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Author SHA1 Message Date
Thomas Stastny
74730273c1 fw_att_control move angular rate limits to body angular rates (#9023) 
* ecl: attitude_fw update
- move angular rate limits to body angular rates
- handle rattitude/acro vs attitude mode rate limits
 2018-03-08 22:55:45 -05:00
Daniel Agar
2ce8b6a984 delete VT_FW_PITCH_TRIM parameter (#9014) 2018-03-07 09:08:59 -05:00
Roman
ac2b3ccadc vtol_att_control: default front transition throttle to 100% 
- the main idea is to prevent airspeed less systems to stall after a
transition

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
e4ea7262fd tailsitter.cpp: small cosmetic fix 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
03338935e0 vtol_att_control: make sure blending airspeed is smaller than transition airspeed 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
e0ca38e794 standard vtol: fix mc weight calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
23257bf6ee standard vtol: simplify blending weight calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
b66bc712af tailsitter: avoid doing same calculation twice 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
1d8f588d37 vtol_att_control: switch from division to multiplication for variable 
calculation

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
9e16543dbe tiltrotor: represent time since transition in seconds 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
ae2e6c7a18 tailsitter: represent time since transition in seconds 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
bf22f02567 tailsitter: removed usage of hrt_elapsed and small cleanup 
- do not call hrt_elapsed_time since it's expensive
- remove P2 front transition phase (was not even used)

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
196d0e40b4 standard vtol: use time in second since transition start instead of using 
microseconds

- seconds is more intuitive
- avoids tons of divisions by 1e6f

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
5a2a5127fa tailsitter: removed common vtol parameters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
2c0436c37c sitl tiltrotor config: front transition throttle parameter name change 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
07a84f2246 tiltrotor: removed common vtol parameters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
6900f97b72 vtol_att_control: use airspeed_disabled flag instead of airspeed mode 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
8f71633516 sitl configs: updated VT_TRANS_THR parameter name change 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
4859cc04dc ROMFS: updated VT_TRANS_THR parameter name change 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
daa6c6ffc8 vtol_att_control: consolidated standard parameters & fix usage of hrt_elapsed time 
- standard vtol was implementing many custom parameters although they
are generic and should be shared between the vtol types
- removed heavy usage of hrt_elapsed_time() which is a system call and
could be computationally expensive
 2018-03-07 14:01:51 +01:00
Julian Oes
9c6b1a0f04 navigator: fix incorrect takeoff altitude 
This fixes a problem where we do not properly go to the set takeoff
altitude but end up lower.

The problem was that the setpoint triplet is reset when the navigation
mode changes. So in this case, the triplet is reset when we switch from
takeoff to loiter which can happen before reaching the actual takeoff
altitude.

The fix is an ugly hack to prevent the reset in the case of takeoff to
loiter. A better solution would be to remove the general reset and have
all navigation modes do the proper resets themselves.

This hotfix should however be lower risk.
 2018-03-07 08:48:44 +01:00
Daniel Agar
623e16e8be logger SITL add additional messages by default 2018-03-06 17:42:33 +01:00
Daniel Agar
6f47894929 rc.sensors ms5611 driver auto detect ms5607/ms5611 2018-03-06 13:47:37 +01:00
Daniel Agar
ba90952e07 px4fmu-v2 board_on_reset also reinit spi 2018-03-06 13:47:37 +01:00
AlexKlimaj
83d01a7c76 Updated batt_smbus. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature. (#8991) 
* Updated and expanded batt_smbus to work with bq40z50-R2. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature, added commented out expanded battery_status.msg parameters for future mavlink expansion.

* Changed errx to PX4_ERR

* Added PX4_ERR returns
 2018-03-06 10:42:20 +01:00
Roman
bf097d7fa4 convergence config: increase idle speed in mc mode 
- 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>
 2018-03-05 15:48:13 -05:00
Daniel Agar
493c41c76e VtolLandDetector require vehicle_status timestamp 2018-03-05 15:46:24 -05:00
Daniel Agar
354584acfc MulticopterLandDetector initialize all class members 2018-03-05 15:46:24 -05:00
Daniel Agar
69470f6991 land_detector use THROTTLE index 2018-03-05 15:46:24 -05:00
Daniel Agar
458db2e508 vehicle_global_position remove redundant evh and evv 
- vehicle_status_flags condition_global_velocity_valid is also unnecessary
 2018-03-05 13:20:28 -05:00
Beat Küng
03b8cd78b3 gps: explicitly disable flow control 
If the GPS driver was used on another port (e.g. TELEM2), it would get
stuck in a `write` call and not return anymore. Disabling flow control
fixes that.

CPU usage is unchanged.
 2018-03-05 16:43:14 +01:00
Daniel Agar
1290db7cb7 differential pressure sensors delete test helpers 
- these are redundant with listener differential_pressure
 2018-03-05 08:32:59 +01:00
Daniel Agar
b9081fb0ab vehicle_global_position delete unused pos_d_deriv 2018-03-05 01:41:18 -05:00
Daniel Agar
2ddd04cba6 px4fmu-v2 disable ulanding 2018-03-05 01:19:56 -05:00
Coby
664001921e quad_plus geometry fix typo in rear motor name (#9008) 2018-03-04 18:24:10 -05:00
Daniel Agar
2f96dbb216 gnd_att_control param fix incorrect FW metadata 2018-03-04 18:23:12 -05:00
Daniel Agar
5cbd19aef2 Jenkins archive nuttx elf files 2018-03-04 17:52:34 -05:00
Daniel Agar
5ef27c5425 mavlink add minimal mode (#8947) 2018-03-04 17:50:28 -05:00
Daniel Agar
6caeb2da4f pwm_out_sim reduce stack 1310 -> 1000 2018-03-04 14:12:15 -05:00
Daniel Agar
38f5f60a1e pwm_out_sim cleanup 
- 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
 2018-03-04 14:12:15 -05:00
PX4 Jenkins
3d6854099e Update mavlink v2.0 submodule Sun Mar 4 07:43:12 UTC 2018 2018-03-04 10:45:51 -05:00
ToppingXu
e340f6fd7a FixedwingPositionControl: fix air_gnd_angle judgement condition. 
air_gnd_angle is from acos(), and never return a value that bigger than
M_PI_F
 2018-03-02 21:57:11 +01:00
Matthias Grob
d39a8b5a48 Battery: Switch thrust based load compensation back to linear 
To account for the parameter definition.
My tests if quadratic is actually better in practise were anyways not conclusive.
 2018-03-02 21:07:09 +01:00
Matthias Grob
5bb9babc20 Mavlink: round battery percentage up instead of down 2018-03-02 16:18:52 +01:00
Daniel Agar
4c4f990b3b EKF2 remove FW_ARSP_MODE check 2018-03-02 08:58:08 +01:00
Sander Smeets
2ef9c4ec35 VTOL force land even when transitioning to FW (#8958) 2018-03-01 16:51:50 -05:00
Roman
ff86d15c13 caipirinha vtol: do not lock elevons in hover mode 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-01 22:07:36 +01:00
Daniel Agar
3b0b5645e1 vtol_att update poll fd before poll call 2018-03-01 18:27:57 +01:00
Anthony Lamping
1ef7b351be CI: assmue plan file format 2018-03-01 12:21:22 -05:00
Anthony Lamping
3be6a439f1 CI: better detect end of mission 
if the vehicle doesn't land and disarm at the end of the mission, the current sequence doesn't reset to 0
 2018-03-01 12:21:22 -05:00