- include icm20948 on most boards by default
- create more test variants for default boards near flash limit (cuav_nora_test, cuav_x7pro_test, holybro_durandal-v1_test)
- new IMU driver structure with state machine (no sleeps in bus thread)
- verify all configured registers and trigger reset on failure
- detect if DIO1 or DIO2 are actually connected for data ready interrupt usage
- don't use CRC-16 on burst transfers except for verified lots
* 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
- accel & gyro FIFOs enabled
- FIFO watermark on data ready interrupt
- sensor side filtering completely disabled
- gyro now respects `IMU_GYRO_RATEMAX` (up to 2 kHz)
- saves a few % cpu (at default rate)
* Add basic GPIO test app for R/W on pins from nuttx shell
* Add gpio command to fmu-v3 and fmu-v4
* Sanitize gpio commands by pin configs, --force to override
- always check with state machine before reboot/shutdown
- respect BOARD_HAS_POWER_CONTROL (shutdown from command, low battery, power button)
- px4_shutdown_request add optional delay and always execute from HPWORK
- px4_shutdown_request split out px4_reboot_request
* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.
* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground
Co-authored-by: bresch <brescianimathieu@gmail.com>
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
- by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
But only on the first 4 FMU outputs, as the next ones conflict with px4io
serial dma (UART8_RX)
RX DMA is disabled on the GPS port as well (conflicts with TIM1).
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
