71d6aa913d
manual_control: starting to implement switches
2021-11-09 16:05:25 +01:00
ac121c676a
commander: check for valid flag for manual_control
2021-11-09 16:05:25 +01:00
cda6524421
manual_control: move override detection
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This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
2021-11-09 16:05:25 +01:00
1c15cc11d8
manual_control: implement (dis)arming via command
2021-11-09 16:05:25 +01:00
8876af9150
manual_control: add instance to selector
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This instance is then used to schedule the callback for the
subscription.
2021-11-09 16:05:25 +01:00
14eb656a59
rc_update: use snake_case for namespace name
2021-11-09 16:05:25 +01:00
6e8ccf6a45
rc_update: rename update method
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This reflects better what it actually does.
2021-11-09 16:05:25 +01:00
723db8bf2a
manual_control: add selector class [WIP]
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This adds a selector class with unit tests.
The idea is to have a valid flag in manual_control_septoint and set that
according to the selection and/or timeout of manual_control_inputs.
2021-11-09 16:05:25 +01:00
2d816e0b3e
[WIP] manual_control selector hacks
2021-11-09 16:05:25 +01:00
e18cf3da3e
sensors/vehicle_imu: use WelfordMean for online mean and variance
2021-11-09 15:19:35 +01:00
e0d9ccdc18
sensors/vehicle_angular_velocity: small FFT notch update simplification
2021-11-08 19:14:32 -05:00
47afab62e7
gyro_fft: limit noise floor to configured range (IMU_GYRO_FFT_MIN/MAX)
2021-11-08 19:14:32 -05:00
dd3e0b723a
gyro_fft: add IMU_GYRO_FFT_SNR parameter
2021-11-08 19:14:32 -05:00
b216cddf49
state_machine_helper: add place holder in array nav_state_names for removed LANDGPSFAIL mode
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-08 13:42:55 +01:00
031f7f831b
Fixedwing Pos Control: Handle vehicle transition waypoints outside controllers ( #18503 )
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* Handle VTOL transition waypoints outside FW auto control modes
2021-11-08 11:21:08 +01:00
6a2ebfc0cc
Handle setpoint types properly for fixedwing position control
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Handle setpoint types properly for fixedwing position control
2021-11-07 19:21:00 -05:00
dbd9b88bea
FW position controller: only allow switching to AUTO_ALTITDUE or AUTO_CLIMBRATE if pos_sp_curr_valid
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-07 23:31:21 +01:00
2f8cb5a1c2
mavlink: initial support for MAG_CAL_REPORT stream
2021-11-07 16:03:34 -05:00
cda7c6ceaa
Enable offboard actuator setpoints
2021-11-07 15:38:42 -05:00
68026eadeb
save significant IMU bias changes learned by the EKF
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* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash
Co-authored-by: Paul Riseborough <gncsolns@gmail.com >
2021-11-07 15:34:27 -05:00
5969508fa7
mavlink: cmake generate mavlink headers at build time
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- mavlink/mavlink is now directly included as a submodule instead of the generated mavlink/c_library_v2
- this also switches to mavlink development.xml by default
2021-11-05 23:01:38 -04:00
88489ae8bd
mavlink: Check target for mavlink shell
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The SERIAL_CONTROL MAVLink message now contains a target_system and
target_component field that we should check.
Without this we might be answering to a command on the network that is
meant for another system.
2021-11-05 23:48:44 +01:00
7cb99f521c
moved ManualVelocitySmoothing to motion_planning lib
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
924298e9c3
addressed review comments
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
6e75b7cffd
FixedWingPositionControl: push altitude setpoint locking into TECS
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
f492fa9d3a
fix typo
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
514cf12c57
addressed review comments
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 17:58:21 +03:00
3bd114bf9f
RTL: if vehicle is a VTOL in hover, always consider all safe landing points
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Unless there is already a mission landing in progress,
in that case stay on the mission landing if RTL_TYPE
isn't set to closest.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
1163a52c17
Navigator: remove unnecessary (duplicated) info messages for RTL
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There is already (a more precise) info message on RTL activation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
f4f9b8ebf2
RTL: replace deny_mission_landing logic by getDestinationTypeMissionLanding()
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The rtl instance decides on destination of RTL, and Navigator then switches to
mission mode if required.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
ab08bbdb58
RTL: improve RTL info message
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
775a1eb4b6
RTL: remove unused function and non-informative comments
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
dd987c08a5
RTL: rename enum names for RTLType
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
a012f01dbc
Navigator: clean up get_rtl_type()
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
8dc6d5f208
RTL: set destination type to mission landing also in MC
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
9c15be22d6
mc_autotune_attitude_control: add new MC_AT_EN parameter to enable
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- only enabled by default on boards that aren't memory constrained
2021-11-05 09:52:07 -04:00
1e94512719
FD: use flags union instead of bitmask
2021-11-05 09:45:52 -04:00
3f1025fb1e
FD: add dedicated topic to log more internal states
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log imbalanced propeller check metric
add failure_detector_status message
2021-11-05 09:45:52 -04:00
b8ed457371
Commander: trigger failsafe action if imbalanced propeller detected
2021-11-05 09:45:52 -04:00
5dfb8e594a
FD: add imbalanced propeller check
2021-11-05 09:45:52 -04:00
bf2fb70d67
vehicleIMU: compute and log accel variance
2021-11-05 09:45:52 -04:00
f02786d112
Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL
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- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 12:09:39 +03:00
b77487d69c
Fixed-wing Position controller: add modes for auto altitude and auto descend
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- bit of clean up
- add GPS failsafe mode auto_altitude, that will keep current altitude with a fixed-bank angle
for some time, then switches to auto_descend that will descend with constant sink rate
of 0.5m/s
- params controlling GPS failsafe are not FW params: NAV_GPSF_R --> FW_GPSF_R and
NAV_GPSF_LT --> FW_GPSF_LT
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 12:09:39 +03:00
f55590ce78
FlightTaskOrbit: remove duplicate newlines
2021-11-03 17:37:52 +01:00
6cea707330
FlightTaskOrbit: increase acceptance radius from 1 to 2m
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to avoid reaproaching when tracking is not perfect while
acc/deccelerating by stick.
2021-11-03 17:37:52 +01:00
eda9dce033
FlightTaskOrbit: fix direction change via MAVLink command
2021-11-03 17:37:52 +01:00
d450afead6
FlightTaskOrbit: Direct orbit approach with slowdown at intersection point
2021-11-03 17:37:52 +01:00
0d0b87e193
Update src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2021-11-03 17:37:52 +01:00
9bd46be124
Orbit: Switch to PositionSmoothing library.
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This also fixes the bug with altitude not follows and smoothes orbit approach trajectory
2021-11-03 17:37:52 +01:00
8f6fd5f37b
sensors/vehicle_angular_velocity: gyro RPM dynamic notch filter handle negative RPM
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- some UAVCAN ESCs report negative RPM for reverse rotation
- lower hard coded safety limit RPM limit to 10 Hz (600 RPM)
- avoid disabling notch filters that weren't configured
2021-11-02 09:36:02 -04:00
Julian Oes