mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 06:23:34 +08:00
Alessandro Simovic
de1fa11e96
rename follow_me_status to follow_target_status
enable follow_target_estimator on skynode
implement the responsiveness parameter:
The responsiveness parameter should behave similarly to the previous
follow-me implementation in navigator. The difference here is that
there are now two separate gains for position and velocity fusion.
The previous implemenation in navigator had no velocity fusion.
Allow follow-me to be flown without RC
SITL tests for follow-me flight task
This includes:
- Testing the setting for the follow-me angle
- Testing that streaming position only or position
and velocity measurements both work
- Testing that RC override works
Most of these tests are done with a simulated model
of a point object that moves on a straight line. So
nothing too spectacular. But it makes the test checks
much easier.
Since the estimator for the target actually checks new
measurements and compares them to old ones, I also added
random gausian noise to the measurements with a fixed seed
for deterministic randomness. So repeated runs produce
exactly the same results over and over.
Half of the angles are still missing in MAVSDK. Need to create
an upstream PR to add center left/right and rear left/right options.
These and the corresponding SITL tests need to be implemented
later.
sitl: Increase position tolerance during follow-me
Astro seems to barely exceed the current tolerance (4.3 !< 4.0)
causing CI to fail. The point of the CI test is not to check
the accuracy of the flight behaviour, but only the fact that the
drone is doing the expected thing. So the exact value of this
tolerance is not really important.
follow-me: gimbal control in follow-me
follow-me: create sub-routines in flight task class
follow-me: use ground-dist for emergency ascent
dist_bottom is only defined when a ground facing distance sensor exist.
It's therefore better to use dist_ground instead, which has the distance
to the home altitude if no distance sensor is available.
As a consequence it will only be possible to use follow-me in a valley
when the drone has a distance sensor.
follow-me: point gimbal to the ground in 2D mode
follow-me: another fuzzy msg handling for the estimator
follow-me: bugfix in acceleration saturation limit
follow-me: parameter for filter delay compensation
mantis: dont use flow for terrain estimation
follow-me: default responsiveness 0.5 -> 0.1
0.5 is way too jerky in real and simulated tests.
flight_task: clarify comments for bottom distance
follow-me: minor comment improvement
follow-me: [debug] log emergency_ascent
follow-me: [debug] log gimbal pitch
follow-me: [debug] status values for follow-me estimator
follow-me: setting for gimbal tracking mode
follow-me: release gimbal control at destruction
mavsdk: cosmetics 💄
181 lines
4.7 KiB
Bash
181 lines
4.7 KiB
Bash
#!/bin/sh
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#
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# @name Advanced Technology Labs (ATL) Mantis EDU
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#
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# @type Quadrotor x
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# @class Copter
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#
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# @output MAIN1 motor 1
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# @output MAIN2 motor 2
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# @output MAIN3 motor 3
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# @output MAIN4 motor 4
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#
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# @maintainer
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# @board px4_fmu-v2 exclude
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#
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. ${R}etc/init.d/rc.mc_defaults
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# We set the mixer and ESC manually.
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set MIXER skip
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set MIXER_AUX skip
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set MIXER_FILE ""
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# Battery settings
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param set-default BAT_CRIT_THR 0.20
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param set-default BAT_LOW_THR 0.25
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param set-default BAT1_CAPACITY 2800.0
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param set-default BAT1_N_CELLS 3
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param set-default BAT1_R_INTERNAL 0.02
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param set-default BAT1_V_CHARGED 4.26
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param set-default BAT1_V_EMPTY 3.45
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param set-default CBRK_SUPPLY_CHK 894281
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param set-default COM_DISARM_LAND 0.1
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param set-default COM_DISARM_PRFLT 3
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param set-default COM_DL_LOSS_T 10
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param set-default COM_FLTMODE1 2
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param set-default COM_FLTMODE2 -1
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param set-default COM_FLTMODE3 -1
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param set-default COM_FLTMODE4 -1
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param set-default COM_FLTMODE5 -1
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param set-default COM_FLTMODE6 1
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param set-default COM_RC_LOSS_T 3
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# ekf2
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param set-default EKF2_AID_MASK 33
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param set-default EKF2_TERR_MASK 1
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param set-default EKF2_BARO_DELAY 0
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param set-default EKF2_BARO_NOISE 2.0
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param set-default EKF2_BCOEF_X 31.5
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param set-default EKF2_BCOEF_Y 25.5
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param set-default EKF2_GPS_DELAY 100
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param set-default EKF2_GPS_POS_X 0.06
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param set-default EKF2_GPS_POS_Y 0.0
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param set-default EKF2_GPS_POS_Z 0.0
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param set-default EKF2_GPS_V_NOISE 0.5
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param set-default EKF2_IMU_POS_X 0.06
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param set-default EKF2_MAG_DELAY 0
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param set-default EKF2_MAG_NOISE 0.1
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param set-default EKF2_MIN_RNG 0.15
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param set-default EKF2_OF_DELAY 38
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param set-default EKF2_OF_GATE 2.0
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param set-default EKF2_OF_POS_X -0.035
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param set-default EKF2_OF_POS_Y 0.0
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param set-default EKF2_OF_POS_Z 0.033
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param set-default EKF2_OF_MIN_RNG 0.01
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param set-default EKF2_OF_A_HMAX 7.0
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param set-default EKF2_OF_QMIN 30
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param set-default EKF2_PCOEF_XN -0.3
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param set-default EKF2_PCOEF_XP -0.4
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param set-default EKF2_PCOEF_YN -0.4
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param set-default EKF2_PCOEF_YP -0.4
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param set-default EKF2_RNG_A_VMAX 1.0
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param set-default EKF2_RNG_AID 0
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param set-default EKF2_RNG_DELAY 55
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param set-default EKF2_RNG_POS_X -0.035
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param set-default EKF2_RNG_POS_Y 0.0
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param set-default EKF2_RNG_POS_Z 0.033
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param set-default EKF2_TERR_NOISE 1.0
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# Maximum allowed angle velocity in the landed state
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param set-default LNDMC_ROT_MAX 40.0
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# Maximum vertical velocity allowed in the landed state
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param set-default LNDMC_Z_VEL_MAX 0.7
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# filtering
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param set-default IMU_DGYRO_CUTOFF 50
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param set-default IMU_GYRO_CUTOFF 65
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# Pitch angle & rate setting
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param set-default MC_PITCHRATE_P 0.075
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param set-default MC_PITCHRATE_I 0.1
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param set-default MC_PITCHRATE_D 0.0005
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param set-default MC_PITCHRATE_MAX 360.0
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param set-default MC_PITCH_P 8.0
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# Roll angle & rate setting
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param set-default MC_ROLLRATE_P 0.055
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param set-default MC_ROLLRATE_I 0.1
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param set-default MC_ROLLRATE_D 0.0005
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param set-default MC_ROLLRATE_MAX 360.0
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param set-default MC_ROLL_P 8.0
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# Yaw angle & rate setting
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param set-default MC_YAWRATE_P 0.1
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param set-default MC_YAWRATE_MAX 120.0
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param set-default MC_YAW_P 2.5
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param set-default MPC_ACC_DOWN_MAX 2.0
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param set-default MPC_ACC_HOR 3.0
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param set-default MPC_ACC_HOR_MAX 10.0
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param set-default MPC_ACC_UP_MAX 3.0
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param set-default MPC_ALT_MODE 0
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param set-default MPC_LAND_SPEED 0.5
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param set-default MPC_LAND_VEL_XY 10
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param set-default MPC_MAN_TILT_MAX 20
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param set-default MPC_YAWRAUTO_MAX 80.0
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param set-default MPC_POS_MODE 4
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param set-default MPC_THR_HOVER 0.54
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param set-default MPC_THR_MAX 0.9
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param set-default MPC_THR_MIN 0.06
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param set-default MPC_TILTMAX_AIR 30
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param set-default MPC_XY_P 1.0
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param set-default MPC_XY_VEL_D 0.005
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param set-default MPC_XY_VEL_I 0.02
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param set-default MPC_XY_VEL_P 0.15
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param set-default MPC_Z_P 2.0
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param set-default MPC_Z_VEL_D 0.0
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param set-default MPC_Z_VEL_I 0.02
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param set-default MPC_Z_VEL_MAX_DN 2.0
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param set-default MPC_Z_VEL_P 0.27
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# gimbal configuration
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param set-default MNT_MODE_IN 0
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param set-default MNT_MODE_OUT 1
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param set-default MNT_MAN_PITCH 2
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param set-default MNT_RC_IN_MODE 1
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param set-default MNT_RATE_PITCH 30
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# RC
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param set-default RC_CHAN_CNT 12
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param set-default RC_MAP_THROTTLE 1
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param set-default RC_MAP_YAW 2
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param set-default RC_MAP_PITCH 3
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param set-default RC_MAP_ROLL 4
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param set-default RC_MAP_AUX2 5
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param set-default RC_MAP_AUX3 10
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param set-default RC_MAP_AUX4 8
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param set-default RC_MAP_FLTMODE 6
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param set-default RC_MAP_RETURN_SW 7
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param set-default RC1_TRIM 1000
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# optical flow
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param set-default SENS_FLOW_MAXR 7.4
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param set-default SENS_FLOW_MINHGT 0.15
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param set-default SENS_FLOW_MAXHGT 5.0
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param set-default SENS_FLOW_ROT 0
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# ignore the SD card errors and use normal startup sound
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set STARTUP_TUNE "1"
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