According to the paper the quaternion controller is built on
the yaw weight represents the ratio between the roll/pitch and
the yaw attitude control time constant. It also states that as a
thumb rule a value of ~0.4 works alright for most multicopter
platforms. The default attitude gains of PX4 which were determined
independent of the paper from experimental results have a ratio of
2.8/6.5 = 0.43 which matches.
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.
to prioritize yaw compared to roll and pitch by combining
the shortest rotation to achieve a total thrust vector with
the full attitude respecting the desired yaw
not by scaling down the control output with the gains
If the EXTERNAL_MODULES_LOCATION variable has been set, and the
EXTERNAL_MODULES_LOCATION/msg/ directory exists containing a
CMakeLists.txt file with the following format:
set(config_msg_list_external
message1.msg
message2.msg
message3.msg
...
PARENT_SCOPE
)
then the messages defined in config_msg_list_external are added to the
msg_files list in Firmware/msg/CMakeLists.txt and are used to generate uORB
message headers. The generate uORB message headers are generated in the same
location as the normal uORB message headers in the build directory, namely,
<build_dir>/uORB/topics. The uORB topic sources are generated in
<build_dir>/msg/topics_sources.
tested on at least 5 different vehicles, including AeroFC. The values
should be conservative, good setups (with low vibrations) can increase
these values even further.
increasing IMU_GYRO_CUTOFF allows for better tuning gains (increased P).
- make the selected parameter a template argument. This
enables type-checking at compile-time.
- move things to src/platforms.
This provides consistent includes with ModuleBase
- add ModuleParams base class (replaces Block & SuperBlock)
- drop the Block* prefix from the class names
Generates an enum with all params & additional type information for static
type checking
The generated public param header is required to build the modules using
the new BlockParam classes.
On kinetis, the TPM_STATUS_TOF was used to detect missed interrupts for
PPM decoding. However this was not correct, because the TOF bit was set on
each timer overflow. This happened regularly after every 64ms interval,
which meant that most PPM frames were just discarded.
I have not found any equivalent register/solution that is used on STMF4,
so this just removes the TOF handling. However there is now no way to
detect missed edges/interrupts!
Matthias Grob
Daniel Agar
Karl Schwabe
Beat Küng
Amir Melzer
Philipp Oettershagen
Jan Okle
David Sidrane
Mohammed Kabir
Vasily Evseenko
acfloria