-12 20:25:05 -04:00
Matthias Grob 048cca7bc4 vtol_att_control: apply multicopter takeoff hotfix also for vtol (#12250) 
Please see reference:
https://github.com/PX4/Firmware/issues/12171
 2019-06-12 13:59:29 -04:00
Mark Sauder ae6fed4f29 Migrate remaining variable initializations from constructor list to declarations in mavlink_main.cpp/h. 2019-06-12 12:53:09 -04:00
Daniel Agar 79d4c09d59 uORB::Publication simplify and cleanup 
- base class is now template
 - drop linked list
 - virtualization no longer required
 2019-06-12 08:48:19 -04:00
Bharat Tak 1ebf5d04d9 logger: add Ulog sync bytes at 1Hz and tagged log message definition (#12144) 2019-06-11 11:00:54 +02:00
Daniel Agar c223de8a50 vmount move usage() to bottom of file and format 2019-06-08 03:23:50 -07:00
Daniel Agar 933dd1357e navigator move print_usage() to bottom of file 2019-06-08 03:23:50 -07:00
Daniel Agar d9c5fb0500 mc_att_control move print_usage() to bottom of file and format 2019-06-08 03:23:50 -07:00
Daniel Agar 97c2dba2fa logger move print_usage() to bottom of file and format 2019-06-08 03:23:50 -07:00
Daniel Agar 63d582464e mc_pos_control move print_usage() to bottom of file and format 2019-06-08 03:23:50 -07:00
Julian Oes d2c824c534 gpssim: don't advertize uninitialized data 
According to valgrind uninitialized bytes were being advertized.
 2019-06-07 17:10:35 -04:00
Daniel Agar 5669df4ca4 mc_pos_control move orb subscriptions to new uORB::Subscription 2019-06-07 09:22:35 -04:00
Daniel Agar be02ad3514 fw_att_control move orb subscriptions to uORB::Subscription 2019-06-06 20:02:02 -04:00
Daniel Agar 4bef573497 fw_pos_control_l1 move to new uORB::Subscription 2019-06-06 20:00:02 -04:00
Daniel Agar 528d2f61a0 sensors partially move to new uORB::Subscription 2019-06-06 19:07:17 -04:00
Daniel Agar 3796dda209 ekf2 move most orb subscriptions to uORB::Subscription 2019-06-06 08:22:15 +02:00
Daniel Agar cecd009ddc mc_att_control: fix vehicle_rates_setpoint_poll() error due to merge timing 2019-06-05 21:18:02 -04:00
Daniel Agar 4c42cac380 mc_att_control move most orb subscriptions to uORB::Subscription 2019-06-05 20:37:47 -04:00
Daniel Agar c0e735c88a vtol_att_control move to new uORB::Subscription 2019-06-05 20:33:20 -04:00
Daniel Agar 71d58c9278 wind_estimator move to new WQ (lp_default) and uORB::Subscription 2019-06-05 20:31:16 -04:00
Daniel Agar e4ad994763 navigator move to new uORB::Subscription 2019-06-05 20:28:44 -04:00
bresch ac4458460d FailureDetector - update hysteresis to comply with new interface 2019-06-05 16:53:08 +02:00
bresch c75f71abc2 IO failsafe - apply failsafe values to outputs when in failsafe. 
This is required because otherwise, IO would output disarmed values if
FMU goes into a disarmed state.
 2019-06-05 16:53:08 +02:00
bresch 96da46d1aa Failsafe - cosmetic changes 2019-06-05 16:53:08 +02:00
bresch 776b1a28de IO mixer - cleanup FMU timeout check (comments and indentation) 2019-06-05 16:53:08 +02:00
bresch c576c57d7b protocol.h - comment style update 2019-06-05 16:53:08 +02:00
bresch 4b8febf558 Flight termination IO - reword flight termination flag description 2019-06-05 16:53:08 +02:00
bresch 158463d0a0 Flight termination - Rename "flightterm" variables and defines to "flighttermination". 2019-06-05 16:53:08 +02:00
bresch 5becc24a1f Failure detector - in failure detector preflight check, get 
vehicle_status as const type. Also use FAILURE_NONE enum to check for a
failure
 2019-06-05 16:53:08 +02:00
bresch 33a94c8191 Failure detector - change snake_case function names to camelCase 2019-06-05 16:53:08 +02:00
bresch 03ad4ffd47 FailureDetector - Add is_failure() function to simplify the interface; the user does not need to check the bitmask 2019-06-05 16:53:08 +02:00