36e6527013
ROMFS: MAV_TYPE cleanup
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- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary
- cleanup MAV_TYPE param metadata and commander helper to only include
what's currently used in PX4
3 years ago
76d8d8cae6
control_allocator: generic motor configuration for standard vtols
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This adds the pusher/puller to the standard motors and makes the axis
configurable.
3 years ago
3dd5c1fbaf
Enable NPFG by default on the believer
3 years ago
1ad66e606b
ControlAllocation: introduce convention for control surface deflection sign
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- horizontal control surfaces: up=positive deflection
- vertical control surfaces (rudder): right=positive deflection
- mixed (V-Tail): up=positive deflection
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
203e253dfe
airframes: sitl boat: switch to dynamic control allocation
3 years ago
8486ca5766
airframes: sitl cloudship: switch to dynamic control allocation
3 years ago
07306c4be3
control_allocator: add support for Tailsitter VTOL
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
d688e5dee4
sitl airframes: add control allocation config to some airframes (not enabled)
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To use them, manually set SYS_CTRL_ALLOC
3 years ago
2362feddac
airframes/uuv_bluerov2_heavy: switch over to control allocation
3 years ago
43e15148f6
rover: switch sitl configs to control allocation
3 years ago
70e46a194f
control_allocator: major refactoring & additions
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- allow effectiveness matrix to select control allocator method
(desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
3 years ago
42845d6c6e
SITL configs VTOL/plane: improve SITL tuning a bit
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remvoe some tecs params from configs that acutally lead to worse performance than defaults
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
2809dd8944
control_allocator: remove min/max/scale params
3 years ago
f99c2617ad
control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults
3 years ago
e596607e2e
minor comments update
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
21163d859e
Whitespace cleanup.
3 years ago
ab1d76ae7d
params: use PWM_MAIN_* instead of PWM_FMU_*
3 years ago
838ec5d485
airframes: set output function params for ctrlalloc airframes
3 years ago
38fa65a47e
control_allocator: remove direct mixer, add actuator_{motors,servos} instead
3 years ago
a51c465b54
control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets
3 years ago
e2f048f608
Add sitl glider model
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Add airframe configs for SITL glider model
This commit adds an airframe config for a glider model
3 years ago
d1a2d6e1aa
h480_ctrlalloc: tune rate controller
3 years ago
21b1f090e6
SITL: add typhoon_h480_ctrlalloc target
3 years ago
b18b7e84d2
CA pseudo-inverse: normalize control allocation matrix
3 years ago
fb8bf7eaa6
ROMFS: remove default params from configs
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Remove params from airframe configs that are just set again
to the param default value or to the value that is
specified in the mc_default, fw_default or vtol_default.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
95789252d0
airframes: minor param cleanups (remove commented 'param set')
4 years ago
1e2877cedf
Tune down solo roll rate controller
4 years ago
db1dc1c9a1
Add airframe configuration and make target for believer
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This commit adds an airframe configuration and make target for believer
4 years ago
145e7387fb
posix: start the microRTPS client in sim every time the module is available
4 years ago
c8ec6b3d08
Airspeed selector: remove ASPD_STALL and replace by FW_AIRSPD_STALL
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
4 years ago
f33fee99c1
ROMFS: init.d-posix/airframes migrate EKF2_GPS_MASK -> SENS_GPS_MASK
4 years ago
54438140e1
ROMFS: posix airframes update to new parameter defaults mechanism (AUTOCNF replacement)
4 years ago
02abb760a3
SITL: add iris with fog-simulating lidar
4 years ago
1d66b033a4
Append mixer with aux outputs
4 years ago
0db29866f1
Add standard_vtol drop
4 years ago
d5e468a19e
change typhoon_h480 roll-/pitchrate P gain to reduce oscillations ( #17044 )
4 years ago
3cd9b3c2cf
Added support in Mavlink Ethernet channel parameters
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Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
4 years ago
b8ad7092dc
mavlink: use Mavlink 2 by default
4 years ago
8da3a490af
ROMFS: use gimbal v2 protocol with typhoon_h480
4 years ago
642adbead8
if750a: use MAVLink gimbal v2 device
4 years ago
3135e4d31a
SITL: Set correct L1 period
4 years ago
9d20dea3b8
Rover: remove unused parameter
4 years ago
77884bdd34
SITL boat: tune L1 and speed controllers ( #16784 )
4 years ago
311a2bd3e8
update ctrlalloc airframe location
4 years ago
195a900ecf
change default of RTL_LAND_DELAY to 0
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
4 years ago
ba9611621d
Retune Typhoon H480 PID
4 years ago
96dfa7fc71
ROMFS: set cruise throttle correctly for all gazebo vtol configs
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
4 years ago
0633c3956f
ROMFS: improve tuning of tailsitter VTOL SITL
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
4 years ago
6104fe8932
ROMFS: improve tuning of tiltrotor VTOL SITL
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
4 years ago
2ce310925c
ROMFS: improve tuning of standard VTOL SITL
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
4 years ago
Daniel Agar
Beat Küng
Jaeyoung Lim
Silvan Fuhrer
mcsauder
bresch
Hyungsub
TSC21
David Jablonski
Kevin Dominic Merkel
garfieldG
Julian Oes
Lorenz Meier
Can Berk Durmus
RomanBapst