mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-05 09:50:04 +08:00
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25 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 JaeyoungLim
|
21b4052d82 | ||
|
Jaeyoung Lim
|
8296d02b1e | ||
|
Jaeyoung Lim
|
e3db31f5ab | ||
|
Ramon Roche
|
319f3db5e1 | ||
|
Beniamino Pozzan
|
51dd6b783c | ||
|
Beniamino Pozzan
|
c7f67a3328 | ||
|
Daniel Mesham
|
6fddbea3e4 | ||
|
Silvan Fuhrer
|
ba17a137e1 | ||
|
Silvan Fuhrer
|
465ddddbfd | ||
|
Silvan Fuhrer
|
d8ed35c422 | ||
|
Silvan Fuhrer
|
4d2a31afe3 | ||
|
Junwoo Hwang
|
9c001f2e40 | ||
|
PX4 BuildBot
|
58a5aa26a0 | ||
|
PX4 BuildBot
|
8306fb96ea | ||
|
PX4 BuildBot
|
efab9be488 | ||
|
Daniel Agar
|
4d9369dc67 | ||
|
Silvan Fuhrer
|
e8a8e7c677 | ||
|
Silvan Fuhrer
|
e58d33284a | ||
|
Matthias Grob
|
937d27f8ee | ||
|
Beniamino Pozzan
|
eeb90ac70a | ||
|
Antonio Sanjurjo C
|
1ea993880c | ||
|
Julian Oes
|
09a0089c80 | ||
|
Daniel Agar
|
cc2b367c0b | ||
|
Silvan Fuhrer
|
5b6d1e9290 | ||
|
Silvan Fuhrer
|
ac6c9c857a |
@@ -104,8 +104,9 @@ These boards fully comply with Pixhawk Standard, and are maintained by the PX4-A
|
||||
These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
|
||||
|
||||
* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
|
||||
* [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
|
||||
* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
|
||||
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
|
||||
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
|
||||
|
||||
@@ -25,7 +25,6 @@ param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 20
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||||
param set-default MIS_DIST_1WP 2500
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param set-default MIS_DIST_WPS 10000
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||||
|
||||
param set-default NAV_ACC_RAD 15
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||||
param set-default NAV_DLL_ACT 2
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||||
|
||||
@@ -25,7 +25,6 @@ param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 20
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||||
param set-default MIS_DIST_1WP 2500
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||||
param set-default MIS_DIST_WPS 10000
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||||
|
||||
param set-default NAV_ACC_RAD 15
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param set-default NAV_DLL_ACT 2
|
||||
|
||||
@@ -25,7 +25,6 @@ param set-default FW_W_EN 1
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||||
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
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||||
|
||||
param set-default NAV_ACC_RAD 15
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||||
param set-default NAV_DLL_ACT 2
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||||
|
||||
@@ -27,7 +27,6 @@ param set-default FW_W_EN 1
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param set-default MIS_LTRMIN_ALT 30
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param set-default MIS_TAKEOFF_ALT 20
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||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
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||||
|
||||
param set-default NAV_ACC_RAD 15
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param set-default NAV_DLL_ACT 2
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||||
|
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@@ -277,7 +277,7 @@ then
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||||
# Override namespace if environment variable is defined
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microdds_ns="-n $PX4_MICRODDS_NS"
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fi
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microdds_client start -t udp -p 8888 $microdds_ns
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microdds_client start -t udp -h 127.0.0.1 -p 8888 $microdds_ns
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||||
if param greater -s MNT_MODE_IN -1
|
||||
then
|
||||
|
||||
@@ -79,7 +79,6 @@ param set-default MC_YAWRATE_MAX 20
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param set-default MC_AIRMODE 1
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||||
|
||||
param set-default MIS_DIST_1WP 100
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||||
param set-default MIS_DIST_WPS 100000
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||||
param set-default MIS_TAKEOFF_ALT 15
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||||
|
||||
param set-default MPC_XY_P 0.8
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||||
|
||||
@@ -46,7 +46,6 @@ param set-default RTL_LAND_DELAY -1
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#
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param set-default NAV_ACC_RAD 10
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param set-default MIS_DIST_WPS 5000
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param set-default MIS_TAKEOFF_ALT 25
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||||
param set-default MIS_TKO_LAND_REQ 2
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|
||||
|
||||
@@ -23,7 +23,6 @@ param set-default EKF2_FUSE_BETA 1
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|
||||
param set-default HTE_VXY_THR 2.0
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|
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param set-default MIS_DIST_WPS 5000
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param set-default MIS_TKO_LAND_REQ 2
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
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|
||||
@@ -0,0 +1,51 @@
|
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#!/usr/bin/env python3
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||||
|
||||
"""
|
||||
Converts IP address given in decimal dot notation to int32 to be used in XRCE_DDS_0_CFG parameter
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||||
and vice-versa
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|
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@author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it)
|
||||
"""
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import argparse
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parser = argparse.ArgumentParser(
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prog = 'convert_ip',
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description = 'converts IP to int32 and viceversa'
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)
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parser.add_argument('input',
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type=str,
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help='IP address to convert')
|
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parser.add_argument('-r','--reverse',
|
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action='store_true',
|
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help='converts from int32 to dot decimal')
|
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|
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args = parser.parse_args()
|
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|
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if( args.reverse == False ):
|
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|
||||
try:
|
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ip_parts = [int(x) for x in args.input.split('.')]
|
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except:
|
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raise ValueError("Not a valid IP")
|
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if( len(ip_parts)!=4 ):
|
||||
raise ValueError("Not a valid IP")
|
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if( not all(x>=0 and x<255 for x in ip_parts) ):
|
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raise ValueError("Not a valid IP")
|
||||
|
||||
ip = (ip_parts[0]<<24) + (ip_parts[1]<<16) + (ip_parts[2]<<8) + ip_parts[3]
|
||||
|
||||
if(ip & 0x80000000):
|
||||
ip = -0x100000000 + ip
|
||||
|
||||
print(ip)
|
||||
|
||||
else:
|
||||
try:
|
||||
ip = int(args.input)
|
||||
except:
|
||||
raise ValueError("Not a valid IP")
|
||||
if(ip < 0):
|
||||
ip = ip + 0x100000000
|
||||
print('{}.{}.{}.{}'.format(ip>>24, (ip>>16)&0xff, (ip>>8)&0xff, ip&0xff))
|
||||
@@ -119,7 +119,7 @@ if [ -z ${SCRIPT} ]; then
|
||||
fi
|
||||
|
||||
while [ $n -lt $num_vehicles ]; do
|
||||
spawn_model ${vehicle_model} $n
|
||||
spawn_model ${vehicle_model} $(($n + 1))
|
||||
n=$(($n + 1))
|
||||
done
|
||||
else
|
||||
@@ -140,7 +140,7 @@ else
|
||||
m=0
|
||||
while [ $m -lt ${target_number} ]; do
|
||||
export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
|
||||
spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
|
||||
spawn_model ${target_vehicle}${LABEL} $(($n + 1)) $target_x $target_y
|
||||
m=$(($m + 1))
|
||||
n=$(($n + 1))
|
||||
done
|
||||
|
||||
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -39,7 +39,6 @@ CONFIG_UAVCANNODE_STATIC_PRESSURE=y
|
||||
CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
|
||||
@@ -26,7 +26,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
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||||
CONFIG_COMMON_TELEMETRY=y
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||||
CONFIG_DRIVERS_UAVCAN=y
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||||
|
||||
@@ -209,7 +209,6 @@ CONFIG_STM32H7_SPI2=y
|
||||
CONFIG_STM32H7_SPI4=y
|
||||
CONFIG_STM32H7_SPI4_DMA=y
|
||||
CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_SPI_DMA=y
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_TIM3=y
|
||||
CONFIG_STM32H7_TIM4=y
|
||||
|
||||
@@ -28,7 +28,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -31,7 +31,6 @@ CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -30,7 +30,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -4,6 +4,7 @@ CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
CONFIG_DRIVERS_QSHELL_QURT=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
@@ -12,7 +13,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MUORB_SLPI=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_ORB_COMMUNICATOR=y
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
CONFIG_PLATFORM_POSIX=y
|
||||
CONFIG_BOARD_LINUX_TARGET=y
|
||||
CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
|
||||
CONFIG_BOARD_ROOTFSDIR="/data/px4"
|
||||
CONFIG_DRIVERS_QSHELL_POSIX=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
@@ -17,4 +18,3 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_ORB_COMMUNICATOR=y
|
||||
CONFIG_BOARD_ROOTFSDIR="/data/px4"
|
||||
|
||||
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -26,7 +26,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -28,7 +28,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=n
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
|
||||
@@ -31,7 +31,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -30,7 +30,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -29,7 +29,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -2,6 +2,6 @@
|
||||
CONFIG_DRIVERS_HEATER=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_CYPHAL_BMS_SUBSCRIBER=y
|
||||
CONFIG_CYPHAL_ESC_CONTROLLER=y
|
||||
CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y
|
||||
CONFIG_DRIVERS_CYPHAL=y
|
||||
CONFIG_CYPHAL_ESC_CONTROLLER=y
|
||||
|
||||
@@ -14,7 +14,6 @@ CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
|
||||
@@ -35,7 +35,6 @@ CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_COMMON_RC=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -9,7 +9,6 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_EXAMPLES_FAKE_GPS=n
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
|
||||
@@ -17,7 +17,6 @@ CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_EXAMPLES_FAKE_GPS=n
|
||||
|
||||
@@ -11,7 +11,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
|
||||
CONFIG_EXAMPLES_FAKE_GPS=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
|
||||
@@ -28,7 +28,6 @@ CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -5,5 +5,3 @@ uint8 INDEX_YAW = 2
|
||||
|
||||
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
|
||||
float32[3] control
|
||||
|
||||
float32 retract_gimbal
|
||||
|
||||
@@ -33,8 +33,8 @@ if DRIVERS_UAVCANNODE
|
||||
bool "Include GNSS fix"
|
||||
default n
|
||||
|
||||
config UAVCANNODE_HYDROMETER_MEASUREMENT
|
||||
bool "Include hydrometer measurement"
|
||||
config UAVCANNODE_HYGROMETER_MEASUREMENT
|
||||
bool "Include hygrometer measurement"
|
||||
default n
|
||||
|
||||
config UAVCANNODE_LIGHTS_COMMAND
|
||||
|
||||
@@ -52,9 +52,9 @@
|
||||
#include "Publishers/FlowMeasurement.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_FLOW_MEASUREMENT
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT)
|
||||
#if defined(UAVCANNODE_HYGROMETER_MEASUREMENT)
|
||||
#include "Publishers/HygrometerMeasurement.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT
|
||||
#endif // UAVCANNODE_HYGROMETER_MEASUREMENT
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_GNSS_FIX)
|
||||
#include "Publishers/GnssFix2.hpp"
|
||||
@@ -360,9 +360,9 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
|
||||
_publisher_list.add(new FlowMeasurement(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_FLOW_MEASUREMENT
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT)
|
||||
#if defined(UAVCANNODE_HYGROMETER_MEASUREMENT)
|
||||
_publisher_list.add(new HygrometerMeasurement(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT
|
||||
#endif // UAVCANNODE_HYGROMETER_MEASUREMENT
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_GNSS_FIX)
|
||||
_publisher_list.add(new GnssFix2(this, _node));
|
||||
|
||||
@@ -47,80 +47,80 @@ static constexpr int LON_DIM = 37;
|
||||
// Magnetic declination data in radians * 10^-4
|
||||
// Model: WMM-2020,
|
||||
// Version: 0.5.1.11,
|
||||
// Date: 2023.074,
|
||||
// Date: 2023.2246,
|
||||
static constexpr const int16_t declination_table[19][37] {
|
||||
// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
|
||||
/* LAT: -90 */ { 25974, 24228, 22483, 20738, 18992, 17247, 15502, 13756, 12011, 10266, 8520, 6775, 5030, 3285, 1539, -206, -1951, -3697, -5442, -7187, -8932,-10678,-12423,-14168,-15914,-17659,-19404,-21150,-22895,-24641,-26386,-28131,-29877, 31210, 29464, 27719, 25974, },
|
||||
/* LAT: -80 */ { 22539, 20409, 18470, 16697, 15057, 13519, 12055, 10644, 9269, 7919, 6588, 5269, 3960, 2655, 1348, 28, -1314, -2686, -4097, -5550, -7045, -8583,-10161,-11781,-13446,-15165,-16951,-18824,-20807,-22927,-25201,-27636,-30204, 29989, 27372, 24868, 22539, },
|
||||
/* LAT: -70 */ { 14980, 13581, 12454, 11491, 10621, 9788, 8946, 8058, 7105, 6086, 5016, 3923, 2838, 1784, 762, -247, -1285, -2392, -3595, -4897, -6279, -7711, -9160,-10603,-12030,-13447,-14876,-16363,-17989,-19907,-22434,-26242, 30671, 24126, 19621, 16851, 14980, },
|
||||
/* LAT: -60 */ { 8431, 8183, 7900, 7624, 7369, 7114, 6804, 6370, 5754, 4934, 3932, 2821, 1702, 676, -203, -958, -1687, -2511, -3518, -4720, -6054, -7427, -8749, -9960,-11024,-11923,-12637,-13132,-13304,-12855,-10750, -3465, 4953, 7682, 8446, 8568, 8431, },
|
||||
/* LAT: -50 */ { 5493, 5528, 5471, 5380, 5305, 5267, 5231, 5103, 4758, 4093, 3081, 1808, 468, -708, -1573, -2132, -2525, -2967, -3658, -4680, -5931, -7213, -8355, -9255, -9851,-10086, -9887, -9126, -7614, -5249, -2342, 406, 2516, 3941, 4815, 5289, 5493, },
|
||||
/* LAT: -40 */ { 3960, 4053, 4059, 4013, 3952, 3917, 3921, 3909, 3735, 3198, 2172, 728, -835, -2144, -3000, -3444, -3621, -3678, -3852, -4435, -5425, -6507, -7392, -7926, -8027, -7642, -6746, -5359, -3650, -1951, -494, 727, 1771, 2639, 3297, 3728, 3960, },
|
||||
/* LAT: -30 */ { 2988, 3074, 3103, 3087, 3027, 2948, 2887, 2852, 2725, 2245, 1205, -318, -1925, -3172, -3904, -4243, -4315, -4097, -3662, -3454, -3836, -4592, -5288, -5631, -5498, -4904, -3940, -2735, -1532, -593, 81, 681, 1306, 1912, 2424, 2788, 2988, },
|
||||
/* LAT: -20 */ { 2346, 2391, 2407, 2407, 2363, 2267, 2158, 2082, 1936, 1438, 377, -1116, -2593, -3648, -4172, -4280, -4070, -3504, -2640, -1851, -1591, -1957, -2607, -3071, -3101, -2736, -2098, -1284, -514, -30, 229, 529, 972, 1454, 1880, 2191, 2346, },
|
||||
/* LAT: -10 */ { 1952, 1946, 1923, 1917, 1888, 1801, 1689, 1597, 1412, 860, -206, -1586, -2856, -3678, -3935, -3699, -3119, -2335, -1489, -739, -282, -324, -798, -1303, -1511, -1418, -1103, -605, -113, 123, 168, 326, 699, 1142, 1540, 1831, 1952, },
|
||||
/* LAT: 0 */ { 1739, 1705, 1647, 1636, 1624, 1553, 1445, 1330, 1075, 454, -589, -1816, -2866, -3445, -3435, -2928, -2158, -1377, -727, -193, 217, 323, 39, -378, -630, -684, -586, -326, -39, 46, -19, 67, 411, 859, 1283, 1607, 1739, },
|
||||
/* LAT: 10 */ { 1601, 1609, 1565, 1580, 1604, 1553, 1429, 1240, 864, 146, -875, -1949, -2771, -3104, -2893, -2282, -1505, -796, -283, 96, 421, 566, 401, 78, -155, -262, -288, -209, -108, -153, -296, -271, 33, 493, 978, 1389, 1601, },
|
||||
/* LAT: 20 */ { 1414, 1563, 1623, 1714, 1799, 1777, 1620, 1316, 772, -84, -1125, -2073, -2665, -2769, -2437, -1833, -1122, -474, -16, 292, 550, 694, 601, 357, 159, 40, -55, -123, -206, -398, -638, -697, -461, -10, 535, 1056, 1414, },
|
||||
/* LAT: 30 */ { 1108, 1475, 1735, 1959, 2118, 2128, 1939, 1516, 789, -238, -1352, -2225, -2635, -2570, -2169, -1589, -933, -316, 144, 449, 679, 824, 802, 652, 504, 378, 217, 1, -285, -662, -1032, -1191, -1030, -601, -23, 587, 1108, },
|
||||
/* LAT: 40 */ { 746, 1331, 1826, 2219, 2469, 2513, 2298, 1765, 855, -368, -1602, -2463, -2780, -2626, -2180, -1587, -934, -305, 204, 568, 837, 1034, 1125, 1114, 1038, 888, 615, 198, -346, -954, -1475, -1718, -1599, -1181, -583, 88, 746, },
|
||||
/* LAT: 50 */ { 449, 1195, 1877, 2436, 2805, 2913, 2686, 2034, 897, -593, -2008, -2918, -3211, -3019, -2529, -1883, -1173, -476, 139, 644, 1062, 1415, 1693, 1862, 1880, 1689, 1238, 523, -377, -1280, -1957, -2240, -2113, -1673, -1040, -312, 449, },
|
||||
/* LAT: 60 */ { 244, 1095, 1901, 2599, 3107, 3324, 3116, 2312, 809, -1137, -2844, -3822, -4075, -3817, -3246, -2502, -1676, -837, -30, 721, 1412, 2042, 2583, 2976, 3133, 2940, 2293, 1167, -254, -1573, -2437, -2742, -2576, -2084, -1396, -601, 244, },
|
||||
/* LAT: 70 */ { -8, 925, 1822, 2622, 3241, 3541, 3301, 2190, -8, -2686, -4631, -5465, -5483, -5007, -4243, -3312, -2290, -1226, -152, 907, 1931, 2896, 3763, 4468, 4912, 4938, 4317, 2828, 621, -1489, -2783, -3223, -3065, -2537, -1794, -930, -8, },
|
||||
/* LAT: 80 */ { -771, 149, 1000, 1691, 2080, 1915, 776, -1705, -4800, -6913, -7700, -7604, -7000, -6100, -5021, -3830, -2570, -1269, 54, 1379, 2692, 3974, 5202, 6341, 7339, 8100, 8444, 7991, 6025, 2161, -1488, -3200, -3553, -3219, -2541, -1692, -771, },
|
||||
/* LAT: 90 */ { -29638,-27893,-26147,-24402,-22657,-20911,-19166,-17421,-15675,-13930,-12185,-10440, -8695, -6949, -5204, -3459, -1714, 31, 1776, 3521, 5267, 7012, 8757, 10503, 12248, 13993, 15739, 17484, 19229, 20975, 22720, 24466, 26211, 27957, 29702,-31384,-29638, },
|
||||
/* LAT: -90 */ { 25970, 24224, 22479, 20734, 18988, 17243, 15498, 13752, 12007, 10262, 8517, 6771, 5026, 3281, 1535, -210, -1955, -3700, -5446, -7191, -8936,-10682,-12427,-14172,-15918,-17663,-19408,-21154,-22899,-24644,-26390,-28135,-29880, 31206, 29461, 27715, 25970, },
|
||||
/* LAT: -80 */ { 22534, 20405, 18467, 16694, 15054, 13516, 12053, 10642, 9267, 7917, 6585, 5267, 3958, 2653, 1346, 26, -1316, -2689, -4100, -5553, -7049, -8586,-10165,-11785,-13450,-15170,-16956,-18829,-20813,-22932,-25208,-27642,-30211, 29983, 27366, 24863, 22534, },
|
||||
/* LAT: -70 */ { 14981, 13582, 12454, 11491, 10621, 9788, 8945, 8057, 7103, 6084, 5014, 3921, 2837, 1783, 762, -248, -1286, -2393, -3597, -4899, -6283, -7715, -9164,-10608,-12035,-13452,-14881,-16369,-17996,-19915,-22444,-26255, 30657, 24120, 19621, 16852, 14981, },
|
||||
/* LAT: -60 */ { 8435, 8187, 7903, 7626, 7370, 7114, 6804, 6370, 5753, 4932, 3930, 2819, 1700, 675, -202, -957, -1686, -2510, -3519, -4722, -6058, -7431, -8754, -9965,-11029,-11927,-12642,-13136,-13308,-12859,-10752, -3452, 4968, 7692, 8453, 8574, 8435, },
|
||||
/* LAT: -50 */ { 5496, 5532, 5474, 5382, 5306, 5267, 5231, 5103, 4757, 4092, 3079, 1805, 466, -709, -1572, -2129, -2522, -2964, -3657, -4682, -5935, -7218, -8360, -9260, -9854,-10088, -9888, -9125, -7612, -5246, -2339, 410, 2520, 3945, 4819, 5293, 5496, },
|
||||
/* LAT: -40 */ { 3963, 4055, 4061, 4015, 3952, 3917, 3921, 3909, 3734, 3196, 2169, 724, -838, -2146, -3000, -3442, -3617, -3673, -3849, -4435, -5429, -6513, -7397, -7930, -8029, -7642, -6744, -5356, -3647, -1949, -493, 728, 1772, 2641, 3299, 3731, 3963, },
|
||||
/* LAT: -30 */ { 2990, 3076, 3105, 3088, 3027, 2947, 2886, 2851, 2724, 2242, 1201, -323, -1930, -3175, -3905, -4241, -4312, -4092, -3656, -3452, -3839, -4597, -5292, -5633, -5498, -4902, -3937, -2732, -1530, -592, 81, 680, 1306, 1912, 2425, 2790, 2990, },
|
||||
/* LAT: -20 */ { 2348, 2393, 2409, 2407, 2363, 2266, 2157, 2080, 1934, 1436, 372, -1122, -2599, -3651, -4172, -4278, -4066, -3498, -2633, -1847, -1591, -1960, -2610, -3072, -3100, -2734, -2096, -1282, -513, -30, 228, 528, 971, 1455, 1881, 2192, 2348, },
|
||||
/* LAT: -10 */ { 1954, 1948, 1924, 1917, 1887, 1800, 1687, 1595, 1410, 857, -211, -1592, -2861, -3680, -3934, -3696, -3114, -2329, -1484, -735, -280, -324, -800, -1304, -1511, -1416, -1101, -604, -112, 123, 166, 324, 698, 1142, 1540, 1832, 1954, },
|
||||
/* LAT: 0 */ { 1741, 1707, 1648, 1637, 1623, 1551, 1443, 1327, 1072, 450, -593, -1821, -2870, -3446, -3432, -2923, -2153, -1372, -723, -190, 220, 324, 39, -378, -629, -683, -585, -325, -39, 45, -22, 64, 409, 858, 1284, 1609, 1741, },
|
||||
/* LAT: 10 */ { 1603, 1611, 1566, 1580, 1604, 1552, 1426, 1237, 861, 143, -878, -1953, -2773, -3103, -2890, -2278, -1500, -791, -279, 99, 423, 568, 401, 79, -154, -262, -287, -210, -109, -154, -299, -274, 31, 492, 978, 1390, 1603, },
|
||||
/* LAT: 20 */ { 1415, 1564, 1623, 1713, 1798, 1776, 1617, 1313, 768, -87, -1128, -2075, -2665, -2767, -2433, -1828, -1117, -470, -13, 295, 553, 696, 602, 358, 160, 41, -54, -124, -207, -400, -641, -700, -463, -11, 535, 1056, 1415, },
|
||||
/* LAT: 30 */ { 1108, 1474, 1734, 1958, 2117, 2126, 1937, 1513, 786, -241, -1354, -2225, -2634, -2567, -2165, -1584, -929, -312, 148, 452, 682, 826, 803, 654, 505, 379, 217, 0, -287, -664, -1035, -1194, -1031, -602, -24, 587, 1108, },
|
||||
/* LAT: 40 */ { 744, 1329, 1824, 2217, 2467, 2511, 2296, 1762, 853, -370, -1602, -2461, -2777, -2622, -2175, -1582, -929, -300, 208, 571, 840, 1036, 1127, 1115, 1039, 889, 615, 196, -348, -957, -1478, -1720, -1601, -1183, -584, 86, 744, },
|
||||
/* LAT: 50 */ { 445, 1191, 1873, 2433, 2802, 2911, 2683, 2032, 895, -593, -2006, -2914, -3205, -3013, -2523, -1877, -1167, -470, 144, 649, 1066, 1418, 1696, 1864, 1881, 1690, 1238, 520, -380, -1284, -1960, -2242, -2115, -1674, -1042, -315, 445, },
|
||||
/* LAT: 60 */ { 238, 1088, 1894, 2593, 3102, 3320, 3112, 2310, 809, -1133, -2837, -3814, -4067, -3809, -3238, -2494, -1669, -830, -23, 727, 1418, 2047, 2587, 2980, 3135, 2941, 2292, 1163, -259, -1578, -2440, -2744, -2578, -2087, -1400, -606, 238, },
|
||||
/* LAT: 70 */ { -19, 913, 1810, 2611, 3230, 3532, 3294, 2188, -1, -2670, -4613, -5448, -5469, -4994, -4231, -3301, -2280, -1217, -144, 914, 1938, 2903, 3769, 4473, 4916, 4940, 4317, 2823, 612, -1498, -2790, -3229, -3071, -2544, -1802, -940, -19, },
|
||||
/* LAT: 80 */ { -798, 122, 973, 1664, 2054, 1893, 767, -1687, -4757, -6867, -7661, -7573, -6974, -6078, -5002, -3813, -2554, -1254, 67, 1392, 2705, 3986, 5214, 6353, 7351, 8112, 8455, 8000, 6023, 2136, -1525, -3233, -3583, -3246, -2567, -1718, -798, },
|
||||
/* LAT: 90 */ { -29581,-27835,-26090,-24344,-22599,-20854,-19108,-17363,-15618,-13872,-12127,-10382, -8637, -6892, -5147, -3401, -1656, 89, 1834, 3579, 5324, 7070, 8815, 10560, 12306, 14051, 15796, 17542, 19287, 21033, 22778, 24524, 26269, 28015, 29760,-31326,-29581, },
|
||||
};
|
||||
|
||||
// Magnetic inclination data in radians * 10^-4
|
||||
// Model: WMM-2020,
|
||||
// Version: 0.5.1.11,
|
||||
// Date: 2023.074,
|
||||
// Date: 2023.2246,
|
||||
static constexpr const int16_t inclination_table[19][37] {
|
||||
// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
|
||||
/* LAT: -90 */ { -12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568,-12568, },
|
||||
/* LAT: -80 */ { -13652,-13518,-13358,-13177,-12983,-12782,-12578,-12378,-12187,-12011,-11855,-11721,-11610,-11524,-11461,-11419,-11399,-11402,-11429,-11483,-11567,-11681,-11826,-12000,-12198,-12415,-12645,-12878,-13106,-13318,-13504,-13654,-13758,-13809,-13805,-13751,-13652, },
|
||||
/* LAT: -70 */ { -14100,-13781,-13462,-13139,-12807,-12464,-12109,-11752,-11409,-11101,-10849,-10666,-10554,-10502,-10488,-10491,-10497,-10505,-10528,-10583,-10692,-10867,-11114,-11429,-11803,-12221,-12669,-13133,-13599,-14052,-14469,-14813,-15000,-14945,-14714,-14416,-14100, },
|
||||
/* LAT: -60 */ { -13515,-13161,-12823,-12490,-12147,-11774,-11360,-10905,-10438,-10009, -9680, -9506, -9504, -9641, -9845,-10036,-10159,-10199,-10185,-10169,-10216,-10376,-10668,-11078,-11578,-12135,-12722,-13318,-13906,-14468,-14965,-15254,-15075,-14689,-14282,-13889,-13515, },
|
||||
/* LAT: -50 */ { -12494,-12152,-11820,-11498,-11175,-10828,-10429, -9958, -9429, -8909, -8521, -8399, -8603, -9065, -9628,-10137,-10492,-10650,-10616,-10461,-10319,-10327,-10551,-10971,-11515,-12108,-12695,-13233,-13678,-13975,-14083,-14010,-13806,-13522,-13193,-12845,-12494, },
|
||||
/* LAT: -40 */ { -11239,-10890,-10542,-10196, -9857, -9519, -9159, -8734, -8214, -7650, -7227, -7191, -7656, -8482, -9403,-10229,-10884,-11313,-11446,-11272,-10927,-10657,-10655,-10942,-11406,-11912,-12356,-12676,-12833,-12838,-12748,-12612,-12433,-12202,-11915,-11587,-11239, },
|
||||
/* LAT: -30 */ { -9602, -9222, -8841, -8450, -8058, -7683, -7328, -6938, -6426, -5815, -5368, -5459, -6238, -7445, -8695, -9786,-10696,-11400,-11791,-11772,-11394,-10886,-10557,-10563,-10818,-11139,-11394,-11504,-11440,-11264,-11091,-10959,-10815,-10609,-10328, -9981, -9602, },
|
||||
/* LAT: -20 */ { -7372, -6929, -6509, -6080, -5636, -5206, -4817, -4407, -3842, -3158, -2716, -2989, -4113, -5732, -7358, -8721, -9779,-10547,-10977,-11002,-10632,-10014, -9458, -9219, -9271, -9434, -9573, -9588, -9414, -9143, -8952, -8869, -8769, -8563, -8247, -7833, -7372, },
|
||||
/* LAT: -10 */ { -4417, -3876, -3419, -2981, -2523, -2073, -1661, -1211, -588, 113, 467, 25, -1319, -3245, -5217, -6815, -7899, -8523, -8780, -8710, -8293, -7603, -6940, -6599, -6563, -6656, -6771, -6793, -6604, -6309, -6158, -6175, -6141, -5928, -5544, -5014, -4417, },
|
||||
/* LAT: 0 */ { -909, -280, 189, 593, 1012, 1428, 1816, 2255, 2834, 3407, 3602, 3092, 1782, -137, -2178, -3815, -4810, -5227, -5279, -5102, -4655, -3933, -3228, -2861, -2801, -2870, -2993, -3065, -2935, -2701, -2652, -2804, -2876, -2693, -2269, -1636, -909, },
|
||||
/* LAT: 10 */ { 2559, 3190, 3628, 3970, 4326, 4692, 5042, 5424, 5871, 6236, 6266, 5767, 4674, 3101, 1413, 48, -744, -981, -883, -643, -226, 418, 1051, 1385, 1448, 1406, 1307, 1216, 1258, 1360, 1279, 1003, 803, 871, 1224, 1829, 2559, },
|
||||
/* LAT: 20 */ { 5415, 5946, 6328, 6624, 6938, 7281, 7622, 7966, 8295, 8491, 8399, 7930, 7088, 5988, 4865, 3963, 3443, 3332, 3487, 3734, 4068, 4536, 4997, 5251, 5309, 5294, 5247, 5189, 5176, 5156, 4978, 4639, 4335, 4243, 4415, 4840, 5415, },
|
||||
/* LAT: 30 */ { 7568, 7943, 8261, 8544, 8853, 9200, 9556, 9895, 10169, 10279, 10131, 9706, 9074, 8362, 7704, 7196, 6910, 6873, 7019, 7233, 7482, 7783, 8072, 8245, 8303, 8318, 8322, 8312, 8288, 8204, 7979, 7623, 7264, 7043, 7027, 7222, 7568, },
|
||||
/* LAT: 40 */ { 9266, 9487, 9743, 10028, 10355, 10715, 11082, 11419, 11669, 11749, 11597, 11236, 10762, 10290, 9896, 9615, 9469, 9468, 9581, 9744, 9921, 10106, 10278, 10403, 10482, 10544, 10600, 10633, 10615, 10503, 10259, 9907, 9538, 9253, 9110, 9123, 9266, },
|
||||
/* LAT: 50 */ { 10802, 10923, 11124, 11393, 11716, 12069, 12422, 12737, 12958, 13016, 12876, 12578, 12214, 11870, 11596, 11411, 11320, 11318, 11386, 11491, 11606, 11722, 11839, 11955, 12074, 12197, 12311, 12384, 12373, 12247, 11999, 11670, 11330, 11045, 10856, 10776, 10802, },
|
||||
/* LAT: 60 */ { 12319, 12391, 12541, 12758, 13027, 13327, 13628, 13894, 14069, 14096, 13961, 13713, 13425, 13155, 12935, 12779, 12690, 12660, 12676, 12725, 12794, 12879, 12986, 13119, 13278, 13455, 13619, 13728, 13732, 13611, 13385, 13106, 12828, 12591, 12421, 12329, 12319, },
|
||||
/* LAT: 70 */ { 13758, 13799, 13893, 14034, 14212, 14415, 14622, 14803, 14908, 14890, 14755, 14554, 14338, 14134, 13961, 13827, 13733, 13679, 13660, 13674, 13716, 13789, 13893, 14030, 14197, 14384, 14568, 14708, 14753, 14680, 14518, 14320, 14125, 13961, 13840, 13771, 13758, },
|
||||
/* LAT: 80 */ { 14995, 15007, 15043, 15102, 15177, 15261, 15339, 15385, 15369, 15293, 15183, 15060, 14938, 14824, 14725, 14643, 14581, 14541, 14522, 14526, 14553, 14603, 14674, 14767, 14879, 15006, 15142, 15274, 15381, 15425, 15385, 15297, 15201, 15116, 15050, 15010, 14995, },
|
||||
/* LAT: 90 */ { 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, },
|
||||
/* LAT: -90 */ { -12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567, },
|
||||
/* LAT: -80 */ { -13651,-13517,-13356,-13176,-12982,-12781,-12577,-12377,-12186,-12010,-11854,-11720,-11610,-11523,-11460,-11418,-11398,-11401,-11428,-11482,-11566,-11680,-11825,-11999,-12198,-12415,-12644,-12877,-13105,-13317,-13504,-13653,-13757,-13808,-13804,-13749,-13651, },
|
||||
/* LAT: -70 */ { -14099,-13780,-13461,-13138,-12806,-12462,-12108,-11751,-11408,-11101,-10849,-10666,-10554,-10502,-10488,-10490,-10496,-10504,-10527,-10582,-10691,-10866,-11113,-11429,-11802,-12221,-12669,-13134,-13600,-14052,-14469,-14813,-14999,-14944,-14713,-14414,-14099, },
|
||||
/* LAT: -60 */ { -13514,-13160,-12822,-12489,-12146,-11773,-11359,-10904,-10437,-10008, -9680, -9506, -9505, -9643, -9846,-10037,-10159,-10199,-10183,-10167,-10215,-10375,-10667,-11078,-11578,-12136,-12722,-13319,-13907,-14469,-14966,-15255,-15075,-14689,-14282,-13888,-13514, },
|
||||
/* LAT: -50 */ { -12494,-12151,-11820,-11497,-11174,-10827,-10429, -9958, -9429, -8909, -8522, -8400, -8605, -9068, -9631,-10139,-10493,-10650,-10614,-10458,-10316,-10325,-10551,-10971,-11516,-12110,-12696,-13234,-13679,-13976,-14083,-14010,-13806,-13522,-13193,-12845,-12494, },
|
||||
/* LAT: -40 */ { -11239,-10890,-10541,-10196, -9856, -9518, -9158, -8734, -8214, -7650, -7228, -7194, -7661, -8488, -9408,-10234,-10887,-11315,-11445,-11269,-10923,-10655,-10655,-10942,-11408,-11913,-12357,-12676,-12833,-12838,-12748,-12612,-12434,-12202,-11915,-11587,-11239, },
|
||||
/* LAT: -30 */ { -9602, -9221, -8840, -8449, -8057, -7682, -7327, -6938, -6426, -5816, -5369, -5463, -6245, -7453, -8702, -9793,-10701,-11404,-11792,-11771,-11391,-10883,-10556,-10563,-10819,-11140,-11394,-11503,-11439,-11263,-11091,-10959,-10815,-10610,-10328, -9982, -9602, },
|
||||
/* LAT: -20 */ { -7372, -6928, -6507, -6078, -5634, -5205, -4816, -4406, -3842, -3158, -2718, -2995, -4122, -5743, -7368, -8729, -9786,-10552,-10979,-11002,-10629,-10011, -9456, -9218, -9271, -9434, -9573, -9587, -9413, -9141, -8951, -8869, -8770, -8565, -8248, -7834, -7372, },
|
||||
/* LAT: -10 */ { -4417, -3875, -3417, -2978, -2521, -2071, -1660, -1210, -588, 112, 464, 18, -1330, -3258, -5229, -6824, -7906, -8527, -8782, -8710, -8291, -7600, -6937, -6597, -6561, -6654, -6770, -6791, -6601, -6306, -6157, -6175, -6143, -5930, -5547, -5016, -4417, },
|
||||
/* LAT: 0 */ { -910, -279, 192, 596, 1015, 1431, 1819, 2256, 2834, 3406, 3598, 3086, 1772, -150, -2190, -3825, -4815, -5230, -5280, -5102, -4653, -3929, -3224, -2858, -2799, -2867, -2990, -3062, -2932, -2698, -2650, -2804, -2878, -2696, -2272, -1638, -910, },
|
||||
/* LAT: 10 */ { 2558, 3191, 3630, 3973, 4328, 4695, 5044, 5425, 5870, 6235, 6262, 5761, 4666, 3091, 1402, 40, -749, -983, -883, -642, -224, 421, 1054, 1388, 1451, 1410, 1311, 1220, 1262, 1363, 1281, 1003, 801, 868, 1221, 1827, 2558, },
|
||||
/* LAT: 20 */ { 5414, 5947, 6329, 6626, 6940, 7283, 7623, 7966, 8294, 8489, 8396, 7925, 7081, 5981, 4858, 3957, 3439, 3331, 3487, 3734, 4069, 4539, 4999, 5253, 5311, 5297, 5251, 5193, 5179, 5158, 4979, 4639, 4334, 4241, 4413, 4839, 5414, },
|
||||
/* LAT: 30 */ { 7568, 7943, 8262, 8545, 8854, 9201, 9557, 9895, 10168, 10277, 10128, 9702, 9070, 8358, 7699, 7193, 6908, 6872, 7019, 7233, 7483, 7784, 8073, 8247, 8305, 8321, 8325, 8315, 8291, 8206, 7980, 7623, 7263, 7042, 7026, 7222, 7568, },
|
||||
/* LAT: 40 */ { 9266, 9487, 9743, 10029, 10355, 10715, 11081, 11418, 11668, 11747, 11594, 11233, 10759, 10287, 9893, 9613, 9467, 9467, 9581, 9744, 9921, 10107, 10280, 10405, 10483, 10546, 10602, 10635, 10617, 10504, 10260, 9907, 9538, 9253, 9110, 9122, 9266, },
|
||||
/* LAT: 50 */ { 10802, 10923, 11124, 11393, 11715, 12068, 12421, 12736, 12956, 13014, 12873, 12576, 12212, 11868, 11594, 11410, 11319, 11318, 11387, 11491, 11606, 11723, 11840, 11956, 12075, 12199, 12313, 12385, 12375, 12248, 12000, 11671, 11330, 11045, 10856, 10776, 10802, },
|
||||
/* LAT: 60 */ { 12319, 12391, 12540, 12757, 13026, 13326, 13627, 13892, 14067, 14095, 13960, 13711, 13424, 13153, 12934, 12779, 12689, 12660, 12677, 12725, 12794, 12880, 12987, 13120, 13280, 13456, 13621, 13729, 13733, 13611, 13385, 13106, 12828, 12591, 12421, 12329, 12319, },
|
||||
/* LAT: 70 */ { 13758, 13799, 13892, 14033, 14211, 14413, 14621, 14801, 14906, 14888, 14753, 14554, 14337, 14134, 13961, 13827, 13733, 13679, 13661, 13674, 13717, 13790, 13894, 14031, 14198, 14386, 14570, 14709, 14754, 14680, 14518, 14320, 14126, 13961, 13840, 13771, 13758, },
|
||||
/* LAT: 80 */ { 14994, 15006, 15042, 15100, 15176, 15259, 15337, 15383, 15368, 15292, 15182, 15060, 14938, 14824, 14725, 14643, 14582, 14541, 14523, 14527, 14554, 14603, 14675, 14768, 14880, 15007, 15143, 15275, 15383, 15426, 15385, 15297, 15201, 15116, 15050, 15009, 14994, },
|
||||
/* LAT: 90 */ { 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15397, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, },
|
||||
};
|
||||
|
||||
// Magnetic strength data in milli-Gauss * 10
|
||||
// Model: WMM-2020,
|
||||
// Version: 0.5.1.11,
|
||||
// Date: 2023.074,
|
||||
// Date: 2023.2246,
|
||||
static constexpr const int16_t strength_table[19][37] {
|
||||
// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
|
||||
/* LAT: -90 */ { 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, 5448, },
|
||||
/* LAT: -80 */ { 6055, 5991, 5912, 5820, 5716, 5605, 5486, 5365, 5242, 5122, 5008, 4903, 4809, 4730, 4667, 4622, 4598, 4596, 4618, 4664, 4735, 4829, 4944, 5076, 5220, 5370, 5519, 5663, 5794, 5907, 6000, 6069, 6113, 6132, 6127, 6101, 6055, },
|
||||
/* LAT: -70 */ { 6299, 6166, 6015, 5850, 5671, 5478, 5273, 5058, 4839, 4624, 4422, 4240, 4082, 3951, 3847, 3771, 3724, 3712, 3741, 3817, 3946, 4126, 4355, 4624, 4919, 5226, 5530, 5814, 6063, 6267, 6418, 6513, 6554, 6547, 6496, 6412, 6299, },
|
||||
/* LAT: -60 */ { 6185, 5992, 5790, 5581, 5361, 5127, 4870, 4592, 4299, 4010, 3743, 3516, 3337, 3203, 3104, 3031, 2980, 2960, 2987, 3078, 3247, 3499, 3827, 4214, 4636, 5071, 5492, 5876, 6200, 6449, 6612, 6690, 6691, 6627, 6513, 6362, 6185, },
|
||||
/* LAT: -50 */ { 5842, 5612, 5379, 5148, 4915, 4670, 4399, 4096, 3767, 3436, 3134, 2895, 2734, 2643, 2595, 2560, 2526, 2499, 2505, 2578, 2752, 3044, 3441, 3914, 4421, 4927, 5402, 5820, 6159, 6400, 6537, 6578, 6535, 6424, 6261, 6063, 5842, },
|
||||
/* LAT: -40 */ { 5392, 5146, 4900, 4660, 4426, 4188, 3933, 3649, 3335, 3009, 2711, 2489, 2373, 2347, 2366, 2387, 2391, 2378, 2365, 2394, 2526, 2804, 3224, 3739, 4286, 4810, 5276, 5664, 5955, 6143, 6230, 6233, 6163, 6031, 5850, 5631, 5392, },
|
||||
/* LAT: -30 */ { 4878, 4636, 4397, 4162, 3936, 3717, 3498, 3266, 3010, 2735, 2477, 2296, 2227, 2252, 2319, 2390, 2454, 2504, 2524, 2536, 2605, 2807, 3171, 3661, 4193, 4690, 5107, 5422, 5625, 5724, 5750, 5723, 5644, 5511, 5331, 5114, 4878, },
|
||||
/* LAT: -20 */ { 4321, 4107, 3898, 3693, 3497, 3314, 3146, 2982, 2804, 2606, 2415, 2282, 2242, 2286, 2376, 2486, 2614, 2741, 2828, 2863, 2889, 2987, 3229, 3615, 4066, 4493, 4840, 5073, 5178, 5185, 5155, 5108, 5026, 4898, 4731, 4534, 4321, },
|
||||
/* LAT: -10 */ { 3790, 3629, 3475, 3329, 3193, 3073, 2969, 2877, 2779, 2664, 2542, 2443, 2399, 2424, 2512, 2641, 2796, 2954, 3077, 3138, 3152, 3180, 3305, 3559, 3886, 4208, 4472, 4633, 4668, 4615, 4547, 4484, 4396, 4271, 4122, 3958, 3790, },
|
||||
/* LAT: 0 */ { 3412, 3319, 3234, 3161, 3106, 3068, 3041, 3022, 2997, 2948, 2870, 2775, 2696, 2666, 2709, 2812, 2945, 3080, 3194, 3269, 3299, 3322, 3398, 3556, 3766, 3980, 4159, 4264, 4270, 4202, 4114, 4021, 3910, 3779, 3644, 3520, 3412, },
|
||||
/* LAT: 10 */ { 3283, 3251, 3230, 3227, 3251, 3298, 3353, 3406, 3440, 3430, 3361, 3247, 3120, 3027, 3002, 3044, 3125, 3223, 3323, 3408, 3472, 3534, 3623, 3742, 3878, 4017, 4136, 4206, 4208, 4146, 4036, 3892, 3731, 3571, 3436, 3339, 3283, },
|
||||
/* LAT: 20 */ { 3399, 3402, 3427, 3481, 3572, 3693, 3821, 3938, 4018, 4030, 3957, 3815, 3649, 3510, 3435, 3424, 3460, 3533, 3630, 3727, 3818, 3917, 4028, 4140, 4249, 4361, 4464, 4529, 4539, 4480, 4343, 4140, 3913, 3703, 3540, 3439, 3399, },
|
||||
/* LAT: 30 */ { 3722, 3728, 3782, 3881, 4023, 4194, 4369, 4525, 4633, 4659, 4586, 4431, 4243, 4080, 3975, 3930, 3934, 3986, 4073, 4172, 4270, 4376, 4492, 4610, 4730, 4857, 4978, 5065, 5090, 5032, 4875, 4635, 4361, 4106, 3907, 3778, 3722, },
|
||||
/* LAT: 40 */ { 4222, 4219, 4283, 4406, 4572, 4759, 4942, 5098, 5203, 5229, 5161, 5013, 4827, 4654, 4526, 4452, 4426, 4449, 4510, 4590, 4677, 4774, 4889, 5023, 5174, 5336, 5488, 5598, 5636, 5581, 5425, 5187, 4913, 4653, 4443, 4297, 4222, },
|
||||
/* LAT: 50 */ { 4832, 4823, 4878, 4987, 5132, 5291, 5441, 5562, 5636, 5646, 5583, 5456, 5294, 5131, 4995, 4898, 4844, 4833, 4858, 4908, 4978, 5069, 5188, 5339, 5514, 5699, 5865, 5982, 6025, 5980, 5849, 5653, 5429, 5214, 5034, 4904, 4832, },
|
||||
/* LAT: 60 */ { 5392, 5378, 5405, 5467, 5552, 5646, 5733, 5800, 5834, 5826, 5772, 5679, 5559, 5431, 5312, 5216, 5150, 5117, 5115, 5143, 5200, 5287, 5405, 5552, 5719, 5887, 6034, 6137, 6180, 6158, 6075, 5949, 5804, 5661, 5539, 5447, 5392, },
|
||||
/* LAT: 70 */ { 5726, 5705, 5701, 5712, 5734, 5760, 5784, 5799, 5799, 5781, 5742, 5685, 5616, 5540, 5466, 5403, 5355, 5327, 5323, 5343, 5388, 5458, 5549, 5658, 5775, 5889, 5988, 6060, 6099, 6103, 6074, 6021, 5954, 5883, 5818, 5764, 5726, },
|
||||
/* LAT: 80 */ { 5790, 5772, 5757, 5745, 5734, 5725, 5715, 5703, 5689, 5671, 5649, 5624, 5597, 5571, 5546, 5526, 5513, 5508, 5513, 5528, 5554, 5589, 5632, 5680, 5729, 5777, 5820, 5854, 5878, 5891, 5893, 5886, 5872, 5853, 5831, 5810, 5790, },
|
||||
/* LAT: -90 */ { 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, },
|
||||
/* LAT: -80 */ { 6054, 5990, 5911, 5818, 5715, 5603, 5485, 5363, 5241, 5121, 5007, 4902, 4808, 4729, 4666, 4621, 4597, 4595, 4617, 4663, 4734, 4828, 4943, 5075, 5219, 5369, 5519, 5662, 5793, 5907, 5999, 6068, 6112, 6131, 6127, 6100, 6054, },
|
||||
/* LAT: -70 */ { 6298, 6165, 6014, 5848, 5669, 5477, 5272, 5057, 4838, 4623, 4420, 4238, 4081, 3950, 3846, 3770, 3723, 3711, 3740, 3817, 3945, 4126, 4355, 4623, 4919, 5226, 5530, 5814, 6064, 6267, 6418, 6513, 6554, 6546, 6496, 6411, 6298, },
|
||||
/* LAT: -60 */ { 6184, 5991, 5789, 5579, 5360, 5125, 4868, 4590, 4298, 4008, 3742, 3515, 3336, 3202, 3103, 3030, 2979, 2959, 2986, 3077, 3247, 3499, 3827, 4214, 4637, 5071, 5493, 5876, 6201, 6449, 6612, 6690, 6691, 6627, 6513, 6361, 6184, },
|
||||
/* LAT: -50 */ { 5842, 5611, 5378, 5147, 4914, 4669, 4398, 4095, 3766, 3434, 3133, 2894, 2733, 2643, 2594, 2559, 2525, 2498, 2504, 2577, 2752, 3044, 3442, 3915, 4422, 4928, 5403, 5821, 6159, 6400, 6538, 6578, 6535, 6424, 6261, 6062, 5842, },
|
||||
/* LAT: -40 */ { 5392, 5145, 4900, 4659, 4424, 4187, 3932, 3648, 3334, 3008, 2710, 2488, 2372, 2347, 2366, 2386, 2390, 2377, 2364, 2393, 2526, 2804, 3225, 3741, 4288, 4811, 5277, 5664, 5956, 6143, 6231, 6233, 6163, 6031, 5850, 5631, 5392, },
|
||||
/* LAT: -30 */ { 4877, 4636, 4396, 4161, 3935, 3716, 3497, 3265, 3009, 2734, 2476, 2295, 2226, 2252, 2318, 2389, 2454, 2503, 2523, 2535, 2604, 2807, 3172, 3663, 4195, 4691, 5108, 5423, 5625, 5724, 5751, 5723, 5644, 5511, 5331, 5114, 4877, },
|
||||
/* LAT: -20 */ { 4320, 4107, 3898, 3693, 3496, 3314, 3145, 2981, 2803, 2605, 2414, 2281, 2241, 2286, 2376, 2486, 2614, 2741, 2827, 2862, 2888, 2987, 3230, 3617, 4068, 4494, 4841, 5074, 5178, 5185, 5155, 5108, 5026, 4898, 4731, 4534, 4320, },
|
||||
/* LAT: -10 */ { 3790, 3628, 3475, 3328, 3192, 3072, 2969, 2876, 2778, 2663, 2541, 2442, 2398, 2424, 2512, 2641, 2797, 2954, 3076, 3137, 3151, 3180, 3306, 3560, 3887, 4209, 4473, 4634, 4668, 4615, 4548, 4484, 4396, 4271, 4122, 3958, 3790, },
|
||||
/* LAT: 0 */ { 3412, 3318, 3234, 3161, 3105, 3067, 3041, 3021, 2996, 2947, 2868, 2774, 2695, 2666, 2709, 2813, 2945, 3080, 3194, 3268, 3299, 3321, 3398, 3557, 3767, 3981, 4160, 4265, 4270, 4202, 4114, 4022, 3910, 3779, 3645, 3520, 3412, },
|
||||
/* LAT: 10 */ { 3282, 3251, 3230, 3226, 3250, 3297, 3352, 3405, 3439, 3429, 3359, 3245, 3119, 3026, 3001, 3044, 3125, 3224, 3324, 3408, 3472, 3535, 3624, 3743, 3879, 4018, 4137, 4207, 4209, 4146, 4036, 3893, 3731, 3572, 3436, 3339, 3282, },
|
||||
/* LAT: 20 */ { 3399, 3401, 3427, 3480, 3572, 3692, 3820, 3937, 4017, 4029, 3955, 3814, 3648, 3509, 3435, 3424, 3460, 3533, 3630, 3728, 3818, 3917, 4029, 4141, 4250, 4362, 4465, 4531, 4540, 4481, 4343, 4141, 3913, 3703, 3540, 3439, 3399, },
|
||||
/* LAT: 30 */ { 3722, 3728, 3782, 3880, 4022, 4193, 4368, 4524, 4631, 4658, 4585, 4430, 4242, 4079, 3975, 3930, 3934, 3986, 4074, 4172, 4270, 4377, 4493, 4611, 4731, 4859, 4980, 5066, 5091, 5033, 4876, 4636, 4361, 4107, 3907, 3778, 3722, },
|
||||
/* LAT: 40 */ { 4222, 4219, 4282, 4405, 4571, 4758, 4941, 5097, 5201, 5227, 5159, 5012, 4826, 4653, 4526, 4452, 4427, 4450, 4511, 4591, 4678, 4775, 4891, 5024, 5175, 5338, 5489, 5599, 5637, 5582, 5425, 5187, 4913, 4654, 4443, 4297, 4222, },
|
||||
/* LAT: 50 */ { 4832, 4823, 4877, 4985, 5131, 5290, 5439, 5561, 5635, 5644, 5582, 5456, 5294, 5131, 4995, 4898, 4844, 4833, 4858, 4909, 4979, 5070, 5189, 5340, 5515, 5700, 5866, 5983, 6026, 5981, 5850, 5654, 5430, 5214, 5035, 4904, 4832, },
|
||||
/* LAT: 60 */ { 5392, 5378, 5404, 5466, 5551, 5645, 5732, 5799, 5833, 5825, 5771, 5678, 5558, 5430, 5312, 5217, 5151, 5117, 5116, 5144, 5201, 5287, 5406, 5553, 5720, 5888, 6035, 6138, 6181, 6158, 6075, 5949, 5804, 5662, 5539, 5447, 5392, },
|
||||
/* LAT: 70 */ { 5726, 5705, 5701, 5712, 5733, 5759, 5783, 5798, 5798, 5780, 5742, 5685, 5616, 5540, 5467, 5403, 5355, 5328, 5324, 5344, 5389, 5458, 5550, 5659, 5776, 5890, 5989, 6061, 6100, 6103, 6074, 6021, 5954, 5884, 5818, 5764, 5726, },
|
||||
/* LAT: 80 */ { 5790, 5772, 5757, 5744, 5734, 5725, 5715, 5703, 5689, 5671, 5649, 5624, 5598, 5571, 5546, 5526, 5513, 5508, 5513, 5529, 5554, 5590, 5632, 5680, 5730, 5778, 5820, 5855, 5879, 5892, 5894, 5887, 5872, 5853, 5832, 5810, 5790, },
|
||||
/* LAT: 90 */ { 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, 5683, },
|
||||
};
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -70,27 +70,28 @@ CameraFeedback::Run()
|
||||
|
||||
camera_trigger_s trig{};
|
||||
|
||||
while (_trigger_sub.update(&trig)) {
|
||||
vehicle_attitude_s att{};
|
||||
|
||||
while (_att_sub.update(&att)) {
|
||||
// update geotagging subscriptions
|
||||
vehicle_global_position_s gpos{};
|
||||
_gpos_sub.copy(&gpos);
|
||||
|
||||
vehicle_attitude_s att{};
|
||||
_att_sub.copy(&att);
|
||||
_trigger_sub.copy(&trig);
|
||||
|
||||
if (trig.timestamp == 0 ||
|
||||
gpos.timestamp == 0 ||
|
||||
att.timestamp == 0) {
|
||||
// if (trig.timestamp == 0 ||
|
||||
// gpos.timestamp == 0 ||
|
||||
// att.timestamp == 0) {
|
||||
|
||||
// reject until we have valid data
|
||||
continue;
|
||||
}
|
||||
// // reject until we have valid data
|
||||
// continue;
|
||||
// }
|
||||
|
||||
if ((_cam_cap_fback >= 1) && !trig.feedback) {
|
||||
// Ignore triggers that are not feedback when camera capture feedback is enabled
|
||||
continue;
|
||||
}
|
||||
// if ((_cam_cap_fback >= 1) && !trig.feedback) {
|
||||
// // Ignore triggers that are not feedback when camera capture feedback is enabled
|
||||
// continue;
|
||||
// }
|
||||
|
||||
camera_capture_s capture{};
|
||||
|
||||
|
||||
+3
-1
@@ -61,6 +61,7 @@ ActuatorEffectivenessHelicopter::ActuatorEffectivenessHelicopter(ModuleParams *p
|
||||
}
|
||||
|
||||
_param_handles.yaw_collective_pitch_scale = param_find("CA_HELI_YAW_CP_S");
|
||||
_param_handles.yaw_collective_pitch_offset = param_find("CA_HELI_YAW_CP_O");
|
||||
_param_handles.yaw_throttle_scale = param_find("CA_HELI_YAW_TH_S");
|
||||
_param_handles.yaw_ccw = param_find("CA_HELI_YAW_CCW");
|
||||
_param_handles.spoolup_time = param_find("COM_SPOOLUP_TIME");
|
||||
@@ -95,6 +96,7 @@ void ActuatorEffectivenessHelicopter::updateParams()
|
||||
}
|
||||
|
||||
param_get(_param_handles.yaw_collective_pitch_scale, &_geometry.yaw_collective_pitch_scale);
|
||||
param_get(_param_handles.yaw_collective_pitch_offset, &_geometry.yaw_collective_pitch_offset);
|
||||
param_get(_param_handles.yaw_throttle_scale, &_geometry.yaw_throttle_scale);
|
||||
param_get(_param_handles.spoolup_time, &_geometry.spoolup_time);
|
||||
int32_t yaw_ccw = 0;
|
||||
@@ -142,7 +144,7 @@ void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float,
|
||||
actuator_sp(0) = mainMotorEnaged() ? throttle : NAN;
|
||||
|
||||
actuator_sp(1) = control_sp(ControlAxis::YAW) * _geometry.yaw_sign
|
||||
+ fabsf(collective_pitch) * _geometry.yaw_collective_pitch_scale
|
||||
+ fabsf(collective_pitch - _geometry.yaw_collective_pitch_offset) * _geometry.yaw_collective_pitch_scale
|
||||
+ throttle * _geometry.yaw_throttle_scale;
|
||||
|
||||
// Saturation check for yaw
|
||||
|
||||
+2
@@ -60,6 +60,7 @@ public:
|
||||
float throttle_curve[NUM_CURVE_POINTS];
|
||||
float pitch_curve[NUM_CURVE_POINTS];
|
||||
float yaw_collective_pitch_scale;
|
||||
float yaw_collective_pitch_offset;
|
||||
float yaw_throttle_scale;
|
||||
float yaw_sign;
|
||||
float spoolup_time;
|
||||
@@ -109,6 +110,7 @@ private:
|
||||
param_t throttle_curve[NUM_CURVE_POINTS];
|
||||
param_t pitch_curve[NUM_CURVE_POINTS];
|
||||
param_t yaw_collective_pitch_scale;
|
||||
param_t yaw_collective_pitch_offset;
|
||||
param_t yaw_throttle_scale;
|
||||
param_t yaw_ccw;
|
||||
param_t spoolup_time;
|
||||
|
||||
@@ -476,7 +476,24 @@ parameters:
|
||||
This allows to add a proportional factor of the collective pitch command to the yaw command.
|
||||
A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction.
|
||||
|
||||
tail_output += CA_HELI_YAW_CP_S * collective_pitch
|
||||
tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)
|
||||
type: float
|
||||
decimal: 3
|
||||
increment: 0.1
|
||||
min: -2
|
||||
max: 2
|
||||
default: 0.0
|
||||
CA_HELI_YAW_CP_O:
|
||||
description:
|
||||
short: Offset for yaw compensation based on collective pitch
|
||||
long: |
|
||||
This allows to specify which collective pitch command results in the least amount of rotor drag.
|
||||
This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch
|
||||
by aligning the lowest rotor drag with zero compensation.
|
||||
For symmetric profile blades this is the command that results in exactly 0° collective blade angle.
|
||||
For lift profile blades this is typically a command resulting in slightly negative collective blade angle.
|
||||
|
||||
tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)
|
||||
type: float
|
||||
decimal: 3
|
||||
increment: 0.1
|
||||
|
||||
@@ -6,7 +6,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
390000,1,-0.0089,-0.012,0.046,0.0026,0.0083,-0.059,0.00024,0.0011,-0.0094,-1.1e-10,2.8e-11,2.8e-12,0,0,-4.5e-08,0.17,0.0017,0.41,0,0,0,0,0,7e-07,0.0031,0.0031,0.00062,25,25,8.1,0.97,0.97,0.32,1e-06,1e-06,8.9e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
490000,0.87,-0.0023,-0.015,0.5,0.0023,0.0057,-0.06,0.0002,0.00051,-0.011,1.6e-08,-3.8e-09,-3.3e-10,0,0,-1.6e-07,0.14,0.0014,0.42,0,0,0,0,0,2.6e-06,0.0033,0.0033,0.00061,7.8,7.8,5.9,0.34,0.34,0.31,1e-06,1e-06,8.3e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
590000,0.76,0.00067,-0.015,0.65,0.00071,0.0084,-0.059,0.00037,0.0012,-0.012,1.6e-08,-3.5e-09,-3.2e-10,0,0,-3.4e-07,0.18,0.0018,0.43,0,0,0,0,0,1.5e-05,0.0036,0.0036,0.00061,7.9,7.9,4.2,0.67,0.67,0.32,1e-06,1e-06,7.7e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
690000,0.72,0.0016,-0.016,0.69,-0.00082,0.0075,-0.06,7.2e-05,0.00069,-0.013,5.4e-08,-2.4e-08,-7e-10,0,0,-6.3e-07,0.2,0.0019,0.43,0,0,0,0,0,4.1e-05,0.0039,0.0039,0.00061,2.6,2.6,2.8,0.26,0.26,0.29,1e-06,1e-06,7e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
690000,0.72,0.0016,-0.016,0.69,-0.00082,0.0075,-0.06,7.2e-05,0.00069,-0.013,5.4e-08,-2.4e-08,-7e-10,0,0,-6.3e-07,0.2,0.002,0.43,0,0,0,0,0,4.1e-05,0.0039,0.0039,0.00061,2.6,2.6,2.8,0.26,0.26,0.29,1e-06,1e-06,7e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
790000,0.71,0.002,-0.016,0.7,-0.0028,0.0098,-0.063,-9.3e-05,0.0015,-0.014,5.3e-08,-2.3e-08,-6.7e-10,0,0,-9.5e-07,0.2,0.002,0.43,0,0,0,0,0,7.7e-05,0.0042,0.0042,0.0006,2.7,2.7,2,0.42,0.42,0.28,1e-06,1e-06,6.2e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
890000,0.71,0.0021,-0.016,0.7,-0.0034,0.011,-0.077,-0.00019,0.0011,-0.021,1.7e-07,-9e-08,-1.1e-09,0,0,-9.5e-07,0.2,0.002,0.43,0,0,0,0,0,0.00012,0.0046,0.0046,0.00057,1.3,1.3,2,0.2,0.2,0.43,1e-06,1e-06,5.4e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
990000,0.7,0.0025,-0.016,0.71,-0.0038,0.015,-0.092,-0.00057,0.0024,-0.029,1.7e-07,-9e-08,-1.1e-09,0,0,-9.5e-07,0.21,0.0021,0.43,0,0,0,0,0,0.00015,0.005,0.005,0.00054,1.4,1.4,2,0.3,0.3,0.61,1e-06,1e-06,4.6e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
@@ -18,31 +18,31 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
1590000,0.7,0.0029,-0.018,0.71,-0.0029,0.031,-0.18,-0.00087,0.0066,-0.11,2.9e-06,-3.4e-06,-5.5e-09,0,0,-9.8e-07,0.21,0.0021,0.43,0,0,0,0,0,0.00026,0.0069,0.0069,0.00035,1.2,1.2,2,0.2,0.2,2.6,9e-07,9e-07,1.7e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
1690000,0.7,0.0025,-0.018,0.71,0.00055,0.028,-0.19,-0.00048,0.0047,-0.13,5e-06,-7e-06,-1.2e-08,0,0,-1e-06,0.21,0.0021,0.43,0,0,0,0,0,0.00027,0.006,0.006,0.00033,0.97,0.97,2,0.13,0.13,3,8.1e-07,8.1e-07,1.4e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
1790000,0.7,0.0027,-0.018,0.71,0.0025,0.036,-0.2,-0.00035,0.0078,-0.15,5e-06,-7e-06,-1.2e-08,0,0,-1e-06,0.21,0.0021,0.43,0,0,0,0,0,0.00027,0.0066,0.0066,0.00031,1.3,1.3,2,0.2,0.2,3.5,8.1e-07,8.1e-07,1.2e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
1890000,0.7,0.003,-0.018,0.72,0.0039,0.044,-0.22,-2.9e-05,0.012,-0.17,5e-06,-7e-06,-1.2e-08,0,0,-1e-06,0.21,0.002,0.43,0,0,0,0,0,0.00027,0.0073,0.0073,0.00029,1.6,1.6,2,0.3,0.3,4.1,8.1e-07,8.1e-07,1.1e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
1990000,0.7,0.0025,-0.018,0.72,0.0056,0.037,-0.23,0.00047,0.0085,-0.19,6.8e-06,-1.2e-05,-1.6e-08,0,0,-1.1e-06,0.21,0.002,0.43,0,0,0,0,0,0.00027,0.0059,0.0059,0.00027,1.3,1.3,2,0.2,0.2,4.7,6.9e-07,7e-07,9.3e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
2090000,0.7,0.0026,-0.018,0.72,0.0083,0.043,-0.24,0.0012,0.012,-0.22,6.8e-06,-1.2e-05,-1.6e-08,0,0,-1.1e-06,0.21,0.002,0.43,0,0,0,0,0,0.00027,0.0064,0.0064,0.00026,1.6,1.6,2.1,0.3,0.3,5.3,6.9e-07,7e-07,8.2e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
2190000,0.7,0.0021,-0.018,0.72,0.0084,0.034,-0.26,0.0012,0.0083,-0.24,8e-06,-1.8e-05,-1.5e-08,0,0,-1.1e-06,0.21,0.002,0.43,0,0,0,0,0,0.00027,0.0049,0.0049,0.00024,1.2,1.2,2.1,0.19,0.19,6,5.8e-07,5.8e-07,7.2e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
2290000,0.7,0.0021,-0.018,0.72,0.011,0.041,-0.27,0.0022,0.012,-0.27,8e-06,-1.8e-05,-1.5e-08,0,0,-1.1e-06,0.21,0.002,0.43,0,0,0,0,0,0.00026,0.0054,0.0054,0.00023,1.5,1.5,2.1,0.29,0.29,6.7,5.8e-07,5.8e-07,6.4e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
2390000,0.7,0.0016,-0.017,0.72,0.011,0.031,-0.29,0.0019,0.0078,-0.3,8.3e-06,-2.4e-05,-4.9e-09,0,0,-1.1e-06,0.21,0.002,0.43,0,0,0,0,0,0.00026,0.004,0.004,0.00022,1,1,2.1,0.19,0.19,7.4,4.9e-07,4.9e-07,5.6e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
2490000,0.7,0.0017,-0.018,0.72,0.014,0.036,-0.3,0.0031,0.011,-0.32,8.3e-06,-2.4e-05,-4.9e-09,0,0,-1.1e-06,0.21,0.002,0.43,0,0,0,0,0,0.00026,0.0044,0.0044,0.00021,1.3,1.3,2.1,0.27,0.27,8.2,4.9e-07,4.9e-07,5e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
2590000,0.7,0.0014,-0.017,0.72,0.012,0.027,-0.31,0.0023,0.0071,-0.36,8e-06,-2.8e-05,1.3e-08,0,0,-1.2e-06,0.21,0.002,0.43,0,0,0,0,0,0.00026,0.0033,0.0033,0.0002,0.89,0.89,2.1,0.18,0.18,9.1,4.1e-07,4.1e-07,4.5e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
2690000,0.7,0.0014,-0.017,0.72,0.015,0.031,-0.33,0.0037,0.01,-0.39,8e-06,-2.8e-05,1.3e-08,0,0,-1.2e-06,0.21,0.002,0.43,0,0,0,0,0,0.00025,0.0036,0.0036,0.00019,1.1,1.1,2.2,0.25,0.25,10,4.1e-07,4.1e-07,4.1e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
2790000,0.7,0.0012,-0.017,0.72,0.014,0.024,-0.34,0.0027,0.0064,-0.42,7.2e-06,-3.3e-05,3.6e-08,0,0,-1.2e-06,0.21,0.002,0.43,0,0,0,0,0,0.00025,0.0028,0.0028,0.00018,0.77,0.77,2.2,0.16,0.16,11,3.4e-07,3.4e-07,3.7e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
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||||
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||||
@@ -103,7 +103,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
10090000,0.7,0.0017,-0.014,0.71,-0.037,0.026,-0.096,-0.058,0.037,-3.7e+02,-1.3e-05,-5.7e-05,9.1e-07,0,0,-0.00091,0.21,0.0021,0.44,0,0,0,0,0,9.7e-05,0.00041,0.00041,9.5e-05,1.6,1.6,0.08,6.9,6.9,0.085,8e-09,8e-09,3e-09,4e-06,4e-06,1.6e-06,0,0,0,0,0,0,0,0
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||||
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||||
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||||
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|
||||
@@ -136,10 +136,10 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
14290000,0.7,0.00045,-0.014,0.71,0.0071,0.002,-0.032,0.0074,-0.0014,-3.7e+02,-1.1e-05,-6e-05,-3.7e-08,-2.3e-06,1.1e-05,-0.0012,0.21,0.0021,0.44,0,0,0,0,0,9.2e-05,0.00019,0.00019,9.3e-05,0.052,0.052,0.032,0.055,0.055,0.051,2.9e-09,2.9e-09,1.6e-09,3.5e-06,3.5e-06,6.7e-07,0,0,0,0,0,0,0,0
|
||||
@@ -155,8 +155,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
15290000,0.7,0.00021,-0.013,0.71,0.0045,0.00016,-0.027,0.0033,-0.0023,-3.7e+02,-1.1e-05,-6e-05,1.6e-06,-1e-05,2.3e-05,-0.0012,0.21,0.0021,0.44,0,0,0,0,0,9.1e-05,0.00018,0.00018,9.2e-05,0.045,0.045,0.03,0.053,0.053,0.052,2.2e-09,2.2e-09,1.3e-09,3.4e-06,3.4e-06,4.2e-07,0,0,0,0,0,0,0,0
|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
@@ -177,16 +177,16 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
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|
||||
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||||
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||||
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@@ -202,17 +202,17 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
19990000,0.71,0.00019,-0.012,0.71,0.0043,-0.005,0.014,0.0063,-0.00058,-3.7e+02,-1.4e-05,-6e-05,6.4e-06,-1.6e-05,7.2e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.0001,0.0001,8.3e-05,0.026,0.026,0.01,0.044,0.044,0.041,2.5e-10,2.5e-10,5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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||||
@@ -240,7 +240,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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@@ -253,9 +253,9 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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@@ -265,7 +265,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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@@ -285,11 +285,11 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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@@ -302,8 +302,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -320,17 +320,17 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -350,17 +350,17 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
@@ -383,7 +383,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
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||||
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||||
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||||
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|
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@@ -22,14 +22,14 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
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@@ -49,10 +49,10 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -70,17 +70,17 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -88,14 +88,14 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -106,7 +106,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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@@ -116,7 +116,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
@@ -129,7 +129,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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||||
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||||
@@ -139,7 +139,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
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||||
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||||
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||||
@@ -152,7 +152,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
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||||
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||||
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||||
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||||
15490000,0.98,-0.0075,-0.011,0.19,0.0049,-0.0024,0.029,0.0043,-0.00065,0.019,-1.2e-05,-6.1e-05,2.8e-06,3.6e-05,3.8e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,8.3e-06,0.00019,0.00019,9.7e-05,0.045,0.045,0.0072,0.053,0.053,0.035,2.1e-09,2.1e-09,1.3e-09,3.4e-06,3.4e-06,5e-08,0,0,0,0,0,0,0,0
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||||
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||||
@@ -169,7 +169,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
@@ -212,7 +212,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -234,8 +234,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -245,7 +245,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -266,7 +266,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -278,7 +278,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -293,7 +293,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -304,7 +304,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -322,7 +322,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -330,13 +330,13 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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|
||||
33290000,0.98,-0.0086,-0.013,0.18,0.019,-0.08,-0.12,0.056,-0.019,-0.045,-1.4e-05,-5.6e-05,2.3e-06,0.00026,-0.00014,-0.0011,0.2,0.002,0.43,0,0,0,0,0,6.3e-06,6.7e-05,6.6e-05,4.4e-05,0.035,0.035,0.0063,0.043,0.043,0.034,2.6e-11,2.6e-11,8.9e-11,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33390000,0.98,-0.0081,-0.013,0.18,0.014,-0.066,-0.12,0.059,-0.014,-0.053,-1.4e-05,-5.6e-05,2.3e-06,0.00025,-0.00016,-0.0011,0.2,0.002,0.43,0,0,0,0,0,6.3e-06,6e-05,5.9e-05,4.4e-05,0.035,0.035,0.0062,0.039,0.039,0.034,2.6e-11,2.6e-11,8.8e-11,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33490000,0.98,-0.0081,-0.013,0.18,0.0094,-0.067,-0.12,0.06,-0.021,-0.063,-1.4e-05,-5.6e-05,2.3e-06,0.00025,-0.00016,-0.0011,0.2,0.002,0.43,0,0,0,0,0,6.3e-06,6e-05,5.9e-05,4.3e-05,0.042,0.042,0.0061,0.044,0.044,0.034,2.6e-11,2.6e-11,8.8e-11,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33590000,0.98,-0.0077,-0.013,0.18,0.0055,-0.058,-0.11,0.063,-0.017,-0.069,-1.4e-05,-5.6e-05,2.4e-06,0.00024,-0.00018,-0.0011,0.2,0.002,0.43,0,0,0,0,0,6.3e-06,5.3e-05,5.2e-05,4.3e-05,0.04,0.041,0.006,0.04,0.04,0.034,2.6e-11,2.6e-11,8.7e-11,2.6e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33690000,0.98,-0.0077,-0.013,0.18,0.00085,-0.058,-0.11,0.063,-0.023,-0.077,-1.4e-05,-5.6e-05,2.4e-06,0.00024,-0.00018,-0.0011,0.2,0.002,0.43,0,0,0,0,0,6.3e-06,5.3e-05,5.2e-05,4.3e-05,0.048,0.048,0.0059,0.046,0.046,0.034,2.6e-11,2.6e-11,8.6e-11,2.6e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33690000,0.98,-0.0077,-0.013,0.18,0.00086,-0.058,-0.11,0.063,-0.023,-0.077,-1.4e-05,-5.6e-05,2.4e-06,0.00024,-0.00018,-0.0011,0.2,0.002,0.43,0,0,0,0,0,6.3e-06,5.3e-05,5.2e-05,4.3e-05,0.048,0.048,0.0059,0.046,0.046,0.034,2.6e-11,2.6e-11,8.6e-11,2.6e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33790000,0.98,-0.0075,-0.013,0.18,-0.0023,-0.048,-0.11,0.067,-0.018,-0.083,-1.4e-05,-5.6e-05,2.3e-06,0.00023,-0.00021,-0.0011,0.2,0.002,0.43,0,0,0,0,0,6.3e-06,4.6e-05,4.6e-05,4.3e-05,0.044,0.045,0.0059,0.041,0.041,0.034,2.6e-11,2.6e-11,8.6e-11,2.5e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33890000,0.98,-0.0075,-0.013,0.18,-0.0065,-0.046,-0.11,0.066,-0.023,-0.09,-1.4e-05,-5.6e-05,2.4e-06,0.00023,-0.00021,-0.0011,0.2,0.002,0.43,0,0,0,0,0,6.3e-06,4.7e-05,4.6e-05,4.3e-05,0.052,0.052,0.0058,0.047,0.047,0.033,2.6e-11,2.6e-11,8.5e-11,2.5e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33990000,0.98,-0.0072,-0.013,0.18,-0.0062,-0.031,-0.1,0.069,-0.015,-0.092,-1.4e-05,-5.6e-05,2.3e-06,0.00021,-0.00024,-0.0011,0.2,0.002,0.43,0,0,0,0,0,6.3e-06,4.1e-05,4.1e-05,4.3e-05,0.047,0.047,0.0058,0.042,0.042,0.033,2.6e-11,2.6e-11,8.4e-11,2.5e-06,2.5e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
@@ -709,8 +709,24 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
|
||||
|
||||
_skipping_takeoff_detection = false;
|
||||
|
||||
if (((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled) ||
|
||||
_control_mode.flag_control_offboard_enabled) && _position_setpoint_current_valid) {
|
||||
if (_control_mode.flag_control_offboard_enabled && _position_setpoint_current_valid) {
|
||||
if (_control_mode.flag_control_position_enabled) {
|
||||
if (PX4_ISFINITE(_pos_sp_triplet.current.vx) && PX4_ISFINITE(_pos_sp_triplet.current.vy)
|
||||
&& PX4_ISFINITE(_pos_sp_triplet.current.vz)) {
|
||||
// Offboard position with velocity setpoints
|
||||
_control_mode_current = FW_POSCTRL_MODE_AUTO_PATH;
|
||||
return;
|
||||
|
||||
} else {
|
||||
// Offboard position setpoint only
|
||||
_control_mode_current = FW_POSCTRL_MODE_AUTO;
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if ((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled)
|
||||
&& _position_setpoint_current_valid) {
|
||||
|
||||
if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
|
||||
|
||||
@@ -1097,17 +1113,7 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
|
||||
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
|
||||
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
|
||||
|
||||
if (_control_mode.flag_control_offboard_enabled && PX4_ISFINITE(pos_sp_curr.vx) && PX4_ISFINITE(pos_sp_curr.vy)) {
|
||||
// Navigate directly on position setpoint and path tangent
|
||||
matrix::Vector2f velocity_2d(pos_sp_curr.vx, pos_sp_curr.vy);
|
||||
float curvature = PX4_ISFINITE(_pos_sp_triplet.current.loiter_radius) ? 1 / _pos_sp_triplet.current.loiter_radius :
|
||||
0.0f;
|
||||
navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), ground_speed,
|
||||
_wind_vel, curvature);
|
||||
|
||||
} else {
|
||||
navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
|
||||
}
|
||||
navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
|
||||
|
||||
_att_sp.roll_body = _npfg.getRollSetpoint();
|
||||
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
|
||||
@@ -1282,6 +1288,57 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
|
||||
_param_climbrate_target.get());
|
||||
}
|
||||
|
||||
void
|
||||
FixedwingPositionControl::control_auto_path(const float control_interval, const Vector2d &curr_pos,
|
||||
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
|
||||
{
|
||||
|
||||
float tecs_fw_thr_min;
|
||||
float tecs_fw_thr_max;
|
||||
|
||||
if (pos_sp_curr.gliding_enabled) {
|
||||
/* enable gliding with this waypoint */
|
||||
_tecs.set_speed_weight(2.0f);
|
||||
tecs_fw_thr_min = 0.0;
|
||||
tecs_fw_thr_max = 0.0;
|
||||
|
||||
} else {
|
||||
tecs_fw_thr_min = _param_fw_thr_min.get();
|
||||
tecs_fw_thr_max = _param_fw_thr_max.get();
|
||||
}
|
||||
|
||||
// waypoint is a plain navigation waypoint
|
||||
float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed,
|
||||
_param_fw_airspd_min.get(), ground_speed);
|
||||
|
||||
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
|
||||
Vector2f curr_wp_local = _global_local_proj_ref.project(pos_sp_curr.lat, pos_sp_curr.lon);
|
||||
|
||||
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
|
||||
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
|
||||
|
||||
// Navigate directly on position setpoint and path tangent
|
||||
matrix::Vector2f velocity_2d(pos_sp_curr.vx, pos_sp_curr.vy);
|
||||
float curvature = PX4_ISFINITE(_pos_sp_triplet.current.loiter_radius) ? 1 / _pos_sp_triplet.current.loiter_radius :
|
||||
0.0f;
|
||||
navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), ground_speed, _wind_vel, curvature);
|
||||
|
||||
_att_sp.roll_body = _npfg.getRollSetpoint();
|
||||
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
|
||||
|
||||
_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
|
||||
|
||||
tecs_update_pitch_throttle(control_interval,
|
||||
pos_sp_curr.alt,
|
||||
target_airspeed,
|
||||
radians(_param_fw_p_lim_min.get()),
|
||||
radians(_param_fw_p_lim_max.get()),
|
||||
tecs_fw_thr_min,
|
||||
tecs_fw_thr_max,
|
||||
_param_sinkrate_target.get(),
|
||||
_param_climbrate_target.get());
|
||||
}
|
||||
|
||||
void
|
||||
FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const float control_interval,
|
||||
const Vector2d &global_position, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
|
||||
@@ -2345,6 +2402,11 @@ FixedwingPositionControl::Run()
|
||||
break;
|
||||
}
|
||||
|
||||
case FW_POSCTRL_MODE_AUTO_PATH: {
|
||||
control_auto_path(control_interval, curr_pos, ground_speed, _pos_sp_triplet.current);
|
||||
break;
|
||||
}
|
||||
|
||||
case FW_POSCTRL_MODE_AUTO_TAKEOFF: {
|
||||
control_auto_takeoff(_local_pos.timestamp, control_interval, curr_pos, ground_speed, _pos_sp_triplet.current);
|
||||
break;
|
||||
|
||||
@@ -243,6 +243,7 @@ private:
|
||||
FW_POSCTRL_MODE_AUTO_TAKEOFF,
|
||||
FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT,
|
||||
FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR,
|
||||
FW_POSCTRL_MODE_AUTO_PATH,
|
||||
FW_POSCTRL_MODE_MANUAL_POSITION,
|
||||
FW_POSCTRL_MODE_MANUAL_ALTITUDE,
|
||||
FW_POSCTRL_MODE_OTHER
|
||||
@@ -585,6 +586,18 @@ private:
|
||||
void control_auto_loiter(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
|
||||
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
|
||||
|
||||
/**
|
||||
* @brief Vehicle control for following a path.
|
||||
*
|
||||
* @param control_interval Time since last position control call [s]
|
||||
* @param curr_pos Current 2D local position vector of vehicle [m]
|
||||
* @param ground_speed Local 2D ground speed of vehicle [m/s]
|
||||
* @param pos_sp_prev previous position setpoint
|
||||
* @param pos_sp_curr current position setpoint
|
||||
*/
|
||||
void control_auto_path(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
|
||||
const position_setpoint_s &pos_sp_curr);
|
||||
|
||||
/**
|
||||
* @brief Controls a desired airspeed, bearing, and height rate.
|
||||
*
|
||||
|
||||
@@ -540,7 +540,7 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.1f);
|
||||
* @increment 0.05
|
||||
* @group FW TECS
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_T_I_GAIN_THR, 0.3f);
|
||||
PARAM_DEFINE_FLOAT(FW_T_I_GAIN_THR, 0.1f);
|
||||
|
||||
/**
|
||||
* Integrator gain pitch
|
||||
|
||||
@@ -78,8 +78,6 @@ struct ControlData {
|
||||
|
||||
Type type = Type::Neutral;
|
||||
|
||||
bool gimbal_shutter_retract = false; // whether to lock the gimbal (only in RC output mode)
|
||||
|
||||
uint8_t sysid_primary_control = 0; // The MAVLink system ID selected to be in control, 0 for no one.
|
||||
uint8_t compid_primary_control = 0; // The MAVLink component ID selected to be in control, 0 for no one.
|
||||
// uint8_t sysid_secondary_control = 0; // The MAVLink system ID selected for additional input, not implemented yet.
|
||||
|
||||
@@ -449,8 +449,6 @@ void update_params(ParameterHandles ¶m_handles, Parameters ¶ms)
|
||||
param_get(param_handles.mnt_mode_out, ¶ms.mnt_mode_out);
|
||||
param_get(param_handles.mnt_mav_sysid_v1, ¶ms.mnt_mav_sysid_v1);
|
||||
param_get(param_handles.mnt_mav_compid_v1, ¶ms.mnt_mav_compid_v1);
|
||||
param_get(param_handles.mnt_ob_lock_mode, ¶ms.mnt_ob_lock_mode);
|
||||
param_get(param_handles.mnt_ob_norm_mode, ¶ms.mnt_ob_norm_mode);
|
||||
param_get(param_handles.mnt_man_pitch, ¶ms.mnt_man_pitch);
|
||||
param_get(param_handles.mnt_man_roll, ¶ms.mnt_man_roll);
|
||||
param_get(param_handles.mnt_man_yaw, ¶ms.mnt_man_yaw);
|
||||
@@ -476,8 +474,6 @@ bool initialize_params(ParameterHandles ¶m_handles, Parameters ¶ms)
|
||||
param_handles.mnt_mode_out = param_find("MNT_MODE_OUT");
|
||||
param_handles.mnt_mav_sysid_v1 = param_find("MNT_MAV_SYSID");
|
||||
param_handles.mnt_mav_compid_v1 = param_find("MNT_MAV_COMPID");
|
||||
param_handles.mnt_ob_lock_mode = param_find("MNT_OB_LOCK_MODE");
|
||||
param_handles.mnt_ob_norm_mode = param_find("MNT_OB_NORM_MODE");
|
||||
param_handles.mnt_man_pitch = param_find("MNT_MAN_PITCH");
|
||||
param_handles.mnt_man_roll = param_find("MNT_MAN_ROLL");
|
||||
param_handles.mnt_man_yaw = param_find("MNT_MAN_YAW");
|
||||
@@ -500,8 +496,6 @@ bool initialize_params(ParameterHandles ¶m_handles, Parameters ¶ms)
|
||||
param_handles.mnt_mode_out == PARAM_INVALID ||
|
||||
param_handles.mnt_mav_sysid_v1 == PARAM_INVALID ||
|
||||
param_handles.mnt_mav_compid_v1 == PARAM_INVALID ||
|
||||
param_handles.mnt_ob_lock_mode == PARAM_INVALID ||
|
||||
param_handles.mnt_ob_norm_mode == PARAM_INVALID ||
|
||||
param_handles.mnt_man_pitch == PARAM_INVALID ||
|
||||
param_handles.mnt_man_roll == PARAM_INVALID ||
|
||||
param_handles.mnt_man_yaw == PARAM_INVALID ||
|
||||
|
||||
@@ -88,30 +88,6 @@ PARAM_DEFINE_INT32(MNT_MAV_SYSID, 1);
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MNT_MAV_COMPID, 154);
|
||||
|
||||
/**
|
||||
* Mixer value for selecting normal mode
|
||||
*
|
||||
* if required by the gimbal (only in AUX output mode)
|
||||
*
|
||||
* @min -1.0
|
||||
* @max 1.0
|
||||
* @decimal 3
|
||||
* @group Mount
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MNT_OB_NORM_MODE, -1.0f);
|
||||
|
||||
/**
|
||||
* Mixer value for selecting a locking mode
|
||||
*
|
||||
* if required for the gimbal (only in AUX output mode)
|
||||
*
|
||||
* @min -1.0
|
||||
* @max 1.0
|
||||
* @decimal 3
|
||||
* @group Mount
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MNT_OB_LOCK_MODE, 0.0f);
|
||||
|
||||
/**
|
||||
* Auxiliary channel to control roll (in AUX input or manual mode).
|
||||
*
|
||||
|
||||
@@ -45,8 +45,6 @@ struct Parameters {
|
||||
int32_t mnt_mode_out;
|
||||
int32_t mnt_mav_sysid_v1;
|
||||
int32_t mnt_mav_compid_v1;
|
||||
float mnt_ob_lock_mode;
|
||||
float mnt_ob_norm_mode;
|
||||
int32_t mnt_man_pitch;
|
||||
int32_t mnt_man_roll;
|
||||
int32_t mnt_man_yaw;
|
||||
@@ -71,8 +69,6 @@ struct ParameterHandles {
|
||||
param_t mnt_mode_out;
|
||||
param_t mnt_mav_sysid_v1;
|
||||
param_t mnt_mav_compid_v1;
|
||||
param_t mnt_ob_lock_mode;
|
||||
param_t mnt_ob_norm_mode;
|
||||
param_t mnt_man_pitch;
|
||||
param_t mnt_man_roll;
|
||||
param_t mnt_man_yaw;
|
||||
|
||||
@@ -257,7 +257,6 @@ InputMavlinkCmdMount::_process_command(ControlData &control_data, const vehicle_
|
||||
|
||||
switch ((int) vehicle_command.param7) {
|
||||
case vehicle_command_s::VEHICLE_MOUNT_MODE_RETRACT:
|
||||
control_data.gimbal_shutter_retract = true;
|
||||
|
||||
// fallthrough
|
||||
case vehicle_command_s::VEHICLE_MOUNT_MODE_NEUTRAL:
|
||||
@@ -606,8 +605,6 @@ InputMavlinkGimbalV2::UpdateResult InputMavlinkGimbalV2::_process_set_attitude(C
|
||||
InputMavlinkGimbalV2::UpdateResult InputMavlinkGimbalV2::_process_vehicle_roi(ControlData &control_data,
|
||||
const vehicle_roi_s &vehicle_roi)
|
||||
{
|
||||
control_data.gimbal_shutter_retract = false;
|
||||
|
||||
if (vehicle_roi.mode == vehicle_roi_s::ROI_NONE) {
|
||||
|
||||
control_data.type = ControlData::Type::Neutral;
|
||||
@@ -679,7 +676,6 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_
|
||||
|
||||
switch ((int) vehicle_command.param7) {
|
||||
case vehicle_command_s::VEHICLE_MOUNT_MODE_RETRACT:
|
||||
control_data.gimbal_shutter_retract = true;
|
||||
|
||||
// fallthrough
|
||||
|
||||
|
||||
@@ -161,8 +161,6 @@ InputRC::UpdateResult InputRC::_read_control_data_from_subscription(ControlData
|
||||
_last_set_aux_values[i] = new_aux_values[i];
|
||||
}
|
||||
|
||||
control_data.gimbal_shutter_retract = false;
|
||||
|
||||
return UpdateResult::UpdatedActive;
|
||||
|
||||
} else {
|
||||
|
||||
@@ -66,8 +66,6 @@ InputTest::UpdateResult InputTest::update(unsigned int timeout_ms, ControlData &
|
||||
|
||||
q.copyTo(control_data.type_data.angle.q);
|
||||
|
||||
control_data.gimbal_shutter_retract = false;
|
||||
|
||||
control_data.type_data.angle.angular_velocity[0] = NAN;
|
||||
control_data.type_data.angle.angular_velocity[1] = NAN;
|
||||
control_data.type_data.angle.angular_velocity[2] = NAN;
|
||||
|
||||
@@ -51,7 +51,6 @@ OutputRC::OutputRC(const Parameters ¶meters)
|
||||
void OutputRC::update(const ControlData &control_data, bool new_setpoints)
|
||||
{
|
||||
if (new_setpoints) {
|
||||
_retract_gimbal = control_data.gimbal_shutter_retract;
|
||||
_set_angle_setpoints(control_data);
|
||||
}
|
||||
|
||||
@@ -76,9 +75,6 @@ void OutputRC::update(const ControlData &control_data, bool new_setpoints)
|
||||
(_angle_outputs[2] + math::radians(_parameters.mnt_off_yaw)) *
|
||||
(1.0f / (math::radians(_parameters.mnt_range_yaw / 2.0f))),
|
||||
-1.f, 1.f);
|
||||
gimbal_controls.retract_gimbal = constrain(
|
||||
_retract_gimbal ? _parameters.mnt_ob_lock_mode : _parameters.mnt_ob_norm_mode,
|
||||
-1.f, 1.f);
|
||||
gimbal_controls.timestamp = hrt_absolute_time();
|
||||
_gimbal_controls_pub.publish(gimbal_controls);
|
||||
|
||||
|
||||
@@ -58,8 +58,6 @@ private:
|
||||
|
||||
uORB::Publication <gimbal_controls_s> _gimbal_controls_pub{ORB_ID(gimbal_controls)};
|
||||
uORB::Publication <gimbal_device_attitude_status_s> _attitude_status_pub{ORB_ID(gimbal_device_attitude_status)};
|
||||
|
||||
bool _retract_gimbal = true;
|
||||
};
|
||||
|
||||
} /* namespace gimbal */
|
||||
|
||||
@@ -51,7 +51,7 @@ void LoggedTopics::add_default_topics()
|
||||
add_topic("airspeed", 1000);
|
||||
add_optional_topic("airspeed_validated", 200);
|
||||
add_optional_topic("autotune_attitude_control_status", 100);
|
||||
add_optional_topic("camera_capture");
|
||||
add_topic("camera_capture");
|
||||
add_optional_topic("camera_trigger");
|
||||
add_topic("cellular_status", 200);
|
||||
add_topic("commander_state");
|
||||
|
||||
Submodule src/modules/mavlink/mavlink updated: 2bdcab78b5...e1e68da5e6
@@ -79,7 +79,7 @@ void on_time(uxrSession *session, int64_t current_time, int64_t received_timesta
|
||||
}
|
||||
}
|
||||
|
||||
MicroddsClient::MicroddsClient(Transport transport, const char *device, int baudrate, const char *host,
|
||||
MicroddsClient::MicroddsClient(Transport transport, const char *device, int baudrate, const char *agent_ip,
|
||||
const char *port, bool localhost_only, bool custom_participant, const char *client_namespace) :
|
||||
ModuleParams(nullptr),
|
||||
_localhost_only(localhost_only), _custom_participant(custom_participant),
|
||||
@@ -122,9 +122,11 @@ MicroddsClient::MicroddsClient(Transport transport, const char *device, int baud
|
||||
|
||||
#if defined(MICRODDS_CLIENT_UDP)
|
||||
_transport_udp = new uxrUDPTransport();
|
||||
strncpy(_port, port, PORT_MAX_LENGTH - 1);
|
||||
strncpy(_agent_ip, agent_ip, AGENT_IP_MAX_LENGTH - 1);
|
||||
|
||||
if (_transport_udp) {
|
||||
if (uxr_init_udp_transport(_transport_udp, UXR_IPv4, host, port)) {
|
||||
if (uxr_init_udp_transport(_transport_udp, UXR_IPv4, _agent_ip, _port)) {
|
||||
_comm = &_transport_udp->comm;
|
||||
_fd = _transport_udp->platform.poll_fd.fd;
|
||||
|
||||
@@ -265,7 +267,7 @@ void MicroddsClient::run()
|
||||
"</dds>"
|
||||
);
|
||||
|
||||
if (ret < 0 || ret >= TOPIC_NAME_SIZE) {
|
||||
if (ret < 0 || ret >= PARTICIPANT_XML_SIZE) {
|
||||
PX4_ERR("create entities failed: namespace too long");
|
||||
return;
|
||||
}
|
||||
@@ -546,8 +548,26 @@ int MicroddsClient::task_spawn(int argc, char *argv[])
|
||||
int MicroddsClient::print_status()
|
||||
{
|
||||
PX4_INFO("Running, %s", _connected ? "connected" : "disconnected");
|
||||
PX4_INFO("Payload tx: %i B/s", _last_payload_tx_rate);
|
||||
PX4_INFO("Payload rx: %i B/s", _last_payload_rx_rate);
|
||||
#if defined(MICRODDS_CLIENT_UDP)
|
||||
|
||||
if (_transport_udp != nullptr) {
|
||||
PX4_INFO("Using transport: udp");
|
||||
PX4_INFO("Agent IP: %s", _agent_ip);
|
||||
PX4_INFO("Agent port: %s", _port);
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
if (_transport_serial != nullptr) {
|
||||
PX4_INFO("Using transport: serial");
|
||||
}
|
||||
|
||||
if (_connected) {
|
||||
PX4_INFO("Payload tx: %i B/s", _last_payload_tx_rate);
|
||||
PX4_INFO("Payload rx: %i B/s", _last_payload_rx_rate);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -558,19 +578,19 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
|
||||
int ch;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
char port[PORT_MAX_LENGTH] = {0};
|
||||
char agent_ip[AGENT_IP_MAX_LENGTH] = {0};
|
||||
|
||||
#if defined(MICRODDS_CLIENT_UDP)
|
||||
Transport transport = Transport::Udp;
|
||||
|
||||
#else
|
||||
Transport transport = Transport::Serial;
|
||||
#endif
|
||||
const char *device = nullptr;
|
||||
int baudrate = 921600;
|
||||
|
||||
const char *port = "8888";
|
||||
bool localhost_only = false;
|
||||
bool custom_participant = false;
|
||||
const char *ip = "127.0.0.1";
|
||||
|
||||
const char *client_namespace = nullptr;//"px4";
|
||||
|
||||
@@ -605,11 +625,11 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
|
||||
#if defined(MICRODDS_CLIENT_UDP)
|
||||
|
||||
case 'h':
|
||||
ip = myoptarg;
|
||||
snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%s", myoptarg);
|
||||
break;
|
||||
|
||||
case 'p':
|
||||
port = myoptarg;
|
||||
snprintf(port, PORT_MAX_LENGTH, "%s", myoptarg);
|
||||
break;
|
||||
|
||||
case 'l':
|
||||
@@ -636,6 +656,33 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
|
||||
}
|
||||
}
|
||||
|
||||
#if defined(MICRODDS_CLIENT_UDP)
|
||||
|
||||
if (port[0] == '\0') {
|
||||
// no port specified, use XRCE_DDS_PRT
|
||||
int32_t port_i = 0;
|
||||
param_get(param_find("XRCE_DDS_PRT"), &port_i);
|
||||
|
||||
if (port_i < 0 || port_i > 65535) {
|
||||
PX4_ERR("port must be between 0 and 65535");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
snprintf(port, PORT_MAX_LENGTH, "%u", (uint16_t)port_i);
|
||||
}
|
||||
|
||||
if (agent_ip[0] == '\0') {
|
||||
// no agent ip specified, use XRCE_DDS_AG_IP
|
||||
int32_t ip_i = 0;
|
||||
param_get(param_find("XRCE_DDS_AG_IP"), &ip_i);
|
||||
snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%u.%u.%u.%u", static_cast<uint8_t>(((ip_i) >> 24) & 0xff),
|
||||
static_cast<uint8_t>(((ip_i) >> 16) & 0xff),
|
||||
static_cast<uint8_t>(((ip_i) >> 8) & 0xff),
|
||||
static_cast<uint8_t>(ip_i & 0xff));
|
||||
}
|
||||
|
||||
#endif // MICRODDS_CLIENT_UDP
|
||||
|
||||
if (error_flag) {
|
||||
return nullptr;
|
||||
}
|
||||
@@ -647,7 +694,8 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
|
||||
}
|
||||
}
|
||||
|
||||
return new MicroddsClient(transport, device, baudrate, ip, port, localhost_only, custom_participant, client_namespace);
|
||||
return new MicroddsClient(transport, device, baudrate, agent_ip, port, localhost_only, custom_participant,
|
||||
client_namespace);
|
||||
}
|
||||
|
||||
int MicroddsClient::print_usage(const char *reason)
|
||||
@@ -671,8 +719,8 @@ $ microdds_client start -t udp -h 127.0.0.1 -p 15555
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('t', "udp", "serial|udp", "Transport protocol", true);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "serial device", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:<param_name>)", true);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('h', "127.0.0.1", "<IP>", "Host IP", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('p', 8888, 0, 65535, "Remote Port", true);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "<IP>", "Agent IP. If not provided, defaults to XRCE_DDS_AG_IP", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port. If not provided, defaults to XRCE_DDS_PRT", true);
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('l', "Restrict to localhost (use in combination with ROS_LOCALHOST_ONLY=1)", true);
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('c', "Use custom participant config (profile_name=\"px4_participant\")", true);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Client DDS namespace", true);
|
||||
|
||||
@@ -78,6 +78,17 @@ private:
|
||||
const bool _custom_participant;
|
||||
const char *_client_namespace;
|
||||
|
||||
|
||||
// max port characters (5+'\0')
|
||||
static const uint8_t PORT_MAX_LENGTH = 6;
|
||||
// max agent ip characters (15+'\0')
|
||||
static const uint8_t AGENT_IP_MAX_LENGTH = 16;
|
||||
|
||||
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
|
||||
char _port[PORT_MAX_LENGTH];
|
||||
char _agent_ip[AGENT_IP_MAX_LENGTH];
|
||||
#endif
|
||||
|
||||
SendTopicsSubs *_subs{nullptr};
|
||||
RcvTopicsPubs *_pubs{nullptr};
|
||||
|
||||
|
||||
@@ -1,16 +1,3 @@
|
||||
|
||||
|
||||
# parameters to auto start
|
||||
# mode (normal, minimal)
|
||||
# UDP port
|
||||
# max rate
|
||||
# DDS DOMAIN ID
|
||||
#
|
||||
|
||||
|
||||
# multiple instances?
|
||||
|
||||
|
||||
module_name: Micro XRCE-DDS
|
||||
serial_config:
|
||||
- command: |
|
||||
@@ -22,13 +9,8 @@ serial_config:
|
||||
microdds_client start ${XRCE_DDS_ARGS}
|
||||
|
||||
port_config_param:
|
||||
name: XRCE_DDS_${i}_CFG
|
||||
name: XRCE_DDS_CFG
|
||||
group: Micro XRCE-DDS
|
||||
# MAVLink instances:
|
||||
# 0: Telem1 Port (Telemetry Link)
|
||||
# 1: Telem2 Port (Companion Link). Disabled by default to reduce RAM usage
|
||||
# 2: Board-specific / no fixed function or port
|
||||
#default: [TEL1, "", ""]
|
||||
supports_networking: true
|
||||
|
||||
parameters:
|
||||
@@ -46,7 +28,7 @@ parameters:
|
||||
|
||||
XRCE_DDS_KEY:
|
||||
description:
|
||||
short: XRCE DDS key
|
||||
short: XRCE DDS Session key
|
||||
long: |
|
||||
XRCE DDS key, must be different from zero.
|
||||
In a single agent - multi client configuration, each client
|
||||
@@ -56,13 +38,29 @@ parameters:
|
||||
reboot_required: true
|
||||
default: 1
|
||||
|
||||
XRCE_DDS_UDP_PRT:
|
||||
XRCE_DDS_PRT:
|
||||
description:
|
||||
short: Micro DDS UDP Port
|
||||
long: |
|
||||
If ethernet enabled and selected as configuration for micro DDS,
|
||||
selected udp port will be set and used.
|
||||
type: int32
|
||||
min: 0
|
||||
max: 65535
|
||||
reboot_required: true
|
||||
default: 8888
|
||||
requires_ethernet: true
|
||||
|
||||
XRCE_DDS_AG_IP:
|
||||
description:
|
||||
short: Micro DDS Agent IP address
|
||||
long: |
|
||||
If ethernet enabled and selected as configuration for micro DDS,
|
||||
selected Agent IP address will be set and used.
|
||||
Decimal dot notation is not supported. IP address must be provided
|
||||
in int32 format. For example, 192.168.1.2 is mapped to -1062731518;
|
||||
127.0.0.1 is mapped to 2130706433.
|
||||
type: int32
|
||||
reboot_required: true
|
||||
default: 2130706433
|
||||
requires_ethernet: true
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -50,6 +50,7 @@ void FeasibilityChecker::reset()
|
||||
_is_landed = false;
|
||||
_home_alt_msl = NAN;
|
||||
_home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN);
|
||||
_current_position_lat_lon = matrix::Vector2d((double)NAN, (double)NAN);
|
||||
_vehicle_type = VehicleType::RotaryWing;
|
||||
|
||||
_mission_validity_failed = false;
|
||||
@@ -119,6 +120,12 @@ void FeasibilityChecker::updateData()
|
||||
_is_landed = land_detected.landed;
|
||||
}
|
||||
|
||||
if (_vehicle_global_position_sub.updated()) {
|
||||
vehicle_global_position_s vehicle_global_position = {};
|
||||
_vehicle_global_position_sub.copy(&vehicle_global_position);
|
||||
_current_position_lat_lon = matrix::Vector2d(vehicle_global_position.lat, vehicle_global_position.lon);
|
||||
}
|
||||
|
||||
param_t handle = param_find("FW_LND_ANG");
|
||||
|
||||
if (handle != PARAM_INVALID) {
|
||||
@@ -131,12 +138,6 @@ void FeasibilityChecker::updateData()
|
||||
param_get(handle, &_param_mis_dist_1wp);
|
||||
}
|
||||
|
||||
handle = param_find("MIS_DIST_WPS");
|
||||
|
||||
if (handle != PARAM_INVALID) {
|
||||
param_get(handle, &_param_mis_dist_wps);
|
||||
}
|
||||
|
||||
handle = param_find("NAV_ACC_RAD");
|
||||
|
||||
if (handle != PARAM_INVALID) {
|
||||
@@ -195,7 +196,7 @@ void FeasibilityChecker::doCommonChecks(mission_item_s &mission_item, const int
|
||||
}
|
||||
|
||||
if (!_distance_first_waypoint_failed) {
|
||||
_distance_first_waypoint_failed = !checkDistanceToFirstWaypoint(mission_item);
|
||||
_distance_first_waypoint_failed = !checkHorizontalDistanceToFirstWaypoint(mission_item);
|
||||
}
|
||||
|
||||
if (!_below_home_alt_failed) {
|
||||
@@ -601,50 +602,44 @@ bool FeasibilityChecker::checkTakeoffLandAvailable()
|
||||
}
|
||||
|
||||
|
||||
bool FeasibilityChecker::checkDistanceToFirstWaypoint(mission_item_s &mission_item)
|
||||
bool FeasibilityChecker::checkHorizontalDistanceToFirstWaypoint(mission_item_s &mission_item)
|
||||
{
|
||||
if (_param_mis_dist_1wp <= 0.0f || !_home_lat_lon.isAllFinite()) {
|
||||
/* param not set, check is ok */
|
||||
return true;
|
||||
}
|
||||
if (_param_mis_dist_1wp > FLT_EPSILON &&
|
||||
(_current_position_lat_lon.isAllFinite()) && !_first_waypoint_found &&
|
||||
MissionBlock::item_contains_position(mission_item)) {
|
||||
|
||||
if (!_first_waypoint_found && MissionBlock::item_contains_position(mission_item)) {
|
||||
_first_waypoint_found = true;
|
||||
|
||||
float dist_to_1wp_from_current_pos = 1e6f;
|
||||
|
||||
/* check distance from current position to item */
|
||||
float dist_to_1wp = get_distance_to_next_waypoint(
|
||||
mission_item.lat, mission_item.lon,
|
||||
_home_lat_lon(0), _home_lat_lon(1));
|
||||
if (_current_position_lat_lon.isAllFinite()) {
|
||||
dist_to_1wp_from_current_pos = get_distance_to_next_waypoint(
|
||||
mission_item.lat, mission_item.lon,
|
||||
_current_position_lat_lon(0), _current_position_lat_lon(1));
|
||||
}
|
||||
|
||||
if (dist_to_1wp < _param_mis_dist_1wp) {
|
||||
if (dist_to_1wp_from_current_pos < _param_mis_dist_1wp) {
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
/* item is too far from home */
|
||||
/* item is too far from current position */
|
||||
mavlink_log_critical(_mavlink_log_pub,
|
||||
"First waypoint too far away: %dm, %d max\t",
|
||||
(int)dist_to_1wp, (int)_param_mis_dist_1wp);
|
||||
(int)dist_to_1wp_from_current_pos, (int)_param_mis_dist_1wp);
|
||||
events::send<uint32_t, uint32_t>(events::ID("navigator_mis_first_wp_too_far"), {events::Log::Error, events::LogInternal::Info},
|
||||
"First waypoint too far away: {1m} (maximum: {2m})", (uint32_t)dist_to_1wp, (uint32_t)_param_mis_dist_1wp);
|
||||
"First waypoint too far away: {1m} (maximum: {2m})", (uint32_t)dist_to_1wp_from_current_pos,
|
||||
(uint32_t)_param_mis_dist_1wp);
|
||||
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/* no waypoints found in mission, then we will not fly far away */
|
||||
return true;
|
||||
}
|
||||
|
||||
bool FeasibilityChecker::checkDistancesBetweenWaypoints(const mission_item_s &mission_item)
|
||||
{
|
||||
if (_param_mis_dist_wps <= 0.0f) {
|
||||
/* param not set, check is ok */
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
/* check only items with valid lat/lon */
|
||||
if (!MissionBlock::item_contains_position(mission_item)) {
|
||||
return true;
|
||||
@@ -658,24 +653,8 @@ bool FeasibilityChecker::checkDistancesBetweenWaypoints(const mission_item_s &mi
|
||||
_last_lat, _last_lon);
|
||||
|
||||
|
||||
if (dist_between_waypoints > _param_mis_dist_wps) {
|
||||
/* distance between waypoints is too high */
|
||||
mavlink_log_critical(_mavlink_log_pub,
|
||||
"Distance between waypoints too far: %d meters, %d max.\t",
|
||||
(int)dist_between_waypoints, (int)_param_mis_dist_wps);
|
||||
events::send<uint32_t, uint32_t>(events::ID("navigator_mis_wp_dist_too_far"), {events::Log::Error, events::LogInternal::Info},
|
||||
"Distance between waypoints too far: {1m}, (maximum: {2m})", (uint32_t)dist_between_waypoints,
|
||||
(uint32_t)_param_mis_dist_wps);
|
||||
|
||||
|
||||
return false;
|
||||
|
||||
/* do not allow waypoints that are literally on top of each other */
|
||||
|
||||
/* and do not allow condition gates that are at the same position as a navigation waypoint */
|
||||
|
||||
} else if (dist_between_waypoints < 0.05f &&
|
||||
(mission_item.nav_cmd == NAV_CMD_CONDITION_GATE || _last_cmd == NAV_CMD_CONDITION_GATE)) {
|
||||
if (dist_between_waypoints < 0.05f &&
|
||||
(mission_item.nav_cmd == NAV_CMD_CONDITION_GATE || _last_cmd == NAV_CMD_CONDITION_GATE)) {
|
||||
|
||||
/* Waypoints and gate are at the exact same position, which indicates an
|
||||
* invalid mission and makes calculating the direction from one waypoint
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -37,6 +37,7 @@
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <uORB/topics/home_position.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_land_detected.h>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
@@ -96,17 +97,18 @@ private:
|
||||
uORB::Subscription _home_pos_sub{ORB_ID(home_position)};
|
||||
uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
|
||||
uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)};
|
||||
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
|
||||
|
||||
// parameters
|
||||
float _param_fw_lnd_ang{0.f};
|
||||
float _param_mis_dist_1wp{0.f};
|
||||
float _param_mis_dist_wps{0.f};
|
||||
float _param_nav_acc_rad{0.f};
|
||||
int32_t _param_mis_takeoff_land_req{0};
|
||||
|
||||
bool _is_landed{false};
|
||||
float _home_alt_msl{NAN};
|
||||
matrix::Vector2d _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN);
|
||||
matrix::Vector2d _current_position_lat_lon = matrix::Vector2d((double)NAN, (double)NAN);
|
||||
VehicleType _vehicle_type{VehicleType::RotaryWing};
|
||||
|
||||
// internal flags to keep track of which checks failed
|
||||
@@ -130,7 +132,7 @@ private:
|
||||
int _landing_approach_index{-1};
|
||||
mission_item_s _mission_item_previous = {};
|
||||
|
||||
// internal checkDistanceToFirstWaypoint variables
|
||||
// internal checkHorizontalDistanceToFirstWaypoint variables
|
||||
bool _first_waypoint_found{false};
|
||||
|
||||
// internal checkDistancesBetweenWaypoints variables
|
||||
@@ -172,12 +174,12 @@ private:
|
||||
bool checkLandPatternValidity(mission_item_s &mission_item, const int current_index, const int last_index);
|
||||
|
||||
/**
|
||||
* @brief Check distance to first waypoint.
|
||||
* @brief Check distance to first waypoint from current vehicle position (if available).
|
||||
*
|
||||
* @param mission_item The current mission item
|
||||
* @return False if the check failed.
|
||||
*/
|
||||
bool checkDistanceToFirstWaypoint(mission_item_s &mission_item);
|
||||
bool checkHorizontalDistanceToFirstWaypoint(mission_item_s &mission_item);
|
||||
|
||||
/**
|
||||
* @brief Check distances between waypoints
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2022 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2022-2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -33,8 +33,6 @@
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
#include "FeasibilityChecker.hpp"
|
||||
#include <uORB/topics/home_position.h>
|
||||
#include <uORB/topics/vehicle_land_detected.h>
|
||||
#include <lib/geo/geo.h>
|
||||
|
||||
|
||||
@@ -67,6 +65,15 @@ public:
|
||||
orb_publish(ORB_ID(home_position), home_pub, &home);
|
||||
}
|
||||
|
||||
void publishCurrentPosition(double lat, double lon)
|
||||
{
|
||||
vehicle_global_position_s gpos = {};
|
||||
gpos.lat = lat;
|
||||
gpos.lon = lon;
|
||||
orb_advert_t gpos_pub = orb_advertise(ORB_ID(vehicle_global_position), &gpos);
|
||||
orb_publish(ORB_ID(vehicle_global_position), gpos_pub, &gpos);
|
||||
}
|
||||
|
||||
void publishLanded(bool landed)
|
||||
{
|
||||
vehicle_land_detected_s land_detected = {};
|
||||
@@ -123,73 +130,47 @@ TEST_F(FeasibilityCheckerTest, mission_item_validity)
|
||||
ASSERT_EQ(ret, false);
|
||||
}
|
||||
|
||||
TEST_F(FeasibilityCheckerTest, max_dist_between_waypoints)
|
||||
{
|
||||
TestFeasibilityChecker checker;
|
||||
checker.publishLanded(true);
|
||||
|
||||
param_t param = param_handle(px4::params::MIS_DIST_WPS);
|
||||
|
||||
float max_dist = 1000.0f;
|
||||
param_set(param, &max_dist);
|
||||
checker.paramsChanged();
|
||||
|
||||
mission_item_s mission_item = {};
|
||||
mission_item.nav_cmd = NAV_CMD_WAYPOINT;
|
||||
|
||||
checker.processNextItem(mission_item, 0, 3);
|
||||
|
||||
// waypoints are within limits, check should pass
|
||||
double lat_new, lon_new;
|
||||
waypoint_from_heading_and_distance(mission_item.lat, mission_item.lon, 0, 999, &lat_new, &lon_new);
|
||||
mission_item.lat = lat_new;
|
||||
mission_item.lon = lon_new;
|
||||
checker.processNextItem(mission_item, 1, 3);
|
||||
|
||||
ASSERT_EQ(checker.someCheckFailed(), false);
|
||||
|
||||
// waypoints are above limits, check should fail
|
||||
waypoint_from_heading_and_distance(mission_item.lat, mission_item.lon, 0, 1001, &lat_new, &lon_new);
|
||||
|
||||
mission_item.lat = lat_new;
|
||||
mission_item.lon = lon_new;
|
||||
checker.processNextItem(mission_item, 2, 3);
|
||||
|
||||
ASSERT_EQ(checker.someCheckFailed(), true);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(FeasibilityCheckerTest, check_dist_first_waypoint)
|
||||
{
|
||||
// GIVEN: MIS_DIST_1WP set to 500m
|
||||
TestFeasibilityChecker checker;
|
||||
checker.publishLanded(true);
|
||||
checker.publishHomePosition(0, 0, 0);
|
||||
|
||||
param_t param = param_handle(px4::params::MIS_DIST_1WP);
|
||||
|
||||
float max_dist = 500.0f;
|
||||
param_set(param, &max_dist);
|
||||
checker.paramsChanged();
|
||||
|
||||
|
||||
mission_item_s mission_item = {};
|
||||
mission_item.nav_cmd = NAV_CMD_WAYPOINT;
|
||||
double lat_new, lon_new;
|
||||
waypoint_from_heading_and_distance(mission_item.lat, mission_item.lon, 0, 501, &lat_new, &lon_new);
|
||||
mission_item.lat = lat_new;
|
||||
mission_item.lon = lon_new;
|
||||
|
||||
// GIVEN: no valid Current position
|
||||
|
||||
// THEN: always pass
|
||||
checker.processNextItem(mission_item, 0, 1);
|
||||
ASSERT_EQ(checker.someCheckFailed(), false);
|
||||
|
||||
ASSERT_EQ(checker.someCheckFailed(), true);
|
||||
|
||||
// BUT WHEN: valid current position, first WP 501m away from current pos
|
||||
checker.reset();
|
||||
checker.publishLanded(true);
|
||||
checker.publishHomePosition(0, 0, 0);
|
||||
checker.publishCurrentPosition(0, 0);
|
||||
waypoint_from_heading_and_distance(0, 0, 0, 501, &lat_new, &lon_new);
|
||||
mission_item.lat = lat_new;
|
||||
mission_item.lon = lon_new;
|
||||
|
||||
// THEN: fail
|
||||
checker.processNextItem(mission_item, 0, 1);
|
||||
ASSERT_EQ(checker.someCheckFailed(), true);
|
||||
|
||||
// BUT WHEN: valid current position fist WP 499m away from current
|
||||
checker.reset();
|
||||
checker.publishLanded(true);
|
||||
checker.publishCurrentPosition(0, 0);
|
||||
waypoint_from_heading_and_distance(0, 0, 0, 499, &lat_new, &lon_new);
|
||||
mission_item.lat = lat_new;
|
||||
mission_item.lon = lon_new;
|
||||
checker.processNextItem(mission_item, 0, 1);
|
||||
|
||||
// THEN: pass
|
||||
checker.processNextItem(mission_item, 0, 1);
|
||||
ASSERT_EQ(checker.someCheckFailed(), false);
|
||||
}
|
||||
|
||||
|
||||
@@ -877,7 +877,7 @@ Mission::set_mission_items()
|
||||
|
||||
/* check if the vtol_takeoff waypoint is on top of us */
|
||||
if (do_need_move_to_takeoff()) {
|
||||
new_work_item_type = WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF;
|
||||
new_work_item_type = WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF;
|
||||
}
|
||||
|
||||
set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
|
||||
@@ -889,7 +889,7 @@ Mission::set_mission_items()
|
||||
|
||||
/* takeoff completed and transitioned, move to takeoff wp as fixed wing */
|
||||
if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
|
||||
&& _work_item_type == WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF
|
||||
&& _work_item_type == WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF
|
||||
&& new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {
|
||||
|
||||
new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
|
||||
@@ -900,7 +900,7 @@ Mission::set_mission_items()
|
||||
|
||||
/* move to land wp as fixed wing */
|
||||
if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|
||||
&& (_work_item_type == WORK_ITEM_TYPE_DEFAULT || _work_item_type == WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF)
|
||||
&& (_work_item_type == WORK_ITEM_TYPE_DEFAULT || _work_item_type == WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF)
|
||||
&& new_work_item_type == WORK_ITEM_TYPE_DEFAULT
|
||||
&& !_navigator->get_land_detected()->landed) {
|
||||
|
||||
|
||||
@@ -242,7 +242,6 @@ private:
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::MIS_DIST_1WP>) _param_mis_dist_1wp,
|
||||
(ParamFloat<px4::params::MIS_DIST_WPS>) _param_mis_dist_wps,
|
||||
(ParamInt<px4::params::MIS_MNT_YAW_CTL>) _param_mis_mnt_yaw_ctl
|
||||
)
|
||||
|
||||
@@ -287,7 +286,7 @@ private:
|
||||
WORK_ITEM_TYPE_TAKEOFF, /**< takeoff before moving to waypoint */
|
||||
WORK_ITEM_TYPE_MOVE_TO_LAND, /**< move to land waypoint before descent */
|
||||
WORK_ITEM_TYPE_ALIGN, /**< align for next waypoint */
|
||||
WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF,
|
||||
WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF,
|
||||
WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION,
|
||||
WORK_ITEM_TYPE_PRECISION_LAND
|
||||
} _work_item_type{WORK_ITEM_TYPE_DEFAULT}; /**< current type of work to do (sub mission item) */
|
||||
|
||||
@@ -73,14 +73,14 @@ PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f);
|
||||
PARAM_DEFINE_INT32(MIS_TKO_LAND_REQ, 0);
|
||||
|
||||
/**
|
||||
* Maximal horizontal distance from home to first waypoint
|
||||
* Maximal horizontal distance from current position to first waypoint
|
||||
*
|
||||
* Failsafe check to prevent running mission stored from previous flight at a new takeoff location.
|
||||
* Set a value of zero or less to disable. The mission will not be started if the current
|
||||
* waypoint is more distant than MIS_DIST_1WP from the home position.
|
||||
* waypoint is more distant than MIS_DIST_1WP from the current position.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @min -1
|
||||
* @max 10000
|
||||
* @decimal 1
|
||||
* @increment 100
|
||||
@@ -88,22 +88,6 @@ PARAM_DEFINE_INT32(MIS_TKO_LAND_REQ, 0);
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 900);
|
||||
|
||||
/**
|
||||
* Maximal horizontal distance between waypoint
|
||||
*
|
||||
* Failsafe check to prevent running missions which are way too big.
|
||||
* Set a value of zero or less to disable. The mission will not be started if any distance between
|
||||
* two subsequent waypoints is greater than MIS_DIST_WPS.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @max 10000
|
||||
* @decimal 1
|
||||
* @increment 100
|
||||
* @group Mission
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MIS_DIST_WPS, 900);
|
||||
|
||||
/**
|
||||
* Enable yaw control of the mount. (Only affects multicopters and ROI mission items)
|
||||
*
|
||||
|
||||
@@ -91,7 +91,7 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f);
|
||||
PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 4.0f);
|
||||
|
||||
/**
|
||||
* Target throttle value for the transition to fixed wing flight.
|
||||
* Target throttle value for the transition to fixed-wing flight.
|
||||
*
|
||||
* standard vtol: pusher
|
||||
*
|
||||
@@ -194,10 +194,11 @@ PARAM_DEFINE_FLOAT(VT_TRANS_TIMEOUT, 15.0f);
|
||||
PARAM_DEFINE_FLOAT(VT_TRANS_MIN_TM, 2.0f);
|
||||
|
||||
/**
|
||||
* QuadChute Altitude
|
||||
* Quad-chute altitude
|
||||
*
|
||||
* Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude
|
||||
* the vehicle will transition back to MC mode and enter failsafe RTL
|
||||
* Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode
|
||||
* and the altitude drops below this altitude (relative altitude above local origin),
|
||||
* it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0.0
|
||||
@@ -243,7 +244,7 @@ PARAM_DEFINE_FLOAT(VT_QC_HR_ERROR_I, 0.0f);
|
||||
* @decimal 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_QC_T_ALT_LOSS, 10.0f);
|
||||
PARAM_DEFINE_FLOAT(VT_QC_T_ALT_LOSS, 20.0f);
|
||||
|
||||
/**
|
||||
* Quad-chute max pitch threshold
|
||||
@@ -276,8 +277,8 @@ PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
|
||||
/**
|
||||
* Quad-chute maximum height
|
||||
*
|
||||
* Maximum height above the ground (if available, otherwhise above
|
||||
* home if available, otherwise above the local origin) where triggering a quadchute is possible.
|
||||
* Maximum height above the ground (if available, otherwise above
|
||||
* Home if available, otherwise above the local origin) where triggering a quad-chute is possible.
|
||||
* At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.
|
||||
*
|
||||
* @unit m
|
||||
@@ -288,7 +289,7 @@ PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
|
||||
PARAM_DEFINE_INT32(VT_FW_QC_HMAX, 0);
|
||||
|
||||
/**
|
||||
* Airspeed less front transition time (open loop)
|
||||
* Airspeed-less front transition time (open loop)
|
||||
*
|
||||
* The duration of the front transition when there is no airspeed feedback available.
|
||||
*
|
||||
|
||||
@@ -401,17 +401,6 @@ class Tester:
|
||||
self.active_runners = []
|
||||
|
||||
if self.config['mode'] == 'sitl':
|
||||
px4_runner = ph.Px4Runner(
|
||||
os.getcwd(),
|
||||
log_dir,
|
||||
test['model'],
|
||||
case,
|
||||
self.get_max_speed_factor(test),
|
||||
self.debugger,
|
||||
self.verbose,
|
||||
self.build_dir)
|
||||
self.active_runners.append(px4_runner)
|
||||
|
||||
if self.config['simulator'] == 'gazebo':
|
||||
gzserver_runner = ph.GzserverRunner(
|
||||
os.getcwd(),
|
||||
@@ -441,6 +430,22 @@ class Tester:
|
||||
self.verbose)
|
||||
self.active_runners.append(gzclient_runner)
|
||||
|
||||
# We must start the PX4 instance at the end, as starting
|
||||
# it in the beginning, then connecting Gazebo server freaks
|
||||
# out the PX4 (it needs to have data coming in when started),
|
||||
# and can lead to EKF to freak out, or the instance itself
|
||||
# to die unexpectedly.
|
||||
px4_runner = ph.Px4Runner(
|
||||
os.getcwd(),
|
||||
log_dir,
|
||||
test['model'],
|
||||
case,
|
||||
self.get_max_speed_factor(test),
|
||||
self.debugger,
|
||||
self.verbose,
|
||||
self.build_dir)
|
||||
self.active_runners.append(px4_runner)
|
||||
|
||||
mavsdk_tests_runner = ph.TestRunner(
|
||||
os.getcwd(),
|
||||
log_dir,
|
||||
|
||||
Reference in New Issue
Block a user