- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
The flap settings for takeoff and landing are now specified relative to full range.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Commit for the Integration of a position controller for the a Underwater vehicle.
This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw.
Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0.
Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction.
In general the idea is to have this position module to control the position of the uuv. The position module reseives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module.
Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw).
* Commit for the Integration of a position controller for the a Underwater vehicle.
This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw.
Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0.
Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction.
In general the idea is to have this position module to control the position of the uuv. The position module receives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module.
Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw).
Currently not solved/missing:
- Problem with gazebo model(propeller moving chaotically).
- Mixer correct gazebo vs real life (has to be tested in the future)
- correct integration in uuv.apps (when choose which module)
- very basic controller chosen (could be improved a lot in the future)
* Remove error caused by unused variables and a different build error
* added better description of the parameter. Additionally the group is changed.
* added better description of the parameter. Additionally the group is changed.
Fixed bug about parameter
* Added EOF to the files.
* Removed parameter for direct position control for safety reasons.
* small bugfix
This commit moves the steering output from yaw to the roll channel to better reflect the lateral control input / reaction mapping. It also removes old unused parameters and modernizes the mainloop to remove unnecessary polling.
- control allocation module with multirotor, VTOL standard, and tiltrotor support
- angular_velocity_controller
- See https://github.com/PX4/PX4-Autopilot/pull/13351 for details
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
- the values of the parameters GND_MAX_ANG and GND_WHEEL_BASE are outdated. They belonged to another Rover setup.
- in the mixer file rover_diff_and_servo.main.mix the steering was controlled by roll, but in PX4 rover steering is controlled by yaw. And this was the reason why the attitude control did not work correctly
- the DF Robot GPX:Asurada rover has actual a steering angle of 60 degrees. And and wheel base of 0.17m. Parameter values in the airframe file are changed to this values
Channels belonging to a certain timer were not all grouped together.
This is required by the .first_channel_index and .last_channel_index data
members.
We introduce a new mixer geometry to solve the problem.
* add support for unmanned underwater vehicles:
* airframe uuv_generic + uuv_hippocammpus including mav_type = 12 for submarines
* mixer for UUVs with X-shaped thruster setup similar to quadcopter
* add module uuv_att_control for underwater robot attitude control
* add rc.uuv_defaults/apps for autostarting e.g. ekf2 and uuv_att_control app
This target was never fully supported and is heavily dependent on a number of DriverFramework drivers that have no in tree equivalents (bebop bus, flow, rangefinder, etc). Deleting this will make it easier to fully drop DriverFramework shortly.
This inversion matches the fixed sign in the commands generated
by the VTOL attitude controller.
This commit, combined with the previous commit, should have no effect.
For safety, it is recommended to check the direction of roll control
surfaces before flight.
* The X-UAV Mini Talon airframe with the new type Plane V-Tail uses the new AAVVTWFF_vtail mixer.
The new mixer is derived from the AAVVTWFF mixer and is a generic V-Tail mixer. I left the flaps and wheel although there are no flaps and wheels on the mini talon to keep it generic. The airframe configuration is derived from the Albatross A-Tail.
- move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix
allows for easier unification, only one symlink is required.
- rcS: add AUTOCNF support. Update scripts to match with behavior of PX4
master (parameter values, some sitl driver got removed)
- add alias to allow 'set variable value' syntax in scripts to px4-alias.sh
- use px4_getopt
- use separate argument for the test_data directory
- append PATH from within the px4 binary: this simplifies the usage
w/o the sitl_run.sh script.
- add 'source px4-alias.sh' to all existing sitl startup scripts
- move sitl mixers to ROMFS/px4fmu_common/mixers-sitl
makes it easier to use existing mixers and sitl-specific ones.
- remove unused rcS_gazebo_delta_wing
- use mixer for the simulation to the sitl mixer dir
- do not use virtual elevator in the mixer for the real vehicle
Signed-off-by: Roman <bapstroman@gmail.com>
Daniel Agar
Silvan Fuhrer
Konrad
romain-chiap
Beat Küng
Tim
Lorenz Meier
Jaeyoung-Lim
Julien Lecoeur
Jakub Kákona
Thies Lennart Alff
Daniel Leonard Robinson
Katrin
mcsauder
Daniel Duecker
Roman Dvořák
xdwgood
Timothy Scott
bresch
Timothy Scott
fredowski
Roman