db159a43cc
test_dataman:Set SEM_PRIO_NONE on all semaphores
3 years ago
1b6700592b
parameters: require valid BSON document size
3 years ago
5fc7e551ab
Update submodule mavlink to latest Wed Dec 29 12:38:13 UTC 2021
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- mavlink in PX4/Firmware (395eeb440a2ca7503591f872d4f733fcd9867218): bfaf605bd64bc0de9c38bfaf605bd6...4bc0de9c38#1752 )
8035ad4d 2021-12-27 Hamish Willee - GIMBAL_DEVICE_FLAGS_NEUTRAL - note that this can be any angle (#1758 )
3 years ago
990d7c159d
pwm_out: cleanup and prep for linux compatibility
3 years ago
8f8719d33b
cmake: use add_definitions instead of add_compile_definitions
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Using make tests in docker will fail, because the current basic image used by px4io/px4-dev-simulation-bionic is ubuntu18.04, the default version of cmake is 3.10, and the add_compile_definitions command is only available in cmake 3.12+(ubuntu 20.04).
3 years ago
17a99bc827
mavlink: add HYGROMETER_SENSOR stream
3 years ago
983867f9af
uavcan: support uavcan hygrometer
3 years ago
236794235a
parameters: export empty BSON document even if there are no parameters to save
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- otherwise a 'param reset_all' won't be saved until a parameter is changed
3 years ago
33d7b42040
parameters: import quietly retry if there's no data (as a precuation)
3 years ago
20d3e6f4e1
parameters: add simple BSON verification pass after export
3 years ago
72065c3d71
fix protocol_splitter: remove timeout, drop buffer if too full instead
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The existing implementation had a flaw: when the buffer was getting full,
mavlink started to busy-loop, as the uart has data (poll returns immediately)
but no new data was read from the uart due to the buffer being full.
As rtps is running at lower prio, it never got the chance to read again,
making the problem even worse.
After 1s the timeout triggered and the buffer was cleared, so it recovered.
Instead of allowing for CPU spikes, we now immediately clear the buffer
(only as much as we have to), ensuring that new data is read from the uart.
3 years ago
542ee86bc9
landing_target_estimator: custom irlock frame params ( #18884 )
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Signed-off-by: ruimscarvalho98 <ruimsc98@gmail.com>
3 years ago
28e01c3510
FW Position controller: make loiter switching logic robust against pos_sp with loiter_rad=0
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
d202bf9631
control_allocator: add scope to reduce stack usage by 256B
3 years ago
48be55dec8
Tiltrotor: disable tilt/thrust compensation when dynamic allocation is enabled
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
31d7328f4d
Tailsitter: invert roll (make it NED-correct) for filling vehicle_torque_setpoint
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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
5259877b1b
control_allocator: update matrix normalization
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- only normalize rpy for MC matrices
- for thrust use the 3D vector, so it works for FW and tilt rotors as well
This keeps MC unchanged.
3 years ago
460a0df850
tiltrotor: fill out thrust_setpoint[0] also in hover, based on tilt and hover thrust
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In the tiltrotor case, beside an F_z thrust setpoint also a F_x setpoint must be passed
to the allocator as the matrix has non-zero thrust-x effectiveness when tilts are applied.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
09200b994d
airship_att_control: publish thrust + torque setpoint
3 years ago
478724c9fe
EffectivenessTiltrotor: fix logic for matrix update
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
8e04934eab
commander: consider COM_MOT_TEST_EN for COMMAND_ACTUATOR_TEST as well
3 years ago
39d441317a
ActuatorEffectivenssTailsitterVTOL: only enable MC yaw control if more than 3 rotors
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
426aa76a59
CA/VTOL: change description of VT_ELEV_MC_LOCK as it applies to not just elevons
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
18008b2de7
CA module.yaml: add motor direction function also to UI for Tailsitter an Tiltrotor
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
8c782b7cd9
control_allocator: add Custom + MC with tilts effectiveness
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The param group is changed to Geometry, as this reflects the naming in the
QGC UI.
3 years ago
627ec0df5d
control_allocator: increase STACK_MAIN to 3000
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It was exceeding 2000
3 years ago
4d38742371
control_allocator: show VT_ELEV_MC_LOCK for vtol mixers in config ui
3 years ago
28c4d0b7df
mixer_module: add unit tests
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
0568cff299
control_allocator: handle thrust allocation for VTOL's properly
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
936f2dff52
logger: log both instances of vehicle_thrust/torque_setpoint
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago
4f8e6a9548
control_allocator: do not update params while armed
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As a precaution
3 years ago
e04b4a8dbf
control_allocator: add 6DOF configuration
3 years ago
4c80adfaf1
control_allocator: implement trim + slew rate limits configuration
3 years ago
301100ce0e
uuv_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
3 years ago
b5c2cdf6c4
vtol_att_control: do not manipulate PWM outputs if SYS_CTRL_ALLOC == 1
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Not required anymore
3 years ago
8d9e2a28c4
control_allocator: add fixed-wing actuator effectiveness
3 years ago
4d2a403afa
control_allocator: add rover actuator effectiveness
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This can be generalized later
3 years ago
ed3a115c8f
control_allocator: add status publication rate limitation comment
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
a81f11acdd
mc_rate_control: don't publish thrust + torque sp if vtol
3 years ago
28e995ede2
fw_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
3 years ago
4becd6e4c7
rover: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
3 years ago
5da67e2e28
vtol_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
3 years ago
d1abdd0f8d
output drivers: add option to generate a separate output range reversing param
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Makes it a bit easier to configure. Reversing by setting MIN > MAX is still
supported.
3 years ago
1901edf13c
actuator_motors.msg: add reversible flags & implement in mixer_module
3 years ago
9c767ff1ee
control_allocator: make effective source name a class member
3 years ago
20d96f3bd9
metadata: fix BOARD_WITH_IO detection
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Wasn't correctly updated during a rebase.
3 years ago
712353ea56
gyro_calibration: increase required samples (to be more conservative)
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- make sure variance is checked across all available sensors
3 years ago
David Sidrane
Daniel Agar
PX4 BuildBot
FengShun
honglang
Beat Küng
Rui Miguel Carvalho
Silvan Fuhrer