Beat Küng
fdb75dbba2
accelerometer_calibration: simplify & fix if temp compensation is enabled
...
if compensation enabled, scale & offsets for the drivers should be reset,
but actually only the params were reset and accel_scale was still applied
to the driver via ioctl.
2017-02-01 08:40:23 +01:00
Beat Küng
d0ea4e8876
accelerometer_calibration: cleanup
2017-02-01 08:40:23 +01:00
Beat Küng
69fd8447ae
accelerometer_calibration: make sure to initialize sensor_correction properly
2017-02-01 08:40:23 +01:00
Beat Küng
51def4fc60
gyro_calibration: make sure to initialize sensor_correction properly
...
if it's not published yet or published with low frequency, this makes sure
we have valid data.
also:
- _sensor_correction -> sensor_correction
- remove unnecessary init of sensor_correction_sub
2017-02-01 08:40:23 +01:00
Beat Küng
f890c82c97
mc_att_control_main: remove unnecessary memset for _sensor_correction
2017-02-01 08:40:23 +01:00
Paul Riseborough
fb774bef67
commander: enable accel cal to adjust thermal compensation parameters
2017-02-01 08:40:23 +01:00
Paul Riseborough
bdd3b094a7
sensors: report mapping from uORB to compensation parameter index
2017-02-01 08:40:23 +01:00
Paul Riseborough
8b1a5461c4
sensors: Update documentation
2017-02-01 08:40:23 +01:00
Paul Riseborough
f2f5034832
sensors: prevent high frequency updating of sensor corrections
...
The use of a float to integer cast was causing high frequency reporting when the float value was close to the rounding boundary.
2017-02-01 08:40:23 +01:00
Paul Riseborough
62694d92d2
commander: rework IMU cal for compatibility with temperature compensation
2017-02-01 08:40:23 +01:00
Paul Riseborough
add298c0b5
mc_att_control: use legacy offset and scale definition (+2 squashed commits)
...
Squashed commits:
[f81a8b0] mc_att_control: remove unnecessary initialisers
[f3d3f48] mc_att_control: accommodate changes to sensor_correction topic
2017-02-01 08:40:23 +01:00
Paul Riseborough
170bc91587
sensors: fix bug in thermal compensation temperature limit (+2 squashed commits)
...
Squashed commits:
[2df1d9e] sensors: change definition of sensor offset and scale factor to match legacy code
[089e103] sensors: publish thermal corrections for all sensors
2017-02-01 08:40:23 +01:00
pixhawk
ef2a5599a1
mag_calibration: Make sure calibration fails if any mag fails; More checks on calibration results
2017-02-01 08:38:26 +01:00
pixhawk
fded02220b
calibration_routines: use PX4_ISFINITE() instead of isnan()
2017-02-01 08:38:26 +01:00
pixhawk
5c96c8c1b3
Removed std::fill_n since it is not supported
2017-02-01 08:38:26 +01:00
pixhawk
9fe65d0957
Fix array initialization bug
2017-02-01 08:38:26 +01:00
Siddharth Bharat Purohit
2c831c314e
commander: correct mag cal offset direction
2017-02-01 08:38:26 +01:00
Siddharth Bharat Purohit
c6f8bcf8b3
commander: use mathlib matrix_alg functions
2017-02-01 08:38:26 +01:00
Siddharth Bharat Purohit
78b8deda15
commander: add ellipsoid 9 param fit for magnetometer corrections
2017-02-01 08:38:26 +01:00
Siddharth Bharat Purohit
c9ac15f0dd
commander: fix code style
2017-02-01 08:38:26 +01:00
Siddharth Bharat Purohit
f811777789
commander: add new math for sphere fit for compass calibration
2017-02-01 08:38:26 +01:00
Lorenz Meier
1b06c04b5c
Sensors: Style fix
2017-01-29 16:24:47 +01:00
Lorenz Meier
9cacdaafc7
Sensors: Reset gyro and accel calibration if one sensor goes missing.
...
This is to ensure that if sensor IDs are fixed we do not end up in a state where the system is partially calibrated and the need for re-calibration is not properly communicated to the user.
2017-01-29 16:24:47 +01:00
Lorenz Meier
1c131f2523
Land detector: Accumulate total flight time between flights
2017-01-29 15:48:34 +01:00
Lorenz Meier
35efe651ac
Land detector main: Fix style
2017-01-29 15:48:34 +01:00
Lorenz Meier
75132a50e6
Land detector: Measure total system flight time
...
This implementation is a baseline implementation and makes no attempt to be tamper-proof. A monotonic counter like the W25R64FV or a similar HW facility would be required to achieve this.
2017-01-29 15:48:34 +01:00
Lorenz Meier
2cf8cdc63f
Event system: Initialize work item
2017-01-29 15:10:09 +01:00
Khoi Tran
21f8e07836
Fixed format
2017-01-29 09:37:48 +01:00
Khoi Tran
2428ff9f3a
mc_position_control: Fix divide by zero in scale_control
2017-01-29 09:37:48 +01:00
Daniel Agar
ee8fa78d93
astyle src/modules/uORB
2017-01-29 01:18:32 +01:00
Daniel Agar
88ad0fc3bd
astyle src/modules/navigator
2017-01-29 01:18:32 +01:00
Daniel Agar
750e5d1690
astyle src/modules/uavcanesc
2017-01-29 01:18:32 +01:00
Daniel Agar
0bc3c8dfc4
astyle src/modules/systemlib
2017-01-29 01:18:32 +01:00
Daniel Agar
b1b951aace
astyle src/modules/muorb
2017-01-29 01:18:32 +01:00
Daniel Agar
a0271fe020
astyle src/modules/vtol_att_control
2017-01-29 01:18:32 +01:00
Daniel Agar
380819dfc5
astyle src/modules/uavcannode
2017-01-29 01:18:32 +01:00
Daniel Agar
019c6647f2
astyle src/modules/sensors
2017-01-29 01:18:32 +01:00
Daniel Agar
28e50d5911
astyle src/modules/logger
2017-01-29 01:18:32 +01:00
Daniel Agar
da90e1ce62
astyle src/modules/replay
2017-01-29 01:18:32 +01:00
Daniel Agar
830cb44b9c
astyle src/modules/fw_pos_control_l1
2017-01-29 01:18:32 +01:00
Matthias Grob
480dd0922b
Land detector: revision of the 2 stage landing mechanism
...
Ground detect: pilot want down or we are on minimum thrust by auto land but no vertical movement
-> Controller should relax x,y corrections and even ramp down desired thrust
Landed: All other conditions are eventually met
2017-01-28 16:23:04 +01:00
Matthias Grob
b130913090
land_detector: made sure the 2 stage landing can not happen in one hysteresis time
2017-01-28 16:23:04 +01:00
Lorenz Meier
9ef97b78c8
Land detector: Turn throttle range parameter into proper user-configurable parameter
2017-01-28 16:23:04 +01:00
Lorenz Meier
9448b8cb52
Land detector: Fix hover throttle detection
2017-01-28 16:23:04 +01:00
Dennis Mannhart
f297c45f78
mc_pos_control_main:
...
for landing, set velocity to zero and consider thrust_sp in body frame
instead of NED frame. Also limit thrust_sp_body_z to be larger than 0.0f
2017-01-28 16:23:04 +01:00
Lorenz Meier
58983e4c52
Land detector: Fix code style
2017-01-28 16:23:04 +01:00
Dennis Mannhart
3fe45697bb
Fix3dwinglandDetector.cpp: adjusted to astyle
2017-01-28 16:23:04 +01:00
Dennis Mannhart
2f164602b4
LandDetector:
...
- constructor initalization fix
- set trigger time for ground contact hysteresis
- updated ground_contact_state logic
MulticopterLandDetector:
- added hysteresis for ground_contact
VtolLandDetector:
- get_ground_contact_state function that return the one form MultcopterLandDetector
FixedWingLandDetector:
- get_ground_contact_state with a return false: requires implementation
2017-01-28 16:23:04 +01:00
Lorenz Meier
f961a12d9a
MC position controller: Stop XY control once ground contact is established
2017-01-28 16:23:04 +01:00
Lorenz Meier
aab04141f0
Initialize raw GPS data
2017-01-28 16:23:04 +01:00
