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21,067 Commits 852 Branches 161 Tags
ff2e8b10a2abb4709e46b1f3e6f3bfb1197c19ab
Commit Graph
13320 Commits
Author SHA1 Message Date
Paul Riseborough 5e53a5425a drivers: Populate baro device ID 
TODO - use unique HW ID
 2017-01-19 19:24:52 +01:00
Paul Riseborough c2fc283fdb sensors: Update single axis temp comp method to 5th order 
This allows future use with baro sensors that require a higher fit order
 2017-01-19 19:24:52 +01:00
Paul Riseborough 6a78df7fa0 ekf_att_pos_estimator: Publish control state gyro bias 2017-01-19 19:24:52 +01:00
Paul Riseborough f8cef1e9ab attitude_estimator_q: populate control state gyro bias data 
Populate with zeros.
TODO provide estimate.
 2017-01-19 19:24:52 +01:00
Paul Riseborough 27e6f07485 ekf2: publish control state gyro bias data 2017-01-19 19:24:52 +01:00
Paul Riseborough da87e3eb0a posix drivers: Populate device ID in sensor topics for simulated IMU 2017-01-19 19:24:52 +01:00
Paul Riseborough 961474f430 posix drivers: Populate device ID in sensor topics for mpu9250 2017-01-19 19:24:52 +01:00
Paul Riseborough 1009550262 posix drivers: Populate device ID in sensor topics for mpu6050 2017-01-19 19:24:52 +01:00
Paul Riseborough 48f81f24e1 posix drivers: Populate device ID in sensor topics for lsm9ds1 sensor 2017-01-19 19:24:52 +01:00
Paul Riseborough 7c9e9f31e1 drivers/mpu9250: Populate device ID in sensor topics 2017-01-19 19:24:52 +01:00
Paul Riseborough 5177866b54 drivers/mpu6500: Populate device ID in sensor topics 2017-01-19 19:24:52 +01:00
Paul Riseborough ddda5eccd6 drivers/mpu6000: Populate device ID in sensor topics 2017-01-19 19:24:52 +01:00
Paul Riseborough cfaef7f433 drivers/lsm303d: Populate device ID in sensor topics 2017-01-19 19:24:52 +01:00
Paul Riseborough 14e2ea78b3 drivers/l3gd20: Populate device ID in sensor topic 2017-01-19 19:24:52 +01:00
Paul Riseborough 9014443d77 drivers/bmi160: Populate device ID in sensor topics 2017-01-19 19:24:52 +01:00
Paul Riseborough 63f032832f Add prototype IMU temperature compensation 
Enabled using TC_A_ENABLE and TC_G_ENABLE parameters
Disabled by default.
IMU offsets and scale factors for selected sensor published to sensor_correction topic
TODO Parameter storage method is cumbersome
 2017-01-19 19:24:52 +01:00
Matthias Grob db581fa5e8 mc_pos_control: hotfix for possible thrust below minimum thrust setting 
Hotfix after a crash because of a heavily negative desired thrust that got clipped to 0 by the mixer.
0 thrust meant no more attitude tracking.
 2017-01-19 18:05:57 +01:00
David Sidrane 23eb07ff3e Only perform GIOP operations on defined IO (#6381) 
Check if the table entry fo the IO requested is defined
   so that 0 is never passed to px4_arch_gpioXXXX functions.
 2017-01-18 09:53:16 -10:00
Beat Küng e7db0ed098 test_mixer & mixer: use memmove instead of memcpy 
Both, src & dst use the same array, thus potentially overlapping.
Behavior of memcpy in that case is undefined.
 2017-01-18 18:23:42 +01:00
Chris Lovett 33a307873a Enable rc mode change switch to override offboard mode. This is a safety feature, in case offboard control goes crazy, user can always regain control by switching modes to stabilize, or alt hold or position hold, however they have configured the mode change RC switch. 2017-01-18 18:15:58 +01:00
Vlad Radulescu ec104bb7ac Corrected a tiny spelling mistake and modifed the PPM_MIN_CHANNELS check so it accepts a minimum of 5 channels. It seems that was the initial intention. 2017-01-17 23:40:31 -08:00
David Sidrane 569b20d184 FMUv5 Fixed hardfault log 
F7 was missing in the CONFIG_xxx that controlled enableing the
  hardfault_log boot code that can save the fault log
 2017-01-17 23:11:20 -08:00
Sander Smeets ba10db06c2 Code formatting 2017-01-17 03:14:26 -08:00
Sander Smeets d0dad4ad7d Indenting 2017-01-17 03:14:26 -08:00
Sander Smeets de039ca870 VTOL back transition acceptance radius calculation 2017-01-17 03:14:26 -08:00
Lorenz Meier 7fd06ee913 MAVLLink simulator interface: Simulate minimum airspeed noise 2017-01-16 08:26:37 -08:00
Lorenz Meier b8598c4407 Sensors: Adjust airspeed fail checks 2017-01-16 08:26:37 -08:00
Lorenz Meier a13082bfed commander: Widen pre-flight check for airspeed 2017-01-16 08:26:37 -08:00
Lorenz Meier b29e0040f1 ETS airspeed: Work around weird choice of manufacturer zero level cutoff 2017-01-16 08:26:37 -08:00
wangxdflight 67c3102db4 updated to remove a compilation flag check as orb_exists() is already supported 2017-01-16 08:25:58 -08:00
wangxdflight b693e29d64 enable px4 flight for excelsior(legacy) 2017-01-16 08:25:58 -08:00
Lorenz Meier 12767c8538 MC position controller: Stop holding position once ground contact is established. 
This ensures the system does not tip over on landings. Tested in SITL with a GPS drift model.
 2017-01-16 08:25:26 -08:00
Matthias Grob 5b54d78128 land detector: changed minimum throttle threshold to have useful landing detection in real world scenarios 2017-01-16 08:25:26 -08:00
Matthias Grob 39f9647291 mc_pos_control: fixed float literals and commented calculations 2017-01-16 08:25:26 -08:00
Matthias Grob f95fb0f20f land detector: commented takeoff throttle values for each mode 2017-01-16 08:25:26 -08:00
Matthias Grob 5f3cbbbbc2 mc_pos_control: changed thrust calculation to 3D projection onto body z axis 
until now the desired thrust was simply the absolute value of the thrust setpoint vector
but a multicopter is only capable of producing thrust in its (negative) body z axis
this leads to excess thrust during attitude tracking errors

one important use case is:
trying to land with minimal thrust in NED z axis against gravity
but the position controller still correcting some small horizontal estimation errors
then this prevents unwanted thrust in a completely wrong direction
 2017-01-16 08:25:26 -08:00
Julian Oes d63db203ba mc_pos_control: don't publish attitude sp 2x 2017-01-16 08:25:26 -08:00
Matthias Grob 7ab2958757 land_detector: added takeoff throttle threshold 
if we control manually and are still landed, we want to stay idle until the pilot rises the throttle
 2017-01-16 08:25:26 -08:00
Matthias Grob 5529023ec1 mc_pos_control: added feed forward hover thrust 
the velocity controller was misusing the integral part to account for the constant gravitational force offset
the hover throttle from the parameter is now is now directly used as feed forward for the thrust in world z direction
the integrator compensates for inaccurate paarameter but should now be idealy zero
 2017-01-16 08:25:26 -08:00
Lorenz Meier 50002a0ff6 Update EEKF2 to match ecl updates 2017-01-15 01:57:38 -08:00
Lorenz Meier 7652a3737c Update ECL 2017-01-15 01:57:38 -08:00
Lorenz Meier 1c42cea28e MAVLink: Ignore bogus mission item requests silently 2017-01-15 01:47:10 +01:00
Daniel Agar 207f08aa15 apps.cpp and ekf_att_pos_estimator readability braces fix 2017-01-14 18:31:09 -05:00
Lorenz Meier b6e18a1479 Mixer test: More instrumentation to catch repro cases in CI 2017-01-14 20:42:54 +01:00
Lorenz Meier d1fcd8dd8e Fix code style for mavlink main 2017-01-14 07:47:03 -08:00
Lorenz Meier 557a57d51a Coverity: Fix RC tests 2017-01-14 07:47:03 -08:00
Lorenz Meier 521b89b1ce MAVLink: Protect against illegal length indication of RTCM data 2017-01-14 07:47:03 -08:00
Lorenz Meier 26625b3a5d Servo test: Fix resource leak 2017-01-14 07:47:03 -08:00
Lorenz Meier a905babe95 PPM LoopbackTest: Fix resource leak 2017-01-14 07:47:03 -08:00
Lorenz Meier 3d31914eb5 Tone alarm sim: Fix resource leak 2017-01-14 07:47:03 -08:00