mahima-yoga
ca83b8330d
autotune: enable autotune in mission mode
...
When operating fully autonomously (i.e., without manual control or a guaranteed link to the ground station), tuning a vehicle can be difficult since the current autotune process requires either RC input or a GCS command. For these scenarios, it it useful to be able to start autotune inside a mission.
2025-12-05 14:03:10 +01:00
mahima-yoga
0985c22701
[fix] autotune: fix indentation on _state_start_time in abort logic
2025-11-28 09:31:37 +01:00
mahima-yoga
73ee098a25
fw_autotune: continue to next axis in case of convergence timeout
2025-10-28 13:16:40 +01:00
mahima-yoga
97c16352a5
fw-autotune: increase abort timeout to 30 seconds
...
Avoids abort on heavily undertuned systems during amplitude detection state
2025-10-24 17:38:54 +02:00
mahima-yoga
fe35f1a34b
fw-autotune: run state machine at 50Hz
2025-10-24 17:38:54 +02:00
mahima-yoga
7323075527
fw-autotune: use 0.75*rate_limit as the target rate.
2025-10-24 17:38:54 +02:00
mahima-yoga
614e15d5f4
fw-autotune: detect and limit amplitude of ID maneuver
...
Increases signal ampltiude on a 1Hz sin input until a target rate (R/P/Y = 0.8/0.5/0.5 rad/s) is reached. Identification signal is then scaled with this ampltitude instead of the user-defined parameter.
2025-10-02 15:17:40 +02:00
Silvan Fuhrer
16f97635ce
Separate RC and manual control terms
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-08-18 18:11:03 +02:00
bresch
77e8ccaf6a
fw-atune: fix immediate failure on first try
...
The flight mode needs to be updated before starting the autotune,
otherwise it appears as a mode change and aborts the autotune
2025-08-04 16:42:54 +02:00
enesavcu
fa1885af23
Signal generator ( #22666 )
...
Add option to generate sine chirp signals for fixed-wing system identification
2024-03-26 16:11:32 +01:00
bresch
c1b139dea1
atune: reset param on start
...
This prevents a race condition where autotune cannot start because the param was already set to 1
2023-12-21 13:52:47 +01:00
bresch
2110eae25d
atune: initialize filter if not already initialized
2023-11-16 23:14:17 -05:00
bresch
dbebe7d168
fw-atune: use same attitude P rule as for multirotors
...
The current rule was producing too high gains. Also constrain the value
using the prameter's limits.
2023-08-18 11:48:08 -04:00
bresch
759f91ba52
fw-atune: limit max test signal
...
Whe the P gain is high, the test signal is large too. However, it should
not exceed what is allowed from the max rate parameter.
2023-08-18 11:48:08 -04:00
Silvan Fuhrer
b16f16598b
VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics
...
MC/FW rate controller and auto tuner: remove actuator_controls
AirshipAttControl: remove actuator_controls
MulticopterLandDetector: remove actuator_controls
mavlink streams vfr_hud and high_latency2: remove actuator_controls
RoverPositionController: remove actuator_controls
UUVAttitudeController: remove actuator_controls
battery: use length of thrust_setpoint for throttle compensation
VehicleMagnetometer: use length of thrust_setpoint for throttle compensation
Signed-off-by: Silvan Fuhrer
2023-03-16 11:55:45 +01:00
Hamish Willee
2938db1c60
Apply suggestions from code review
2023-02-02 15:20:34 +01:00
Hamish Willee
7cea384404
Update src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c
2023-02-02 15:20:34 +01:00
Hamish Willee
d65e5969e1
FW_AT_MAN_AUX - define what an Aux input is
2023-02-02 15:20:34 +01:00
chris1seto and Chris Seto
86cddc6a52
fw_autotune_attitude_control : Add better support for RC TX control while in FW AT ( #20069 )
...
Co-authored-by: Chris Seto <chris1seto@gmail.com >
2022-09-23 19:17:51 -04:00
Hamish Willee
e6eed43648
Spelling errors ( #19935 )
2022-07-27 14:33:16 +10:00
Daniel Agar
6135bb384b
cleanup module callback registration failed errors
2022-03-23 20:44:50 -04:00
Beat Küng
4ba84d56c9
logger: introduce optional topics
...
The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.
This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
2021-11-15 09:02:03 -05:00
Matthias Grob
fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
Julian Oes
6a6b8d49fc
msg: re-use manual_control_input in setpoint
...
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
2021-11-09 16:05:25 +01:00
bresch
6ec9ab11f2
add fw auto-tune module to board configs
2021-10-25 13:41:31 +02:00
bresch
55f0860c31
fw atune: add fixed-wing auto-tuning module
2021-10-25 13:41:31 +02:00
mahima-yoga