- 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)
Roman
Kabir Mohammed
Matthias Grob
Beat Küng
Daniel Agar
Mohammed Kabir
acfloria
Phillip Kocmoud
Haukanes
José Roberto de Souza
ChristophTobler
Simone Guscetti
Julien Lecoeur
Lorenz Meier