f8171f999b
mavlink: initialize orbit struct
2018-12-19 18:22:08 +01:00
25de837c23
FlightTaskOrbit: fix rotation direction in telemetry
2018-12-18 14:40:07 +01:00
d4a40f5d99
px4_custom_mode: add custom sub mode orbit
2018-12-18 14:40:07 +01:00
e708e82425
mavlink: lower orbit status frequency 5Hz
2018-12-18 14:40:07 +01:00
8b419efa2c
FlightTaskOrbit: fix rotation direction from command
2018-12-18 14:40:07 +01:00
25aa2b9c8c
orbit: fix telemetry message content
2018-12-18 14:40:07 +01:00
14b83f7bfc
mavlink: add orbit to the normal messages
...
It is only actually sent out when the orbit is running.
2018-12-18 14:40:07 +01:00
f11465bb26
orbit: publish uorb message
2018-12-18 14:40:07 +01:00
10913a66b4
orbit: sending telem via mavlink
2018-12-18 14:40:07 +01:00
cfad556a16
mixer_multirotor: use reduce_only instead of -1000 for yaw thrust reduction
...
This is more accurate, because if we use -1000 as lower bound, a very large
yaw command can reduce thrust more than needed.
The difference can be seen in the following example
(with roll/pitch airmode):
p_dot_sp = -1.0 # roll acceleration
q_dot_sp = 0.9 # pitch acceleration
r_dot_sp = -0.9 # yaw acceleration
2018-12-13 09:50:07 +01:00
418df2516d
mixer multirotor: add to CI
2018-12-13 09:50:07 +01:00
e8e3b00a10
refactor mixer: rename delta_outputs to desaturation_vector
2018-12-13 09:50:07 +01:00
3eefc93e5d
mixer_multirotor.py: avoid scientific notation for vector printf
...
makes it easier to compare.
2018-12-13 09:50:07 +01:00
447ed18ab4
commander: use C API for MC_AIRMODE & RC_MAP_ARM_SW to remove multirotor modules dependency
2018-12-13 09:50:07 +01:00
c665c34d2a
MC stabilized: allow yaw control at 0 throttle if yaw-airmode is selected
2018-12-13 09:50:07 +01:00
24dc316973
commander: enforce yaw-airmode to have an arming switch mapped
...
Yaw airmode w/o arming switch is most likely not what you want and will
lead to surprising results.
2018-12-13 09:50:07 +01:00
cf66656258
mixer multirotor: add unit-tests
...
To run:
cd src/lib/mixer
make tests
This will validate the C++ implementation by taking the python
implementation as ground-truth. It runs through various actuator control
command values for all airmode variations and several mixer types.
The python script also allows to prototype new mixer algorithms.
It is not integrated into the existing build system, because it's easier
to use that way, with less dependencies, and faster testing workflow.
It could however be a bit more integrated.
Reference: https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
2018-12-13 09:50:07 +01:00
c659d2bcc2
mixer: minor refactoring to reduce header include dependencies
...
- avoid including <px4_defines.h> from the math headers
- avoid driver include <drivers/drv_mixer.h> from the mixer
2018-12-13 09:50:07 +01:00
8bcf54688a
mixer: complete refactoring & add airmode for yaw
...
Provides a more generic desaturation algorithm, making it easier to
handle the different mixer strategies.
python reference implementation:
https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
The behavior for non-airmode and roll/pitch airmode should be the
same as before.
CPU load is slightly higher for the non-airmode case (+0.5%), for airmode
it is the same.
2018-12-13 09:50:07 +01:00
19ccab28bb
mixer: use an enum for airmode
2018-12-13 09:50:07 +01:00
9406fa5246
refactor mixer.h: use override keyword, fix set_airmode argument type (uint32_t -> int32_t)
2018-12-13 09:50:07 +01:00
7cc00f41d2
AirModeYaw - Change airmode type from bool to int
2018-12-13 09:50:07 +01:00
f851978101
commander run preflight immediately ( #11018 )
...
- partially addresses #11017
2018-12-12 09:24:50 -05:00
c1d50d35d3
Move common shmem parameter declarations to shmem.h.
2018-12-11 09:21:15 -05:00
859b242cb8
Fix some dynamic linking errors.
...
_Stof, bsearch, param_find_changed
2018-12-11 09:21:15 -05:00
950ab879ff
Make name mangling type consistent.
2018-12-11 09:21:15 -05:00
11364c0e01
Improve forcefail/terminatefail docs
2018-12-10 15:30:53 -08:00
2c06cb71c8
FlightTask: use convetion for definition of the landing gear default value
2018-12-10 16:17:23 +01:00
9ee3d79a96
FlightTask Manual: Gear react only on switch changes and not states
2018-12-10 16:17:23 +01:00
f4fc0cd291
FlightTAsk AutoMapper: Adapt to new message
2018-12-10 16:17:23 +01:00
be7416c823
FlightTask Auto: Adapt to new message and rename variable
2018-12-10 16:17:23 +01:00
2f7c8569cb
mc_pos_ctrl: Remove gear intialisation
...
- Handled in the flight task
2018-12-10 16:17:23 +01:00
1412e0494c
FlightTask AutoMapper: Use deploy gear information
2018-12-10 16:17:23 +01:00
66f85ff9ae
FlightTask Auto: Save deploy gear information
2018-12-10 16:17:23 +01:00
aaddb845c4
FlightTask: Add initialisation of the landing gear
2018-12-10 16:17:23 +01:00
de185726b3
vehicle constraints: remove landing gear
...
- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition
2018-12-10 16:17:23 +01:00
6dbed6636d
FlightTasks: Add interface for landing gear
2018-12-10 16:17:23 +01:00
bf9a18a200
FlightTask: Add interface for landing gear
2018-12-10 16:17:23 +01:00
6938b7fe02
Rename the invered state and make namespace more clear
...
- Addressing review comments
2018-12-10 16:17:23 +01:00
aac9221d95
msg landing_gear: change type to int8
2018-12-10 16:17:23 +01:00
ee41e3181f
mc_pos_ctrl: Replace landing gear logic
...
- It takes the input from the constrains from the active flight task
2018-12-10 16:17:23 +01:00
163d201c28
remove the landing gear from the attitude setpoint
...
- An new message is created just for the landing gear
- The old logic is repalaced by publishing this new topic
2018-12-10 16:17:23 +01:00
e979d24fff
commander: fix orbit failsafes for data link & rc loss
2018-12-08 22:34:57 +01:00
5b5d5ac6d5
mc_pos_control: let orbit task do its work
2018-12-08 22:34:57 +01:00
34fb52d8bd
commander: add orbit state handling
2018-12-08 22:34:57 +01:00
21bcc0d2f4
mav_cmd_do_reposition now obeys the ground speed argument
2018-12-07 21:40:16 -05:00
dc49e259b3
logger: add separate profile for vision/avoidance
...
Keeps things more modular.
2018-12-07 11:51:59 +01:00
fced1ce33b
logger: remove some unused logged topics in SITL
2018-12-07 11:51:59 +01:00
d42fe1826a
parameters also include all module configs when scoping disabled ( #10992 )
...
* fixes parameters on Snapdragon
2018-12-06 14:21:06 -05:00
311c0941c9
Teal One airframe improvements for full support ( #10860 )
...
* added a parameter for enabled the smart battery
* start tel1 and tel2 at 921600 and max rate
* turned up the max tx rate on mavlink streams for telem1 and telem2
* turned off mavlink stream for tel1 in 4250_teal. This is connected to TX1 FTDI UART and has issues.
* moved check to 4250 board ID to start mpu9250s for Teal airframe into fmuv4 rc.board.
2018-12-05 09:49:58 -05:00
Matthias Grob