During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle
the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing
the motor output to max.
Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
a thrust spike when the transition is initiated (as then the tilt is fully forward).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The length check for unknown packets did not include PACKET_SIZE_TYPE_SIZE
and CRC_SIZE, and hence working_index could overflow CRSF_MAX_PACKET_LEN,
triggering invalid memory access further down in QueueBuffer_PeekBuffer.
Also the working_segment_size was wrong for unknown packets.
Credits for finding this go to @Pwn9uin.
A setpoint of type IDLE can be published by Navigator without a valid position,
and should be handled in the auto function in FW_POSCTRL_MODE_AUTO. If it wouldn't be
handled there the controller would switch to mode FW_POSCTRL_MODE_OTHER, in which case
no attitude setpoint is published and the lower controllers would be stuck with the
last published value (incl. thrust).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Positon Controller: set altitude_ref to 0 if not provided by GPS
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Positon Controller: set lat/lon reference to 0 if not provided in local_position
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- force initialize takeoff airspeed setpoint at start of takeoff modes
- force set airspeed constraints if slewed value is out of bounds
- always slew airspeed setpoints as long as inside constraints
- move target airspeed setpoint calculation into mode specific logic regions (hand vs runway)
when we're in a takeoff situation, we only want to adapt the airspeed to
avoid accelerated stall due to load factor changes. Disable othre logic
like minimum ground speed, wind based adaption and airspeed slew rating.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
If the measured voltage is more than 65v we need to split the voltage
over multiple cells in order to avoid overflowing the uint16. This is
according to the MAVLink spec.
Signed-off-by: Julian Oes <julian@oes.ch>
The extension fields need to be 0 by default according to the MAVLink
spec. This is because extensions are 0 by default and need to be 0 when
unknown/unused for backwards compatibility.
The patch also simplifies the flow slightly in that it doesn't create a
temporary array but just fills in the cell voltages directly.
Signed-off-by: Julian Oes <julian@oes.ch>
From looking at the history the BMM150 rotation was initially 0. Then,
this was changed to 6 when the intent was to only change it for Skynode.
A bit later, the rotation was changed back to 0, but only for Skynode.
This tells me that rotation 0 was correct for all 6X including Skynode
all along.
Signed-off-by: Julian Oes <julian@oes.ch>
This is the same jump off point as main and release/1.14
with several NXP arch backports, 2 Commit fixing bad DEBUGASSERT
logic and a Soket Can change.
- since last_us is set to 0 every time the bias is not observable, the
total time was also reset -> needed 30 consecutive seconds in mag 3D
to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
bias validity makes it invalid before we have a chance to save it to
the calibration.
Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
This allows PWM and all other output methods to configure
stopped, idling and full thrust points and use them consistently.
The fact that a fixed wing motor can be stopped when zero thrust
is demanded is explicit and could in principle even be disabled.
The mechanism is the same as for a standard VTOL stopping the
multicopter motors in the fixed wing flight phase.
This allows to consistently define:
Motor stopped - disarmed PWM
Motor idling - minimum PWM
Motor at full thrust - maximum PWM
Any allocation can then distinctly decide if
a motor should be running or not depending
on the context and also explicitly command that.
This is required to process data from the ADS1115 ADC and enables the
params BATx_I_CHANNEL and BATx_V_CHANNEL.
Testing is required whether this actually works on Pixhawk 6X though.
Signed-off-by: Julian Oes <julian@oes.ch>
When switching into Hold mode establish a Loiter around current position,
even if we were before already loitering (eg in Mission mode).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
5s is a more reasobale time for tailsitters, which rely differently on this param
than other VTOL types. Tailsitters will ramp the pitch up withing this time,
while for other VTOLS types its only the max transitiont time.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This is now using the advanced lift drag plugin.
The important step was to enable airmode for yaw, otherwise yaw gets
saturated at low throttle and we can barely roll.
The other trick was to raise airspeed a little bit to avoid operating
too much at the lower end of throttle where control authority is low.
Signed-off-by: Julian Oes <julian@oes.ch>
* uavcan rtcm set max num injections
* Subscribe to all instances of gps_inject_data and mirror uavcan rtcm pub mirror gps driver
* Minor logic refactor in gps and uavcan gps inject data
Before this the ESC calibration aborts if battery detection doesn't work.
The problem is if the user still connects the battery as he gets instructed
and the calibration aborts then the ESCs are in calibration mode and
after abortion calibrate to the wrong value.
Also I realized there's no additional safety by aborting the calibration
if the battery cannot be detected during the timeout because a pixhawk
board without power module will report a battery status from the
ADC driverand in it that no battery is connected which is the best
it can do. In this situation the motors will still spin if the
ESCs are powered.
Some ESCs e.g. Gaui enter the menu relatively quickly if the
signal is high for too long. To solve that it's kept high shorter.
Also all tested ESCs detect the low signal within a shorter time
so no need to wait longer.
- Change timings for a more reliable calibration.
- Make sure there's an error message when battery measurement is not
available also when it gets disabled after system boot in the power
just above the calibration button.
- Safety check if measured electrical current goes up after issuing the
high calibration value for the case the user did not unplug power
and the detection either fails or is not enforced.
This adds support for the TI LP5562 RGB LED driver.
Things to note:
- The driver is initialized in simple PWM mode using its internal clock,
for R,G,B, but not for W(hite).
- The chip doesn't have a WHO_AM_I or DEVICE_ID register to check.
Instead we read the W_CURRENT register that we're generally not using
and therefore doesn't get changed.
- The current is left at the default 17.5 mA but could be changed using
the command line argument.
Datasheet:
https://www.ti.com/lit/ds/symlink/lp5562.pdf
Signed-off-by: Julian Oes <julian@oes.ch>
The entire logic did not work for the case when the throttle channel is
reversed because then QGC sets trim = max for that channel and
the result is only half the throttle range.
set_vtol_transition_item sets the params of the mission item directly
to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't
for other NAV_CMDs. So make sure that whenever we use it, we then in
the next step reset the touched mission_item fields.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* refactored uncommanded descend quadchute
- use fixed altitude error threshold
- compute error relative to higest altitude the vehicle has achieved
since it has flown below the altitude reference (setpoint)
* disabled altitude loss quadchute by default
* altitude loss quadchute: added protection against invalid local z
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- re-enable once the estimator selector respects configured mag
priority (at least initially) or is otherwise able to automatically
prefer an external mag over internal
- for SITL disabled because the full matrix of esitmator instances
(IMUs X mags) was too many topics for logger currently
Transitions in Stabilized mode are done manually, the pilot controls the pitch angle
and if it's above the threshold the transition is declared finished (plus airspeed
check for front transition). Thus we can't have fixed thresholds but need to link
them to the actual max pitch angle in Stabilized mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
We currently fuse 0 as airspeed rate measurement, and thus simply low-pass
filter the airspeed measurements. Testing has shown that the current default
on the airspeed rate measurement noise is set to low, and thus the airspeed
mesurement is filtered too much.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
A VTOL plane in MC mode has no yaw setpoint during takeoff because of
weather-vane. To align for the front transition, the yaw target jumps
and caused a step in the controller, making it reach saturation.
With this commit, the previous yaw setpoint is set to the current yaw
when no yaw setpoint is sent in order to create a smooth yaw trajectory
starting at the current orientation when yaw target is suddenly finite.
The yawspeed filter also now contains the yaw speed instead of dyaw in
order to prevent chattering due to dt jitter.
The API is cleaner if the control_data is const reference and the device
compid is an explicit output argument.
Signed-off-by: Julian Oes <julian@oes.ch>
The resets in the modes (eg Loiter mode) are not active yet, so manually
set rep->current.cruising_speed = -1.f if not already in the same flight mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
When flow control is used together with DMA, we need to add a pulldown
to CTS. Without it, it assumes flow control and gets stuck when
CTS is not connected.
Signed-off-by: Julian Oes <julian@oes.ch>
When we fall back to another link, we are already doing a uORB copy when
checking the data. Therefore, we should further down use/send that data
instead of overwriting it immediately.
Signed-off-by: Julian Oes <julian@oes.ch>
I don't think it makes sense to slow down switching RTCM injection to
once every 5 seconds. If we don't have corrections, we should check and
use whatever we get as soon as possible.
Signed-off-by: Julian Oes <julian@oes.ch>
We need to reset the instance after looping through all instances.
Otherwise, we are left with the last instance if none is valid but have
not updated the _selected_rtcm_instance which is what is logged.
Therefore, this change fixes the logged RTCM instance.
Signed-off-by: Julian Oes <julian@oes.ch>
It turns out that I had omitted implementing the gimbal_device_id which
is the component ID of the gimbal device that the gimbal manager (in
this case PX4) is responsible for.
Signed-off-by: Julian Oes <julian@oes.ch>
Once passed the transition and in FW mode, it takes some ms unitl the FW att sp is updated
by the FW att controller. During this time the last published attitude sp is kept bein used,
which is the one that was published during transition. So let's fill the thrust[0] of it.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This adds the ability to manually set who has primary control over a
gimbal and also adds printing it as part of the status.
This is helpful, especially while working on the QGC gimbal v2
implementation.
Signed-off-by: Julian Oes <julian@oes.ch>
A default of 10s makes more sense compared to the old 4s, as this is only the
max time of a back transition and it's also decleared completed if the
speed drops below the hover cruising speed (MPC_XY_CRUISE).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
There have been substantial TECS changes lately, and the config files
for custom VTOLs have not been updated since a long time. I would thus
rather use the default TECS gains for lightly maintained configs.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
with the goal to make it more clear and the error only appear when
armed but every time the running task doesn't actually match
the mapping inside the start_flight_task() function.
* Navigator: on_mission_landing() only can return true if currently in mission mode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL: reset RTL state when not in RTL nav_state
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Navigator: fix mission vs. normal RTL
- remove extra state _should_engange_mission_for_landing from rtl and have
this logic outside of RTL where Navigator decides on running mission RTL or normal RTL
- fix logic in Navigator to decide mission RTL vs normal RTL
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Mission: land_start(): fix decision if already on mission landing
Simply checking landing() is not enough, as that is not reset until
set_current_mission_index(get_land_start_index()) later in the function.
Instead ask Naviator about it (on_mission_landing()).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Navigator: only update _shouldEngangeMissionForLanding once, to not set it to false after VTOL backtansition
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Port of the PX4 Vision gazebo-classic model to Gazebo. With Gazebo Garden, everything seems functionnal.
* Port of the PX4 Vision gazebo-classic model to Gazebo.
With Gazebo Garden, everything seems functionnal.
* Added airframe for command make px4_sitl gz_px4vision
* revert author field
* Import model from Ignition Fuel instead of defining it directly in the .sdf
Tests showed that sideslip fusion often starts just before airspeed
fusion, resetting the wind states to 0 instead of using the airspeed
data. A quick look at the wind uncertainty allows to know if the current
wind estimate is meaningful or if we should rather reset it using the
airspeed data.
- if the height rate input into TECS is finite, use that one to
update a velocity reference generator
- if the velocity reference generator reports position locked or
height rate input is not finite, then run altidue reference generator
- run altitude controller only if altitue is controlled
if height_rate_setpoint is set, only use that one to update altitdue trajectory
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FWPositionController: add linear airspeed-to-trim-throttle mapping
Scale trim throttle in a linear way with airspeed.
Different gradients above/below trim airspeed.
The airspeed- and airs density-corrected trim throttle is required for an accurate
throttle prediction in TECS, while the default trim throttle is still needed
as well, as the throttle delta from height rate setpoint delta is linked to it.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Navigator: change way of telling logic if RLT was started just now
* Navigator: change logic around when to engage Mission mode for RTL
To find out if we're currently on a mission landing, check if we either are
past the land start marker OR currently land start marker is current WP
and vehicle is already in LOITER mode.
* Navigator: do not engage RTL at all if already on mission landing
* Navigator: consider to be on mission landing if the LOITER_TO_ALT and dist small
To find out if we're currently on a mission landing, check if we either are
past the land start marker OR currently land start marker is current WP,
the type is LOITER_TO_ALT and the vehicle is inside loiter.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This fixes the case where the hardware detection fails on CubeBlack when
a CAN device is connected to CAN1 and talking, and therefore preventing
the check from getting a clear result.
Signed-off-by: Julian Oes <julian@oes.ch>
This consolidates the version/revision detection function.
This should allow for actual changes in a follow up commit.
Signed-off-by: Julian Oes <julian@oes.ch>
- multi-instances support is removed from the parameter definitions.
- XRCE_DDS_AG_IP allows to define the agent IP when udp transport is used.
The parameter is used by default if the module is started without the -h argument.
- XRCE_DDS_PRT allows to define the agent listning udp port when the
udp transport is uded. The parameter is used by default if the module is started
without the -p argument.
- Tools/convert_ip.py assists in converting ips in decimal dot notation into int32
notation.
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
To prevent mission rejections when vehicle is currently far away from Mission start,
but planned home is close to it.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer