Flight tested: ekf2 w/ mag and compass by @nathantsoi: https://logs.px4.io/plot_app?log=79b81031-cf1e-41f0-890b-d6cd7d559766
NOTE: external I2C devices need a pullup. I have tested with a 3.3v 2.2k pullup.
Working:
- mpu6000, bench tested and verified via nsh
- fmu
- all 6 ch output bench tested w/ pwm and oneshot via nsh
- ppm input bench tested
- dsm input bench tested
- bmp280, bench tested and verified via nsh
- hmc5883, bench tested and verified via nsh, but requires an external i2c pullup
- gps on uart6
- startuplog, nsh, mavlink on uart4, but params are not sent for some reason. RSSI pin is TX, MOTOR 5 is RX (normal mode, 57600 baud)
- rgbled over i2c, bench tested and workingp
- sbus via the shared sbus/ppm pin (which includes an inverter to the mcu SBUS in pin), remove the solder bridge or jumper to the ppm pin before use
Not yet implemented:
- ADC
- OSD: passthrough video is untested, use at your own risk until a basic driver is implemented.
* Lists ROMFS files explicity instead of using GLOB_RECURSE
Previously, when ROMFS files that were not airframes were touched, the ROMFS
would not be rebuilt. The ROMFS files are now specified explicityl in a
CMakeLists.txt file that is located in the root ROMFS directory.
Now when one of the ROMFS files is touched the whole ROMFS is rebuilt.
When new files are added to the ROMFS, they need to be explicity added to
the CMakeLists in the ROMFS root directory.
* ROMFS: adds individual CMakeLists files in each subdirectory
Also moves the temporary ROMFS build directory to ${PX4_BINARY_DIR}/ROMFS/genromfs
so that the cmake_install.cmake files and the CMakeFiles directories (generated whenever
are not add_subdirectory() is called) are not generated in the temporary ROMFS directory
from which the ROMFS binary is created.
* cmake ROMFS generate add px4_add_romfs_files function
* ROMFS CMakeLists: adds explanatory comment to px4_add_romfs_files function
* ROMFS CMakeLists: updates copyright headers
- need to make some flash space for fmuv2 to avoid user confusion about
why it wind estimator only runs on some platforms
Signed-off-by: Roman <bapstroman@gmail.com>
- increase the minimum pwm value for multirotor mode since we experienced
the rear motor stalling in certain situations when throttle was low
Signed-off-by: Roman <bapstroman@gmail.com>
Because the parameter does not make sense from a control theory
perspective. Either you have a gain with the unit 1/s or an inverse
gain or time constant with the unit s. But the time constant parameter
was neither bound to any exact unit nor did it apply instead of a gain.
Rather it adjusted multiple gains from rate and attitude control
according to an arbitrary scale. This can only by accident lead to
good tuning.
- this makes sure that all motors are idling in mc mode. having this too
low can lead to a motor stopping in flight which is critical for
attitude control
- experienced loss of attitude control in RTL during descent prior to this
change
Signed-off-by: Roman <bapstroman@gmail.com>
- move to ModuleBase
- strip down to PWM 8 and 16 modes only
- remove all dead code
- implement missing pwm ioctls (current value, rates, etc)
- default rate 50Hz -> 400Hz
- simulated tailsitter needs a virtual elevator since we cannot simulate
elevons yet (liftDrag plugin does not model longitudinal moment Cm)
Signed-off-by: Roman <bapstroman@gmail.com>
The geometry was previously quad_deadcat in which front motors are closer to CG and thus more loaded in hover.
quad_wide is the same geometry as quad_deadcat except the CG is centered so all motors are loaded equally.
Flight logs on IRIS with deadcat mixer showed that
- all motors are equally loaded during hover (actuator_outputs 0 to 3 have similar values)
- a negative pitch offset is building up soon after takeoff (visible in actuator_controls)
- SYS_FMU_TASK is now enabled for PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5, but
it's only set on autoconf
- v5 companion is now TELEM2 (same as all other boards)
Beat Küng
nathan
Daniel Agar
DanielePettenuzzo
Phillip Kocmoud
ksschwabe
Martin Trgina
Roman
Kabir Mohammed
Matthias Grob
Mohammed Kabir
acfloria
Haukanes
José Roberto de Souza
ChristophTobler
Simone Guscetti
Julien Lecoeur
Lorenz Meier