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30,238 Commits 852 Branches 161 Tags
fd67bd06809cbf83d5adf6baf822e8b89885dce4
Commit Graph
308 Commits
Author SHA1 Message Date
Daniel Agar fd67bd0680 uORB: SubscriptionCallback cleanup naming 2019-09-28 13:43:56 -04:00
Silvan Fuhrer bfbc9dda91 VTOL: fix front transition rate publication (enable FW attitude controller to run instantly when transition is started). For that the vehicle_status_poll is moved before vehicle_control_module_poll in FW att C 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-26 11:39:55 -04:00
Daniel Agar e83026f106 fw_att_control: update orb_publish to uORB::Publication<> 2019-09-02 16:20:44 -04:00
Beat Küng f8e0441e7b src/platforms/common: move to platforms/common 
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
 2019-08-30 07:59:44 +02:00
Daniel Agar cab0aee2a0 fw_att_control: move to WQ with uORB callback scheduling 2019-08-07 22:54:44 -04:00
Daniel Agar 2ad12d7977 sensors: create vehicle_angular_velocity module (#12596) 
* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
 2019-08-06 12:55:25 -04:00
RomanBapst a8071589bc increase default fixed wing rate controller I term 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst 0b2af5c519 FixedWingAttitudeControl: don't lock integrator during transition 
- airframes that are not well trimmed rely on the integrator to learn
the offset. This change can help improve altitude hold during transitions

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-06-28 09:54:40 -04:00
Timothy Scott a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00
Daniel Agar be02ad3514 fw_att_control move orb subscriptions to uORB::Subscription 2019-06-06 20:02:02 -04:00
Daniel Agar 2c63e335e9 uORB::Subscription subscribe directly to uORB device node object 2019-06-03 17:06:21 -04:00
Julian Oes 2ac8841f35 vtol/fw/mc: fix VTOL enum shadowing 
This changes the enums used for various VTOL states to enum classes
which makes them type-safe and should avoid shadowing.

This change was motivated by a Clang warning about shadowing of the
enum const TRANSITION_TO_FW which was declared twice, once in
vtol_type.h and once in standard.h.

This change only removes the shadowing but presumably these enums could
be cleaned up and consolidated further.
 2019-05-29 23:51:10 -04:00
Roman Bapst 816aa0ffb6 VTOL transitions: use FW attitude loop (#11911) 
* VTOL trans: changed that now in transition for both MC and FW the corresponding (correct) attitude controller is running
* attitude setpoint for stabilized mode is generated by tailsitter.cpp
* reset yaw setpoint during transition to avoid big yaw errors after
transition back to hover
* VT_TYPE parameter: added "reboot required" metadata
 2019-05-08 10:33:13 -04:00
Daniel Agar 9bad61b86b Improve robustness to bad and lost airspeed data (#11846) 2019-04-30 03:08:23 -04:00
Roman 42d0522cdd FixedWingAttitudeControl: removed check for negative airspeed and slew rate 
on airspeed scaling

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-04-24 14:27:37 +02:00
Daniel Agar 36aeb9defc WIP: FW attitude control limit airspeed scaling changes per iteration 2019-04-24 14:27:37 +02:00
bresch 20f870137b FW auto - Add parameter for flaps setting during landing 2018-11-23 10:40:27 +01:00
Daniel Agar f9a3235709 remove unused parameter VT_AIRSPD_RULE (#10897) 
- fixes #10896
 2018-11-22 17:43:33 -05:00
Roman Bapst 90bfdb6f0a VTOL rate control architecture improvements (#10819) 
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
 2018-11-21 20:32:40 -05:00
bresch d69cba5db9 FW trim - Fix typos in FW_DTRIM_R/P/Y_VMAX 2018-10-09 10:37:22 +02:00
Daniel Agar 9a4de09325 sensors remove airspeed negative check 2018-07-16 01:09:19 -04:00
Thomas Stastny 8a7919bcb6 fw att+pos ctrl: use enum for flaps configs 2018-07-11 08:08:13 +02:00
Thomas Stastny 0c3399433d fw att+pos ctrl: add takeoff flaps setting 2018-07-11 08:08:13 +02:00
Philipp Oettershagen ba2cf5fa9a fw_att_control: Fix stuttering rudder in manual mode (#9607) 
fw_att_control: Fix bug that caused the rudder to stutter when FW_RLL_TO_YAW_FF>0 and aileron input was supplied
 2018-06-06 12:31:24 +02:00
Daniel Agar 222a91c6be mathlib delete Matrix, Quaternion, Vector 2018-05-23 17:27:09 -04:00
Daniel Agar e33da0a821 fw_att_control set default yaw rate max and update parameter descriptions 2018-05-14 00:56:46 +02:00
Daniel Agar 2e92484325 ecl update to latest master with separate libraries (#9406) 2018-05-03 23:48:09 -04:00
Daniel Agar ea3acb7121 cmake remove circular linking and reorganize 
- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link
 2018-04-29 21:48:54 -04:00
Roman 8f9e8a6282 FixedWingAttitudeControl: use trim airspeed if airspeed is disabled 
- prior to this fix the fw attiude controller used airspeed to scale control
surfaces even though airspeed was disabled

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-11 15:03:45 +02:00
Daniel Agar 29b3950747 move geo and geo_lookup to PX4/ecl 2018-03-26 23:16:55 -04:00
Beat Küng 51ca01ce04 FixedwingAttitudeControl: remove SuperBlock dependency 2018-03-22 08:19:08 +01:00
Daniel Agar b7bfeb442e fw_att_control move to matrix lib math 2018-03-21 14:08:47 -04:00
Thomas Stastny 52e5e0df14 fw_att_control: schedule trims for airspeed and flap deployment (#8937) 2018-03-16 16:55:44 -04:00
Roman 64b97cb18e fw_att_control: in acro use thrust from rate setpoint topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-09 13:48:14 +01:00
Thomas Stastny 74730273c1 fw_att_control move angular rate limits to body angular rates (#9023) 
* ecl: attitude_fw update
- move angular rate limits to body angular rates
- handle rattitude/acro vs attitude mode rate limits
 2018-03-08 22:55:45 -05:00
Daniel Agar 19e706fede fw_att_control fix attitude setpoint publication 2018-02-21 21:07:29 -05:00
Daniel Agar a0f115b9ae fw_att_control consolidate flaps code 2018-02-21 21:07:29 -05:00
Daniel Agar 4cb71f209f fw_att_control centralize manual setpoint generation 2018-02-21 21:07:29 -05:00
Daniel Agar 7fa858ad84 fw_att_control only store battery_status scale 2018-02-21 21:07:29 -05:00
Daniel Agar 94b8e4a2bf fw_att_control remove commented warnings 2018-02-21 21:07:29 -05:00
Daniel Agar dcc47020a4 fw_att_control update params before poll 2018-02-21 21:07:29 -05:00
Daniel Agar bf42964432 fw_att_control don't store entire vehicle_land_detected message 2018-02-21 21:07:29 -05:00
Daniel Agar 063714c42c fw_att_control initialize all fields in header 2018-02-21 21:07:29 -05:00
Daniel Agar 15fb60c48f fw_att_control delete unused loop_counter 2018-02-21 21:07:29 -05:00
Daniel Agar 1897b93cd2 fw_att_control rename fw_att_control_main.cpp to match class 2018-02-21 21:07:29 -05:00
Daniel Agar 426f2cce2e fw_att_control split header into separate file 2018-02-21 21:07:29 -05:00
Daniel Agar 80de3f48c8 fw_att_control remove debug code 2018-02-21 21:07:29 -05:00
Daniel Agar 559e2c211a fw_att_control move to ModuleBase 2018-02-21 21:07:29 -05:00
Daniel Agar 8b63dbecde FW controllers initialize vtol_type to a non-valid value 
- tailsitter is vtol type 0
 2018-02-11 17:12:45 +01:00
Daniel Agar 2bea09a997 rate controller status include rates 
- the actual corrected rates currently used by mc_att_control are not
   logged
 2018-01-29 09:10:56 -05:00