f9682b86d1
AirspeedSelector: some clean up
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
7537fa36c8
AirspeedValidator: fix airspeed scale validation (feed raw TAS)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
a2faac148f
AirspeedValidator: check_airspeed_innovation() check absolute innovations
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Do no longer use tas_innovation from wind estimator and test ratio, but calculate
the innovation based on wind estimate, TAS measurement (including currently applied scale)
and ground velocity. Use innovations directly to trigger failure.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
f6d37ecacf
AirspeedSelector: make sure we don't try to access a negative array index
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
ccab93e68b
AirspeedSelector: use Vector3f
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
cad7851774
AirspeedSelector: add _CAS_scale_validated to airspeed_wind for logging
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
625f556b0e
AirspeedSelector: airspeed scale estimation improvements and robustification
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- run airspeed scale estimation always, not in dedicated mode
- add option to apply scale automatically, with extra feasibility check
- add airspeed scale for all 3 possible airspeed instances
- clean up parameters
- add check for data stuck (non-changing airspeed data)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
8e8c6efd66
Mission block: do not care for altitdue acceptance when approaching backtransition point
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Not accepting the waypoint causes the vehicle to perform a sharp turn after passing
the land waypoint and this causes worse unexected behavior.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-22 15:37:10 +02:00
9301288d1f
Add parameter and logic to set RTL heading mode.
2021-10-22 09:28:30 +02:00
fd96bbf9b9
Mavlink: bump MAX_REMOTE_COMPONENTS to 16
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-21 07:48:50 +02:00
8a2b310b83
topic_listener: avoid code generation, use existing metadata at runtime
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This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.
2021-10-20 08:10:05 +02:00
a0e72b35a4
replay: ignore ULogMessageType::PARAMETER_DEFAULT messages
2021-10-20 08:10:05 +02:00
4c73ac3805
uorb: use single byte for internal types in o_fields metadata
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Reduces flash usage by ~9KB.
2021-10-20 08:10:05 +02:00
21163d859e
Whitespace cleanup.
2021-10-19 13:29:26 -04:00
4cf8eb8226
ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics
2021-10-18 21:39:40 -04:00
b35dd86d04
mc_pos_control: remove unused var
2021-10-18 20:37:18 -04:00
c8d6f8f5e5
remove proto for unused function limit_thrust_during_landing()
2021-10-18 20:37:18 -04:00
9d7c4596f7
navigator: increase stack 1800 -> 1864 bytes
2021-10-18 20:31:35 -04:00
da1df5352c
fix pwm: only update oneshot timers owned by the current pwm_out instance
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This fixes the case where oneshot was enabled with multi-instance pwm_out,
triggering oneshot updates too close to each other and as a result could
lead to spinning motors while disarmed.
2021-10-18 18:45:19 -04:00
f1686b1abf
px4io: add dynamic mixing support
2021-10-18 18:45:19 -04:00
183ab8bbe7
control_allocator: avoid default argument for virtual method getEffectivenessMatrix
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clang tidy error:
/__w/PX4-Autopilot/PX4-Autopilot/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp:50:34: error: default arguments on virtual or override methods are prohibited [google-default-arguments,-warnings-as-errors]
ActuatorEffectivenessMultirotor::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
2021-10-18 18:45:19 -04:00
ab3fe77f46
mavlink_receiver: publish MAV_CMD_DO_SET_ACTUATOR command
2021-10-18 18:45:19 -04:00
38fa65a47e
control_allocator: remove direct mixer, add actuator_{motors,servos} instead
2021-10-18 18:45:19 -04:00
a51c465b54
control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets
2021-10-18 18:45:19 -04:00
ad1bcfd77c
commander: correct lockdown CLI description
2021-10-18 18:45:19 -04:00
a66b0829b0
Standard VTOL: add airspeed to back transition logic and refactor it a bit
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
358c67226e
Tiltrotor: backtransition logic improvements
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-use groundspeed in body x for exit condition
-use airspeed for speed exit condition if no valid groundspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
cba80a6338
Tiltrotor: front transition: fade out yaw equally to roll
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
641383cbfb
VTOL backtransition improvements
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* vtol_type: only allow positive pitch setpoints during backtransition
* vtol params: set default of VT_B_DEC_FF to 0, as for most frames a FF is not necessary
* Tiltrotor: fix throttle during first part of back transition
* Tiltrotor: only enable all motors in second phase of backtransition (tilting phase)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
af291e2040
FlightTaskTransition: Transition improvements
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- use fw pitch setpoint offset during transition
- take over previous vertical velocity and smooth out over transition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
d39c32619e
Tiltrotor: add minimum throttle of 0.25 during front transition
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
f61853d428
vtol: implement throttle blending out and into transition
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- blend into TECS throttle after front transition
- blend out of TECS throttle during backtransition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
8dd76050e0
vtol: take fixed wing attitude setpoint during transition if altitude is
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not controlled
- required as there is no flightask running if altitude is not controlled
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
56823b5ac9
ekf2: EKF control don't allow invalid flow gyro to propagate
2021-10-14 16:31:22 -04:00
d35cf78e4a
commander: PX4_ERR if attitude or angular velocity become invalid
2021-10-14 09:17:50 -04:00
ef4d4c3093
sensors/vehicle_imu: fix timestamp_sample increasing check
2021-10-14 09:12:45 -04:00
4535b18a80
Set setpoint type as const
2021-10-14 11:18:02 +02:00
07d72f8604
Fix comments
2021-10-14 11:18:02 +02:00
443666199e
Move setmode outside of control_position
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This commit moves the position controller mode handling outside of the control_position method.
The control_method is renamed to control_auto
2021-10-14 11:18:02 +02:00
ae9e91f90c
FW Pos controller: fix format in new switch
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
c3e961a1ed
FW Pos C: move setting of control_mode_current to separate function and minor clean ups
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
0cf3ef87e3
FW Position Controller: move nav_speed_2d calculation to function
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
581ec224be
Encapsulate loiter and position setpoint handling
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This commit encapsulates the position setpoint and loiter setpoint handling into a single method, in order to make the code easier to understand
4be452
2021-10-14 11:18:02 +02:00
fed234de81
flight_mode_manager: Extracted position trajectory motion planning into a library
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Extract the functionality to plan smooth position motion trajectories into a
motion planning library, such that it can be used in other parts of the code as well.
2021-10-13 21:25:43 -04:00
e6658547cf
sensors/vehicle_imu: Fix compiler warning for implicit INFINITY double->float cast
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This pops up on some newer compilers
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
5509235517
commander: Fix implicit NaN conversion from double to float compiler warning
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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
fab053d33b
mavlink: receiver battery_status prevent out of bounds access
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- fixes https://github.com/PX4/PX4-Autopilot/issues/18385
2021-10-12 09:20:40 -04:00
801ef2d520
VTOL main: add local variable for int(vehicle_command.param1 + 0.5)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
342e9900f8
vtol main: only guard against transition to FW in certain flight modes, never to MC
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
Silvan Fuhrer