- this is required to support use cases where N numbers of batteries are connected
in parallel and detected by the system and N is not known beforehand
Signed-off-by: RomanBapst <bapstroman@gmail.com>
The length check for unknown packets did not include PACKET_SIZE_TYPE_SIZE
and CRC_SIZE, and hence working_index could overflow CRSF_MAX_PACKET_LEN,
triggering invalid memory access further down in QueueBuffer_PeekBuffer.
Also the working_segment_size was wrong for unknown packets.
Credits for finding this go to @Pwn9uin.
This allows to inject an updated ext_autostart folder with the name
ext_autostart_new, and then PX4 takes care of renaming it to
ext_autostart during bootup.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The sparse vector template requires to know which states are non-zero in
the observation jacobian. This complicates the modularity of the code
when the state vector or the derivation is changed.
The computation cost difference is almost negligible for this size.
For FW takeoffs we need to keep the course straight towards the first
waypoint, and not climb in loiter patterns first.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Current threshhold has no margins of errors with the set acceptance radius. Increase corridor radius by 5m.
Increase time to disarm for tailsitter test to pass.
Rverse mission needs check tracks test disabled since mavsdk does not really work with mission has reverse order.
mavsdk-test: added a vtol mission without a landing at the end (used for reversed RTL)
math_helpers: added function to compute local position from a raw mission item
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Dataman: Add write function to dataman cache.
RTL and mission have a new common base class mission_base. Both inherit from them and mission, RTL mission, and rtl reverse mission inherit from them and implement their desired functionalities. This simplifies the logic in mission as well as make the logic in rtl mission reverse and mission more readable.
Rtl mission reverse now functional again for VTOL flying back the mission and transitioning to MC at the home position.
Dataman cache has new write functionality to write to dataman while updating write item in its cache if necessary.
Dataman cache is now only updated when the respective module is active. Leads to a higher computation time once on activation, but decreases unnecessary cache updates when inactive.
This is required to support fixed pitch propeller helicopters that have
no collective but only cyclic pitch with two degrees of freedom and
hence only two servos.
The amount of thrust in the body z axis is then controlled using the
motor speed which makes particularly sense on coaxial helicopters
that need to control yaw with changing motor speeds already.
- Preserve tilt variance while doing a yaw reset
- Yaw variance is now correctly set instead of increased
---------
Co-authored-by: Dominique <dominique.leblanc@donecle.com>
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Events have a global, system-wide sequence number, which must be handled
atomically, (fetching and incrementing the sequence AND sending the event
to uORB must be atomic). Currently in FLAT mode, only one instance of this
sequence number exists, so it is OK to have it in px4_platform.
However, in PROTECTED mode px4_platform is instantiated both in kernel-
and user spaces, which makes two instances of this sequence number, which
causes problems in the mavlink event handling logic.
When mavlink receives and handles events, it expects that:
- The sequence numbers arrive in order (seq n is followed by n+1 etc)
- It increments by 1
- There is only one instance of the sequence number
In PROTECTED mode this is violated, as the kernel and user sequence
numbers run freely on their own. This patch fixes the issue by moving
the event backend to the kernel and by providing user access to it via
ioctl.
Even if there is some horizontal motion, a passing check should be
accepted as the terrain can be flat. However, the vehicle must not be
moving horizontally to invalidate the consistency as a change in terrain
can make the kinematic check temporarily fail.
A setpoint of type IDLE can be published by Navigator without a valid position,
and should be handled in the auto function in FW_POSCTRL_MODE_AUTO. If it wouldn't be
handled there the controller would switch to mode FW_POSCTRL_MODE_OTHER, in which case
no attitude setpoint is published and the lower controllers would be stuck with the
last published value (incl. thrust).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
but this time compared to
2fbb70d9ca94f442de1345221be18ba738cda952
the minimum thrust is ramping to not produce a thrust jump.
The better long term solution will be to always have airmode but
with the effect limited to a magnitude of MPC_MANTHR_MIN.
high rates and (super) expo are necessary for
- acrobatic flying
- fpv
- racing
but they are not useful for:
- a typical vehicle's rate control tuning
- beginners
The defaults that I set in #8036 were put with the assumption Acro mode
is mainly used on racing drones for acrobatic manouvers but instead
users including me use it most of the time to tune any drone.
When tuning the rates are lowered and expo disabled.
My suggested strategy is to make the beginner friendly rates without
expo which are good for tuning the default and document more clearly
how this can be raised for acrobatic flying in documentation and later
on hopefully also directly in the ground station UI
on an Acro mode specific page.
* FW Positon Controller: set altitude_ref to 0 if not provided by GPS
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Positon Controller: set lat/lon reference to 0 if not provided in local_position
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
If no altitude setpoint is specified then takeoff to the default
altitude above the current global position, not above Home.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
c23b72dffe [BACKPORT] sched/semaphore: Remove restriction to use nxsem_trywait from ISR
fd47cd20a2 [BACKPORT] imxrt:Serial Preserve all but W1C bit in SR
c55f0fd3ac [BACKPORT] imxrt: lpspi dma invalidate cache after exchange
198c7caecb [BACKPORT] imxrt:lpi2c fix status handeling & race
cbd2e44c10 [BACKPORT] s32k3xx: lpspi dma invalidate cache after exchange
e71618d60e [BACKPORT] s32k3xx:lpi2c fix status handeling & race
6f59cc3659 [BACKPORT] s32k1xx:lpi2c fix status handeling & race
1e316d7e32 [BACKPORT] imxrt: flexcan use hpwork for receiving frames
67c1c59865 [BACKPORT] net/can can_readahead_timestamp always free iob
8be831a4ff [BACKPORT] imxrt: fix txdeadline add ecc/fd support
00a68b7668 [BACKPORT] fs/cromfs: Fix faulty DEBUGASSERT() check
d5cf545d6e [BACKPORT] S32K3XX EMAC MCAST support Fix compile warning when ioctl is not enabled
4265c830fa [BACKPORT] imxrt:edma {s|d}last needs to be total xfer size
24b4d44896 [BACKPORT] s32k3xx:edma {s|d}last needs to be total xfer size
eed0482f64 [BACKPORT] s32k1xx:edma {s|d}last needs to be total xfer size
36aab4146a [BACKPORT] kinetis:edma {s|d}last needs to be total xfer size
a0faf31f6f [BACKPORT] arch/stm32f7: fixes for pinmap
eb8255121d [BACKPORT] stm32h7:sdmmc It is not an error if no wait was needed
062044fe41 [BACKPORT] board nucleo-h743zi:Rework board.h not use CONFIG_STM32_USE_LEGACY_PINMAP
e03f9d3917 [BACKPORT] board olimexino-stm32:Rework board.h not use CONFIG_STM32_USE_LEGACY_PINMAP
4c3a467415 [BACKPORT] stm32l5:pinmap Add suffix to all pins and add legacy pinmap
153069ed40 [BACKPORT] stm32wb:pinmap Add suffix to all pins and add legacy pinmap
d84d737f89 [BACKPORT] stm32f0l0g0:stm32f0{3|5|7|9}x_pinmap & stm32g0_pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
5fc7071ac1 [BACKPORT] stm32l4:stm32l4x{3|4|5|6|r}xx_pinmap pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
20061c2aab [BACKPORT] stm32:stm32f10{0|2|3{c|r|v|z}|5{r|v}|7v}_pinmap refactor
4d1f83d484 [BACKPORT] stm32:stm32l15xxx pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
2dfa3f2601 [BACKPORT] stm32:stm32g4xx{c|k|r|m|v|q} pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
d206327809 [BACKPORT] stm32:stm32f3{0|3|7}xxx pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
95e66ab508 [BACKPORT] stm32:stm32f20xxx pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
d2fd9178ad [BACKPORT] stm32:f4/f412 pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
a9df45166d [BACKPORT] stm32f7:pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
07dd2b424e [BACKPORT] stm32h7:pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
1e3065344f [BACKPORT] stm32u5:stm32u585xx_pinmap Fix typo
0a05365a90 [BACKPORT] stm32wl5:pinmap Fix typo
e3834138dc [BACKPORT] tools:Add STM32 Pin migration tool
df851a8768 [BACKPORT] stm32h7/rcc: make VOS0 configurable from board.h also for stm32h7x7xx
d75dfcf1e9 [BACKPORT] stm32h7/rcc: make VOS0 configurable from board.h
963f35f4fc [BACKPORT] {stm32,stm32f7,stm32h7,stm32l4,efm32}/otg: rasie an assertion if IN request is not possible to transfer
de2fcc6668 [BACKPORT] {stm32f7,stm32h7,stm32l4}/sdmmc: callback support requires HPWORK
6929144fc2 [BACKPORT] stm32h7/otgdev: FS transceiver must be enabled if OTGFS enabled
a2078afaea [BACKPORT] stm32h7/otg: add support for external ULPI
26e1246c86 [BACKPORT] stm32h7/rcc: OTGHS ULPI works only in VOS0
cd6daa185e [BACKPORT] stm32h7: update ULPI pins
c73c261ae3 [BACKPORT] arch/boards: fix stm32f411-mininum:nsh compilation failure after enabling IRQMONITOR
8078f134ef [BACKPORT] arch/stm32/stm32.h: do not include stm32_usbdev.h if not supported
60e884fa92 [BACKPORT] {stm32,stm32l4,stm32f0l0g0}/otg: move STM32_NENDPOINTS definitions to header files
dda297cb78 [BACKPORT] arch/arm/src/stm32/hardware: Fix register define
362b976b0e [BACKPORT] arch/arm/src/stm32/hardware: Add stm32g4 rcc apb1 timer enable compatibility
434fd71f2c [BACKPORT] {stm32/stm32l4/stm32f7/stm32h7/efm32}/otgdev: remove invalid use of the priv field for EP
2476d24e8c [BACKPORT] {stm32f7,stm32h7}/otg: fix compilation for USBDEV when USB_DEBUG=y
eb43c582ea [BACKPORT] drivers/mtd/ramtron: change nsectors size to uint32
20f61ff0d5 [BACKPORT] fs/littlefs: add full support for LittleFS block device cfg in Kconfig
60471fbf8c [BACKPORT] drivers/mtd: add Kconfig options for RAMTRON emulated page & sector size
- for FW the primary range finder usage is estimating the distance to
the ground (terrain estimate) to guide the landing approach and initiate flare
- increase EKF2_RNG_QLTY_T default 1->3 seconds
- force initialize takeoff airspeed setpoint at start of takeoff modes
- force set airspeed constraints if slewed value is out of bounds
- always slew airspeed setpoints as long as inside constraints
- move target airspeed setpoint calculation into mode specific logic regions (hand vs runway)
when we're in a takeoff situation, we only want to adapt the airspeed to
avoid accelerated stall due to load factor changes. Disable othre logic
like minimum ground speed, wind based adaption and airspeed slew rating.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
From looking at the history the BMM150 rotation was initially 0. Then,
this was changed to 6 when the intent was to only change it for Skynode.
A bit later, the rotation was changed back to 0, but only for Skynode.
This tells me that rotation 0 was correct for all 6X including Skynode
all along.
Signed-off-by: Julian Oes <julian@oes.ch>
- ekf2 heading first initializes to 0 degrees, then immediately resets to mag heading once a few samples are accumulated
- the yaw standard deviation check could be adjusted to exclude this brief (<1s) initial period
- on NuttX if the SD card was just cleared (quick format) it's possible for the newly created uninitialized dataman file to still have the previous compatibility key, which causes the initialization to be skipped
* added a new driver ASP5033 for measuring the differential pressure and airspeed
---------
Co-authored-by: nano <nanobotzhe@abv.bg>
Co-authored-by: Denislav Petrov <you@example.com>
When the yaw estimate is converging, the controller makes the drone yaw
in order to follow the current setpoint. This is unintuitive for the
pilot and it is preferable if the drone continues to fly towards the
same physical direction.
This estimate doesn't converge to the true yaw but can be used as a
more consistent but drifting heading source.
It can be used by a setpoint generator to adjust its heading setpoint
while the true yaw estimate is converging in order to keep a constant
course over ground.
This updates the gps/devices submodule which includes a fix that
requests the Unicore HEADINGA message in case the message is not enabled
by default.
Signed-off-by: Julian Oes <julian@oes.ch>
If the measured voltage is more than 65v we need to split the voltage
over multiple cells in order to avoid overflowing the uint16. This is
according to the MAVLink spec.
Signed-off-by: Julian Oes <julian@oes.ch>
The extension fields need to be 0 by default according to the MAVLink
spec. This is because extensions are 0 by default and need to be 0 when
unknown/unused for backwards compatibility.
The patch also simplifies the flow slightly in that it doesn't create a
temporary array but just fills in the cell voltages directly.
Signed-off-by: Julian Oes <julian@oes.ch>
Fixes the clang error:
/__w/PX4-Autopilot/PX4-Autopilot/src/drivers/drv_hrt.h:297:35: fatal error: identifier '_s' preceded by whitespace in a literal operator declaration is deprecated [-Wdeprecated-literal-operator]
297 | constexpr hrt_abstime operator "" _s(unsigned long long seconds)
- Enable arbitrary euler angle for Mag rotation
- new CUSTOM rotation enum out of the normal enum range
- mag_rot: automatically change to custom if euler rot is set
- sensor_calibration: Magnetometer save custom rotation parameters
- mag_cal: cross mention rotation parameters
- This allows the user to see the RPY options when searching for the rotation parameter
---------
Co-authored-by: Junwoo Hwang <junwoo@auterion.com>
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle
the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing
the motor output to max.
Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
a thrust spike when the transition is initiated (as then the tilt is fully forward).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME
- remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module
- now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME
- leave tilts at disarmed value during spoolup
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- when GNSS is used require low mag heading innovations during
horizontal acceleration (yaw observable) to validate the mag
- only fuse mag heading just enough to constrain the yaw estimate
variance to a sane value. Leave enough uncertainty to allow for a
correction when the yaw is observable through GNSS fusion
In the mavlink_receiver code, after a while it will try to resend some
parameter update through the MAVLink instance. But for Iridium links
those are not a good idea. So this adds a condition that prevent the
sending if the MAVLink instance is in Iridium mode.
Related to issue #21496
sem_wait() can be interrupted if the task receives a signal, however
the blockinglist implementation depends on blocking until the semaphore
can be obtained.
Fix a memory overflow in case SENS_BOARD_ROT is set to Rotation::ROTATION_MAX (41) which is not a valid value
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
* Navigator: DO_CHANGE_SPEED: only store sinlge cruising_speed_current_mode
This stored cruising speed setpoint is reset on mode change and
after a VTOL transition.
* Navigator Mission: replay DO_CHANGE_SPEED items when resuming mission
* Navigator: remove cruising_speed_sp_update()
Speed changes in a mission are handled directly in the position controllers,
and no longer in Navigator.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Increased size for ORB_ID from uint8_t to uint16_t
Created a type: orb_id_size_t = uint16_t.
There are still a couple of places where the size
of the ORB_ID is assumed to be less than 16-bits.
The places that I have found are commented regarding
this and can be found with a search on orb_id_size_t.
- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d)
- new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion
- if WMM available use for mag_I and mag_B init
- mag states reset if external yaw reset (yaw estimator, GPS yaw, etc)
- mag reset if declination changed (eliminate _mag_yaw_reset_req)
- mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north)
Co-authored-by: bresch <brescianimathieu@gmail.com>
- simplify vehicle_status.arming_state down to just armed and disarmed
- ARMING_STATE_INIT doesn't matter
- ARMING_STATE_STANDBY is effectively pre_flight_checks_pass
- ARMING_STATE_STANDBY_ERROR not needed
- ARMING_STATE_SHUTDOWN effectively not used (all the poweroff/shutdown calls loop forever in place)
- ARMING_STATE_IN_AIR_RESTORE doesn't exist anymore
- collapse ArmStateMachine into commander
- all requests already go through Commander::arm() and Commander::dismarm()
- other minor changes
- VEHICLE_CMD_DO_FLIGHTTERMINATION undocumented (unused?) test command (param1 > 1.5f) removed
- switching to NAVIGATION_STATE_TERMINATION triggers parachute command centrally (only if armed)
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* ekf2-test: remove outdated codegen comparison
The definition of states changed so the comparison with the old
derivation cannot work anymore.
---------
Co-authored-by: bresch <brescianimathieu@gmail.com>
Some system are able to dead-reckon for a while after losing GPS or
other sources providing positional feedback. If the estimated position
error grows above the failsafe threshold, the system enters a failsafe
mode. As the position error estimate is growing linerly over time, and
it is recommended to take action before entering the failsafe, we here
warn the user about the imminent failsafe and propose to take manual
control.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* [not-working] add a gz-omnicopter model
* Fix axis directions on omnicopter model
The omnicopter joint axis directions had to be adapted for sdf 1.9 as it has different conventions for joint axis definitions.
* include model from gz-fuel & remove mesh files
* Fix omnicopter model using fuel
---------
Co-authored-by: Jaeyoung Lim <jalim@ethz.ch>
If at the last powercycle one mission was uploaded, the counter in dataman was 1. On the next powercycle the mavlink mission counter was reset to zero and on first mission upload updated to 1 again. Other modules check, if the mission was changed based on the counter, like the mission.cpp loaded the mission counter from the dataman. On a new mission, the comparison of the counters failed, because both were the same value even if the mission was completely different.
This can be useful if using a full EV + GNSS setup and you start indoors, then fly outside. Once GPS is good and the only missing requirement is yaw alignment the yaw estimator reset is performed and EV yaw will automatically stop itself.
There is no reason to contrsain the position uncertainty, estpecially
when flying with velocitiy aiding only.
Note that all the variances are already contrained to sane values at the
end of the covariance prediction
- set vision attitude error filter uninitialized if vision data stops
- ev error filter is only compiled when ev config is selected
Co-authored-by: bresch <brescianimathieu@gmail.com>
A version update is needed since the dataman is showing errors if data doesn't exist or if it is wrongly stored. This will force default data to be initialized.
There is some actual changes because the earth mag field states are now
reset using the WMM when available. In the replay log, the measured mag
field does not match the WMM and this is why there is a large diff. It
is however more correct now than before.
because sprintf is deprecated on MacOS
and CI fails with warning -> error:
'sprintf' is deprecated: This function is
provided for compatibility reasons only.
Due to security concerns inherent in the
design of sprintf(3), it is highly
recommended that you use snprintf(3) instead.
I updated all versions to the newest one that's used anywhere.
Then at least the straing can be found with full text search.
It's another step towards understanding and unifying the CI environment.
- sitl_gazebo-classic in PX4/Firmware (a3f398943ebe28ba0074a8a67f300e49c261d708): 0d53638452
- sitl_gazebo-classic current upstream: c8ac7ff39b
- Changes: 0d53638452...c8ac7ff39b
c8ac7ff 2023-07-18 Martina Rivizzigno - Add gimbal device id to mavlink messages DeviceAttitudeStatus and DeviceInformation (#994)
Since we changed the threshold for allowing arming from TRIM/2 to AIRSPEED_MAX
is is very unlikely that one needs to disable this check.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Experience from tuning different VTOL backtransitions showed only having a
I controller is beneficial over a combined FF/I breaking controller.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Case: A vehicle is already operating but has no stick input or another
source than RC. When RC stick input is switched to either because it gets
first time available or as a fallback to joystick then the mode was
immediately changed to the switch position. This can lead to loss of
control e.g. when the vehicle is flying far away and the
mode switch of the RC is in some fully manual piloted mode.
I added tests to cover the cases where RC mode initialization is expected
and also unexpceted because the vehicle is already armed.
modules__ instead of module__ prefix
The module depends on the hysteresis library and probably because
it compiles with the still prevalent global includes the dependency
is not declared.
also for the other linux target builds. It's a follow up to
e5503480e3a025728f760d0dcd05dd2a450b33a9
I wasn't aware that there are multiple different
container versions used for almost the same build.
in air bias estimation is usually really accurate and should be weighted
more heavily compared to the calibration parameters that are often
more approximate given the worse magnetic environment near the ground.
- since last_us is set to 0 every time the bias is not observable, the
total time was also reset -> needed 30 consecutive seconds in mag 3D
to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
bias validity makes it invalid before we have a chance to save it to
the calibration.
Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
Channel values stay over one unit test but some tests assumed they are
reset each time. Reset the channel after these mode button tests.
Parameters survive between unit tests presumably as long as
the bianry runs. Reset them if a test requires that.
This allows PWM and all other output methods to configure
stopped, idling and full thrust points and use them consistently.
The fact that a fixed wing motor can be stopped when zero thrust
is demanded is explicit and could in principle even be disabled.
The mechanism is the same as for a standard VTOL stopping the
multicopter motors in the fixed wing flight phase.
This allows to consistently define:
Motor stopped - disarmed PWM
Motor idling - minimum PWM
Motor at full thrust - maximum PWM
Any allocation can then distinctly decide if
a motor should be running or not depending
on the context and also explicitly command that.
This is required to process data from the ADS1115 ADC and enables the
params BATx_I_CHANNEL and BATx_V_CHANNEL.
Testing is required whether this actually works on Pixhawk 6X though.
Signed-off-by: Julian Oes <julian@oes.ch>
When switching into Hold mode establish a Loiter around current position,
even if we were before already loitering (eg in Mission mode).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Having newline between I think didn't apply the PR stale days setting of
30 properly (it was using 45)
And it seemd that unless I set the days-before-close to -1
intentionally, it would still close the Issue/PRs, as the default value
is 7 already.
Also updated version of the stale action to v8
* Remove old stale bot yaml file
* Remove slack svg file (unused)
* Stale action: Only apply stale label, and no other actions
Respecting the opinion on
fa9ac6ecf6,
it seems reasonable to disable commenting feature, and just keep the
action only applying the `stale` label. This will reduce the noise /
email spams / ping pong fight with the stale bot (Action)
- Remove unnecessary text rendering, which made clicking log links
harder
- Re adjust markdown elements to make it easier to read / intuitive when
creating an issue
Instead of hard-coding the tilting duration (from FW to MC tilt),
expose it as a parameter (VT_BT_TILT_DUR). The default is the same
as the hard-coded value previously (1s).
Slower tilting mechanisms need a higher value here, while for smaller
ones a too high value results in unnecessary delays till the motors
are in hover configuration.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This affects how soon after a backtransition the vehicle has the
full hover controller running again. Specifically it reduces the
duration of the ramp down of the motors prior to tilting them.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
COM_ARMABLE is set to "Disabled" will prevent arming.
This allows to set the parameter when ground demoing a drone or
if it's in maintenance for safety reasons.
const char *data = "www\r\n";
Defines a cstring of 6 bytes: 'w', 'w', 'w', '\r', '\n', '\0'
type of data: char const*
type of &data: char const**
So when we call
write(_fd, &data, strlen(data));
then strlen(data) == 5
and we send the 4 byte memory address of data
+ some additional random byte.
Correct is
write(_fd, data, strlen(data));
where char const* gets casted to const void * and we pass
the pointer to the content of data.
The fundamental problem here is write() not being typesafe.
Before this the ESC calibration aborts if battery detection doesn't work.
The problem is if the user still connects the battery as he gets instructed
and the calibration aborts then the ESCs are in calibration mode and
after abortion calibrate to the wrong value.
Also I realized there's no additional safety by aborting the calibration
if the battery cannot be detected during the timeout because a pixhawk
board without power module will report a battery status from the
ADC driverand in it that no battery is connected which is the best
it can do. In this situation the motors will still spin if the
ESCs are powered.
Some ESCs e.g. Gaui enter the menu relatively quickly if the
signal is high for too long. To solve that it's kept high shorter.
Also all tested ESCs detect the low signal within a shorter time
so no need to wait longer.
- Change timings for a more reliable calibration.
- Make sure there's an error message when battery measurement is not
available also when it gets disabled after system boot in the power
just above the calibration button.
- Safety check if measured electrical current goes up after issuing the
high calibration value for the case the user did not unplug power
and the detection either fails or is not enforced.
That state only delayed the first arming by 50 miliseconds.
Was presumably a workaround for some issue very very early on.
See cc452834c0dabd2689f5f102ce1cbbe714f056dd
Before:
When the mixed throttle for the motor was exactly zero the ramp went
from the disarmed PWM value to the minimum PWM value.
When the throttle was even just slightly different from zero the ramp
made a jump up to the commanded throttle scaled between
disarmed PWM and maximum PWM, then ramped between
disarmed PWM and minimum PWM and at the end jumped up again to
the commanded throttle scaled between minimum PWM and maximum PWM.
After:
The ramp goes from disarmed PWM value to the the
commanded throttle scaled between minimum PWM and maximum PWM.
If the commanded throttle changes during the ramp then the scale and
hence also end value of the ramp changes.
When at rest, directly fuse the gyro data as an observation of its bias.
This allows to strongly observe the gyro biases without having to fuse a
constant heading that makes the ekf too confident about its heading.
The entire logic did not work for the case when the throttle channel is
reversed because then QGC sets trim = max for that channel and
the result is only half the throttle range.
This adds support for the TI LP5562 RGB LED driver.
Things to note:
- The driver is initialized in simple PWM mode using its internal clock,
for R,G,B, but not for W(hite).
- The chip doesn't have a WHO_AM_I or DEVICE_ID register to check.
Instead we read the W_CURRENT register that we're generally not using
and therefore doesn't get changed.
- The current is left at the default 17.5 mA but could be changed using
the command line argument.
Datasheet:
https://www.ti.com/lit/ds/symlink/lp5562.pdf
Signed-off-by: Julian Oes <julian@oes.ch>
* Removed obsolete voxl2-io directory
* Updated support for ModalAI FC v2 board
* Added UAVCAN back in and removed local position estimator and attitude estimator Q that are no longer supported.
* Removed unneeded IMU drivers
set_vtol_transition_item sets the params of the mission item directly
to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't
for other NAV_CMDs. So make sure that whenever we use it, we then in
the next step reset the touched mission_item fields.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Our serial_test showed only ~84kB/s with the default 256 RX buffer size
with significant ~2.5ms periods of the flow control RTS pin being
asserted. Increasing size to 600 (same as FMU-v5x) brings the throughput
only to ~190kB/s, while a size of >1500 achieves ~350kB/s. Larger RX
buffers do not increase throughput anymore, while the theoretical
maximum is 375kB/s.
Transmit buffer size is increased to 10kB same as on FMUv5x to prevent
any future differences in queue behavior and throughput. serial_test
showed ~350kB/s throughput at 3kB TX buffer size, so this is just a
precaution.
* refactored uncommanded descend quadchute
- use fixed altitude error threshold
- compute error relative to higest altitude the vehicle has achieved
since it has flown below the altitude reference (setpoint)
* disabled altitude loss quadchute by default
* altitude loss quadchute: added protection against invalid local z
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- ArmingStatus DroneCAN message STATUS field is only set to true based on
arming_status.armed
- Cannode prearm state is set to true always when ArmingStatus DroneCan
message is received
- Instead we disable interrups on Nuttx where needed
- No lock is held during param export. Params can be changed
concurrently and we rely on the fact that another export will be
triggered in that case.
5s is a more reasobale time for tailsitters, which rely differently on this param
than other VTOL types. Tailsitters will ramp the pitch up withing this time,
while for other VTOLS types its only the max transitiont time.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This is now using the advanced lift drag plugin.
The important step was to enable airmode for yaw, otherwise yaw gets
saturated at low throttle and we can barely roll.
The other trick was to raise airspeed a little bit to avoid operating
too much at the lower end of throttle where control authority is low.
Signed-off-by: Julian Oes <julian@oes.ch>
* RateControl: rename setGains to setPidGains to be more precise
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Rate controller: only allow to disable Yaw in Acro, not roll and pitch
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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