Commit Graph

2509 Commits

Author SHA1 Message Date
Hamish Willee e6eed43648
Spelling errors (#19935) 2022-07-27 14:33:16 +10:00
Silvan Fuhrer c9c62b860c ROMFS: add generic tiltrotor VTOL (13200)
Add geometry for a quad tiltrotor VTOL, with only front motors tiltable,
two ailerons and a V-tail.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-21 10:09:12 -04:00
Silvan Fuhrer 3ffc37d988 ROMFS: generic tailsitter VTOL: enable CA by default and remove legacy mixer
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-21 10:09:12 -04:00
Silvan Fuhrer ab58717313 ROMFS: standard VTOL: enable CA by default and remove legacy mixer
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-21 10:09:12 -04:00
Silvan Fuhrer 607c53e873 ROMFS: flying wing: enable CA by default and remove legacy mixer
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-21 10:09:12 -04:00
Silvan Fuhrer 4dabc8b7ed ROMFS: standard plane: enable CA by default and remove legacy mixer
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-21 10:09:12 -04:00
Thomas Stastny 87e09ad9f5 fw pos ctrl: auto landing refactor
- landing slope/curve library removed
- flare curve removed (the position setpoints will not be tracked during a flare, and were being ignored by open-loop maneuvers anyway)
- flare curve replaced by simply commanding a constant glide slope to the ground from the approach entrance, and commanding a sink rate once below flaring alt
- flare is now time-to-touchdown -based to account for differing descent rates (e.g. due to wind)
- flare pitch limits and height rate commands are ramped in from the previous iteration's values at flare onset to avoid jumpy commands
- TECS controls all aspects of the auto landing airspeed and altitude/height rate, and is only constrained by pitch and throttle limits (lessening unintuitive open loop manuever overrides)
- throttle is killed on flare
- flare is the singular point of no return during landing
- lateral manual nudging of the touchdown point is configurable via parameter, allowing the operator to nudge (via remote) either the touchdown point itself (adjusting approach vector) or shifting the entire approach path to the left or right. this helps when GCS map or GNSS uncertainties set the aircraft on a slightly offset approach"
2022-07-19 22:37:09 -04:00
Roman Dvořák ed14151734
Update Flight-gear bridge, Add support of TF-G2 autogyro flight-gear model (#19122)
* Add Transfer of RPM from FG to PX4,
	-switch FG_bridge module to ThudnderFlyaerospace

* Add TF-G2 flightgear sim target

* Add simulator support, fix astyle

* Update SITL TF-G2 airframe, update fg bridge

Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
2022-07-19 09:11:44 +02:00
Silvan Fuhrer 1e0235d87b ROMFS: remove outdated RWTO_MAX_ROLL from all configs
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-18 10:49:27 -04:00
RomanBapst 461d0561b8 replace FW_THR_CRUISE with FW_THR_TRIM
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2022-07-12 09:07:20 +02:00
Daniel Agar e1933f6ade ROMFS: execute rc.autostart (airframes) before starting dataman 2022-07-07 11:37:39 -04:00
Silvan Fuhrer b0490b9f6b ROMFS: assign all 4 tilts to motors to have them all tilt
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-06 09:04:52 +02:00
Igor Mišić 4b503c310e Merge PR #19575 (changes to pr-extendend_hw_ver_rev_format)
- 4096 of 3 hex digits each for rev and ver is enough.
    #defines used in SPI versions do not be long format, use use the macro
 - Board provides a prefix and the formatting is sized and built in
 - No need for funky board_get_base_eeprom_mtd_manifest interface
    Original mft is used where the abstraction is done with the MFT interface

Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
2022-07-05 09:29:26 +02:00
Martina Rivizzigno 55563eba49 MPC_SPOOLUP_TIME -> COM_SPOOLUP_TIME 2022-06-24 19:44:43 +02:00
Daniel Agar d5839e2dd5 optical flow sensor pipeline overhaul
- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
2022-06-20 20:56:56 -04:00
Alessandro Simovic de1fa11e96 New follow-me flight task
rename follow_me_status to follow_target_status

enable follow_target_estimator on skynode

implement the responsiveness parameter:
The responsiveness parameter should behave similarly to the previous
follow-me implementation in navigator. The difference here is that
there are now two separate gains for position and velocity fusion.
The previous implemenation in navigator had no velocity fusion.

Allow follow-me to be flown without RC

SITL tests for follow-me flight task

This includes:
- Testing the setting for the follow-me angle
- Testing that streaming position only or position
  and velocity measurements both work
- Testing that RC override works

Most of these tests are done with a simulated model
of a point object that moves on a straight line. So
nothing too spectacular. But it makes the test checks
much easier.

Since the estimator for the target actually checks new
measurements and compares them to old ones, I also added
random gausian noise to the measurements with a fixed seed
for deterministic randomness. So repeated runs produce
exactly the same results over and over.

Half of the angles are still missing in MAVSDK. Need to create
an upstream PR to add center left/right and rear left/right options.
These and the corresponding SITL tests need to be implemented
later.

sitl: Increase position tolerance during follow-me

Astro seems to barely exceed the current tolerance (4.3 !< 4.0)
causing CI to fail. The point of the CI test is not to check
the accuracy of the flight behaviour, but only the fact that the
drone is doing the expected thing. So the exact value of this
tolerance is not really important.

follow-me: gimbal control in follow-me

follow-me: create sub-routines in flight task class

follow-me: use ground-dist for emergency ascent

dist_bottom is only defined when a ground facing distance sensor exist.
It's therefore better to use dist_ground instead, which has the distance
to the home altitude if no distance sensor is available.

As a consequence it will only be possible to use follow-me in a valley
when the drone has a distance sensor.

follow-me: point gimbal to the ground in 2D mode

follow-me: another fuzzy msg handling for the estimator

follow-me: bugfix in acceleration saturation limit

follow-me: parameter for filter delay compensation

mantis: dont use flow for terrain estimation

follow-me: default responsiveness 0.5 -> 0.1

0.5 is way too jerky in real and simulated tests.

flight_task: clarify comments for bottom distance

follow-me: minor comment improvement

follow-me: [debug] log emergency_ascent

follow-me: [debug] log gimbal pitch

follow-me: [debug] status values for follow-me estimator

follow-me: setting for gimbal tracking mode

follow-me: release gimbal control at destruction

mavsdk: cosmetics 💄
2022-06-16 16:14:57 -04:00
Thomas Debrunner 46c9d1e288
SIH in SITL with lockstep (#19028)
* sih: Move sih out of work queue
This reverts commit bb7dd0cf00.

* sih-sim: Enable sih in sitl, together with lockstep

* sih-sim: new files for sih: quadx and airplane

* sih: Added tailsitter for sih-sitl simulation

* sitl_target: Added seperate target loop for sih

* jmavsim_run: Allow jmavsim to run in UDP mode

* lockstep: Post semaphore on last lockstep component removed

* sih-sim: Added display for effectively achieved speed

* sih: increase stack size

* sih-sim: Improved sleep time computation, fixes bug of running too fast

* sitl_target: place omnicopter in alphabethic order

Co-authored-by: romain-chiap <romain.chiap@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
2022-06-09 09:52:34 +02:00
Beat Küng 8bf18e31be SITL: enable failure command (SYS_FAILURE_EN=1) 2022-06-04 07:40:29 +02:00
Jaeyoung-Lim bf68d3433e Add omnicopter SITL model
F
2022-06-04 07:40:29 +02:00
Mark Sauder a1fb9fb7c6
rcS: Keep Mag Cal with AUTOCONFIG param reset in rcS, deprecate rcS AUTOCNF param (#19693)
* Deprecate the rcS AUTOCNF script param and associated logic.

* Update posix rcS to match previous commit.
2022-05-23 20:35:22 -04:00
Julian Oes 47bcee70c4 ROMFS: disable UAVCAN in HITL
Without this, uavcan creates MixingOutput classes which then create
empty actuator_outputs publications. This then prevents the motor
output in HITL to be forwarded to the simulator via mavlink.
2022-05-21 17:53:20 -04:00
Silvan Fuhrer 635f64a2e5 Commander: remove permanent stabilization option for fixed-wing flight
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-05-18 10:01:04 +02:00
Alessandro Simovic 5c1932dcca disable engine failure detector for SITL VTOL
Tried increasing ESC timeout for VTOL first

VTOL sitl tests are failing because the ESC telemetry seems to be coming
in at 0.3 Hz
2022-05-12 07:58:56 +02:00
Alessandro Simovic 06f69cd469 Add SITL tests for control allocation 2022-05-12 07:58:56 +02:00
Silvan Fuhrer ea2c1095c2 ROMFS: SITL tiltrotor: enable control allocaton and only tilt front motors
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-05-11 10:19:37 +02:00
Daniel Agar a71d101869 ROMFS: delete 3037_parrot_disco_mod airframe 2022-05-10 16:23:20 -04:00
Daniel Agar 42d7fb0b66 ROMFS: delete 3035_viper airframe and mixer 2022-05-10 16:23:20 -04:00
Daniel Agar 61c5d11375 ROMFS: delete 3034_fx79 airframe 2022-05-10 16:23:20 -04:00
Daniel Agar f1a1ed4958 ROMFS: delete 3030_io_camflyer airframe 2022-05-10 16:23:20 -04:00
Daniel Agar b00d0720cd ROMFS: delete 13010_claire airframe 2022-05-10 16:23:20 -04:00
Daniel Agar 451cc5058d ROMFS: delete minimal DJI airframes 2022-05-10 16:23:20 -04:00
Daniel Agar fa1891ace2 ROMFS: delete steadidrone airframes 2022-05-10 16:23:20 -04:00
Peter van der Perk b1ad4e8864 Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal
Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp
2022-05-10 09:46:18 -04:00
achim fc887a23af
boards: matek h743 mini 2022-05-06 10:09:14 -04:00
Silvan Fuhrer 20400cbb74 ROMFS: reduce FW_SPOILERS_LND to 0.4 to leave ailerons enough control authority
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-05-06 16:05:03 +02:00
Silvan Fuhrer 4b8f93de5c FW: rework spoiler/flap control logic
- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
    The flap settings for takeoff and landing are now specified relative to full range.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-05-03 15:11:21 +02:00
Silvan Fuhrer 21a2892f47 use actuator_controls[8] for collective tilt for tiltrotor VTOL, instead of [4]
[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-05-03 15:11:21 +02:00
Daniel Agar f390f52058 drivers/differential_pressure: remove lib/drivers/airspeed dependency and cleanup
- split ms4525_airspeed into separate ms4515 and ms4525 drivers
2022-04-26 08:39:19 -04:00
Silvan Fuhrer ae5725e71a ROMFS: fix typo in convergence and clair configs
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-04-23 10:29:57 -04:00
Daniel Agar 9073f3ccdf px4flow allow delayed background startup 2022-04-22 21:11:02 -04:00
Hamish Willee e1d3728208 13004_quad+_tailsitter - outputs mixed up 2022-04-22 07:34:05 +02:00
alexklimaj 6e0ac66c3c drivers/optical_flow: new PixArt PAA3905 optical flow driver 2022-04-14 16:47:53 -04:00
Daniel Agar 0a0987a6e0 ROMFS: move px4flow start to rc.sensors 2022-04-12 21:22:41 -04:00
Silvan Fuhrer 6096620828 ROMFS: remove duplicate setting of NAV_LOITER_RAD to 80
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-04-09 14:31:17 -04:00
Daniel Agar 98623f69a3 update mavlink submodule to latest
- update MAV_TYPE VTOL usage for current mavlink
2022-04-07 20:35:41 +02:00
alessandro 8af0eeae46
1011_iris_irlock: require precland (#19431) 2022-04-04 08:27:31 +02:00
Daniel Agar f4c3084c26 init adjustments to ensure used topics are advertised early (primarily for logging)
- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
2022-03-23 16:51:16 -04:00
Matthias Grob eee4aaee4f Commander: remove dynamic position velocity probation period 2022-03-23 15:04:48 -04:00
Daniel Agar 36e6527013 ROMFS: MAV_TYPE cleanup
- 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
2022-03-17 09:28:10 -04:00
Ncerzzk cb23179c50
Add Goertek SPL06 barometer driver (#19229)
Signed-off-by: ncer <huangzzk@bupt.edu.cn>
2022-03-15 10:13:03 -04:00
Konrad 963f6a91d9 exclude Mixer for Tailsitter with x motor configuration and elevons for fmu-v2 and omnibus to avoid flash size issues 2022-03-15 10:44:27 +01:00
JunwooHWANG 35af604a82
Added RTL Switch Setting for ATL Mantis Edu (#19267)
Co-authored-by: Junwoo Hwang <junwoo@auterion.com>
2022-03-02 16:57:20 +01:00
Beat Küng 76d8d8cae6 control_allocator: generic motor configuration for standard vtols
This adds the pusher/puller to the standard motors and makes the axis
configurable.
2022-02-25 08:30:58 +01:00
Beat Küng dce2968470 ROMFS: set CA_* + HIL_ACT_* params for hitl+sih airframes 2022-02-25 08:30:58 +01:00
Roman Dvořák 976c994156
Extend the PCF8583 driver to support multiple instances (#19232)
* Add some restart events into pcf8583 driver

Co-authored-by: Vít Hanousek <vithanousek@seznam.cz>
2022-02-21 16:47:16 -05:00
Daniel Agar fca886e05a drivers/irlock: add SENS_EN_IRLOCK parameter to start driver 2022-02-11 22:57:56 -05:00
alessandro 1febba315a mantis: disable optical flow fusion in EKF2
Above grass fields I can frequently observe position 
instabilities with the mantis due to the optical flow fusion.

Let's disable flow fusion for now.
2022-02-11 15:33:34 +01:00
Beat Küng 86860808e3 ROMFS: set CA_* geometry params for some of the generic airframes
Not enabled, makes it easier to switch.
2022-02-09 10:08:59 +01:00
Beat Küng a2ba613254 ROMFS: remove 4018 + 6003 ctrlalloc airframes 2022-02-09 10:08:59 +01:00
Julian Oes 490a0c473b Rename vmount to gimbal 2022-02-07 19:21:15 -05:00
Julian Oes 853047c643 Mantis: use gimbal auto input
This allows RC and mavlink gimbal v2 input.
2022-02-07 19:21:15 -05:00
Jaeyoung Lim 3dd5c1fbaf Enable NPFG by default on the believer 2022-02-02 17:16:19 +01:00
Roman Dvořák 2b1229786e Multi instance SHT3x driver support 2022-01-31 21:38:26 -05:00
Roman Dvořák ed475ca324 SHT3x driver
SHT3x driver, clean code
changes leading to merge TFHT with CUAV hygrometer
Delete humidity_temperature.msg
Update CMakeLists.txt
rename 'atmosphefir_quantities' to 'hygrometers'
fix logging
removed cmake files
fix PR issues
2022-01-31 21:38:26 -05:00
Daniel Agar 0104b84289 logger: PX4_SITL log all ekf2 publications at full rate for replay 2022-01-28 07:46:54 +01:00
Daniel Agar d2ce9a8560 ROMFS: rc.replay fix ulog_params argument 2022-01-28 07:46:54 +01:00
FARHANG fe44e281e5
ROMFS: Holybro X500 v2 airframe addition 2022-01-18 15:11:41 -05:00
Beat Küng 4cbee44220 rc.mc_defaults: only set IMU_GYRO_RATEMAX if default
Allows boards to set a higher rate.
2022-01-17 10:41:33 -05:00
romain-chiap 4e06b40e2b
sih: add tailsitter support, disable UAVCAN 2022-01-11 08:29:19 +01:00
Julian Oes 6ed48ad0c0 ROMFS: Remove now unused variable 2022-01-10 23:04:10 -05:00
Julian Oes b52972f3f8 ROMFS: remove duplicate startup tune
This must have come back in a rebase.
2022-01-10 23:04:10 -05:00
Julian Oes 1baecf07ad Mantis: remove startup tune volume
Let's just leave it at the default like the rest of the beeps.
2022-01-10 23:04:10 -05:00
Julian Oes 38439256e5 Mantis: move MIXER vars to airframe init
The two were actually conflicting and are now consolidated.
2022-01-10 23:04:10 -05:00
Julian Oes 14fb019821 Mantis: move SYS_DM_BACKEND to board_defaults
Otherwise it is set too late and not used during startup.
2022-01-10 23:04:10 -05:00
Julian Oes a061d7a02a Mantis: use dataman in RAM 2022-01-10 23:04:10 -05:00
Julian Oes b1a1e4913b Mantis: rotate flow by 180 degrees
This seemed to be exactly inverted.
2022-01-10 23:04:10 -05:00
Julian Oes 28d69d3285 Mantis: fix throttle RC calibration 2022-01-10 23:04:10 -05:00
Julian Oes b92aa92bec Mantis: fix mixer loading
The ordering before did not work out, and without the sleep it fails.
2022-01-10 23:04:10 -05:00
Julian Oes 24bdf79180 ROMFS: fix debug output 2022-01-10 23:04:10 -05:00
Julian Oes e4763f15f6 Mantis: add RC hacks
This changes the way RC is handled for the Mantis:
- The RC values are re-written when arriving over MAVLink. They are
  rescaled from 0..4095 to 1000..2000 and the channel bits added to
  separate channels. This makes the downstream handling easier.
- Gimbal pitch is moved from Aux1 to Aux2 as that should be the default.
- Aux3 and Aux4 are used for the photo and video trigger.
- The speed button is used as the FLTMODE channel and set to switch
  between POSCTL and ALTCTL.
2022-01-10 23:04:10 -05:00
Julian Oes 1754e25920 vmount: add param to use RC input for angular rate
Until now RC input was translated to angles only. I added the param
MNT_RC_IN_MODE which allows the RC input to be used for angular rate.
2022-01-10 23:04:10 -05:00
Julian Oes 7d09635fb6 ROMFS: add option for dataman args
This is required for boards requiring dataman in RAM.
2022-01-10 23:04:10 -05:00
Julian Oes bb09646b41 ROMFS: allow the output config to be skipped
This is required for the ATL Mantis-EDU.
2022-01-10 23:04:10 -05:00
Julian Oes 0fbb03dee1 ROMFS: add option for startup tune volume
Otherwise the CBRK_BUZZER param does not work as it should.
2022-01-10 23:04:10 -05:00
Julian Oes fa282cfe86 Mantis: make startup less loud 2022-01-10 23:04:10 -05:00
Julian Oes 2b4b87571c Mantis: adapt RC calibration
This is with a newer RC firmware.
2022-01-10 23:04:10 -05:00
Julian Oes 856e229482 ROMFS: reset the startup sound for Mantis 2022-01-10 23:04:10 -05:00
Julian Oes 1be4e35ed4 ROMFS: move startup sound further down
This way it works for the Mantis where the tap_esc driver needs to be
running before beeping is posssible.
2022-01-10 23:04:10 -05:00
Julian Oes 185e4cfd48 Mantis: set range finder limits, and min quality
The limits might somewhat match the sensor, guessed based on the
original driver.

The quality is set so that spikes when sitting on the ground are not
used.
2022-01-10 23:04:10 -05:00
Daniel Agar 2e2ac36cab
drivers/uavcan: make firmware server available on both CAN1/CAN2 always (if enabled)
- uavcan firmware server no longer shuts down when arming (nodes might restart in flight)
 - always handle UAVCAN parameters with or without the FW server active
 - remove legacy ESC enumeration in FW server
2022-01-10 11:13:02 -05:00
Daniel Agar daa925137c boards: move default battery calibration defines to parameter defaults 2022-01-10 09:49:36 -05:00
romain-chiap 4264ec992d Update 1101_rc_plane_sih.hil
This bugged me for a while, the sih FW would not takeoff from the ground. Now, I found it!
2022-01-05 16:18:53 -05:00
Matthias Grob bbb04ab4b8 Remove relaying of maximum altitude through land detector 2022-01-05 14:54:59 +01:00
Daniel Agar 7df1721d32 ROMFS: rcS disable simplistic SD I/O test
- this was added when trying to identify SD card issues at boot and
trigger a format, but didn't provide any value
2022-01-01 18:43:27 -05:00
Daniel Agar 990d7c159d pwm_out: cleanup and prep for linux compatibility 2021-12-28 11:04:00 -05:00
Silvan Fuhrer 1ad66e606b ControlAllocation: introduce convention for control surface deflection sign
- 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>
2021-12-24 20:06:13 -05:00
Beat Küng 203e253dfe airframes: sitl boat: switch to dynamic control allocation 2021-12-24 20:06:13 -05:00
Beat Küng 8486ca5766 airframes: sitl cloudship: switch to dynamic control allocation 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 07306c4be3 control_allocator: add support for Tailsitter VTOL
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-12-24 20:06:13 -05:00
Beat Küng d688e5dee4 sitl airframes: add control allocation config to some airframes (not enabled)
To use them, manually set SYS_CTRL_ALLOC
2021-12-24 20:06:13 -05:00
Beat Küng 2362feddac airframes/uuv_bluerov2_heavy: switch over to control allocation 2021-12-24 20:06:13 -05:00
Beat Küng 43e15148f6 rover: switch sitl configs to control allocation 2021-12-24 20:06:13 -05:00
Beat Küng 70e46a194f control_allocator: major refactoring & additions
- 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
2021-12-24 20:06:13 -05:00
Beat Küng 230aae580f ROMFS: add control_allocator to all types 2021-12-24 20:06:13 -05:00
Daniel Agar 14c2225b1c ROMFS: rcS dump parameter backup contents before using
- this is mainly for debug comparion
2021-12-23 17:45:50 -05:00
Thomas Debrunner 43bc6db99e PPS capture: Add a param to enable / disable PPS capture module. This is important, since it takes over an FMU pin which can no longer be used for actuator output. 2021-12-17 07:56:08 +01:00
Igor Mišić 298a8c4637 boards/fmu-v5x: allocating PPS pin
- start pps_capture before pwm_out
2021-12-17 07:56:08 +01:00
Daniel Agar ca3f6f59f9 dataman: add SYS_DM_BACKEND parameter 2021-12-10 09:10:02 -05:00
Daniel Agar 1f6acd0171 parameters: add simple backup and restore mechanism 2021-12-06 09:37:08 -05:00
Daniel Agar e692f4ca01 ROMFS: rcS param import fail try to gather data
- startup tune and console message to notify user
 - save dmesg and param bson copy to microsd
 - run param dump to show full contents of bson
2021-12-06 09:37:08 -05:00
Julian Oes 7c0165ea0c ROMFS: avoid setting none params 2021-12-02 11:40:26 -05:00
Julian Oes f537b30c86 init.d-posix: exit on error
This fixes a case where the px4 startup is not stopped when the
px4 process is killled using -SIGKILL against the px4 deamon.
In that case, the currently executing command/client is killed
and properly shutting down with result -1, however, the next command
is started anyway.

This means that the next time we try to run the simulation we get a
"PX4 daemon already running for instance 0" error and PX4 doesn't start
properly.

By adding exit on error, we properly exit in the case where the startup
script gets stopped/killed.
2021-12-02 11:40:26 -05:00
Silvan Fuhrer 42845d6c6e SITL configs VTOL/plane: improve SITL tuning a bit
remvoe some tecs params from configs that acutally lead to worse performance than defaults

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-11-26 09:24:23 -05:00
Daniel Agar c049c26ac5 ROMFS: rcS attempt to format SD if .format file exists 2021-11-25 13:11:45 -05:00
Beat Küng 2809dd8944 control_allocator: remove min/max/scale params 2021-11-23 12:40:22 -05:00
Beat Küng f99c2617ad control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults 2021-11-23 12:40:22 -05:00
Beat Küng dbc889a2ae rc.mc_apps: remove 'param set MPC_USE_HTE 0' for control allocation
this is working now
2021-11-23 12:40:22 -05:00
Silvan Fuhrer e596607e2e minor comments update
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-11-23 14:48:51 +01:00
Daniel Agar f5d9b01f5c
NuttX build in place
- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
    - slightly faster skipping necessary copying (depending on system)
    - allows debugging in place
    - easier to work directly in NuttX following official documentation
    - simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
 - the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
 - also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
2021-11-15 18:47:38 -05:00
Julian Oes 4a5ef1c81e ROMFS: whitespace 2021-11-09 16:05:25 +01:00
Julian Oes eeb7682fd9 ROMFS: start manual_control for SITL 2021-11-09 16:05:25 +01:00
Daniel Agar 2d816e0b3e [WIP] manual_control selector hacks 2021-11-09 16:05:25 +01:00
Daniel Agar 9c15be22d6 mc_autotune_attitude_control: add new MC_AT_EN parameter to enable
- only enabled by default on boards that aren't memory constrained
2021-11-05 09:52:07 -04:00
Jaeyoung-Lim 5dcaadf492 Fix px4vision defaults 2021-10-25 16:29:52 -04:00
bresch 55f0860c31 fw atune: add fixed-wing auto-tuning module 2021-10-25 13:41:31 +02:00
Thomas Debrunner f4a85fa951 rcS: Allow startup files to be located on SD card 2021-10-19 14:08:38 -04:00
mcsauder 21163d859e Whitespace cleanup. 2021-10-19 13:29:26 -04:00
Daniel Agar b08f20806b ROMFS: rcS don't play startup tune until after UAVCAN and px4io
- fixes potential duplicate startup tune
2021-10-18 21:37:09 -04:00
Beat Küng e36a8f3765 ROMFS: disable vtol airframes for kakutef7 2021-10-18 18:45:19 -04:00
Beat Küng ab1d76ae7d params: use PWM_MAIN_* instead of PWM_FMU_* 2021-10-18 18:45:19 -04:00
Beat Küng 838ec5d485 airframes: set output function params for ctrlalloc airframes 2021-10-18 18:45:19 -04:00
Beat Küng a01cf2efc0 rc.mc_apps: allow to set COM_PREARM_MODE with control allocation
This is safe now.
2021-10-18 18:45:19 -04:00
Beat Küng c1e5e666f0 pwm_out, dshot: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng 38fa65a47e control_allocator: remove direct mixer, add actuator_{motors,servos} instead 2021-10-18 18:45:19 -04:00
Beat Küng a51c465b54 control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets 2021-10-18 18:45:19 -04:00
mcsauder a732ddaefb Deprecate 4250_teal from CMakeLists.txt. 2021-10-13 17:25:18 -04:00
mcsauder c1b0d78077 Minimize flash by migrating MIXER quad_x and PWM_OUT 1234 to rc.mc_defaults. Deprecate 4250_teal config file. 2021-10-13 17:25:18 -04:00
Jaeyoung-Lim e2f048f608 Add sitl glider model
Add airframe configs for SITL glider model

This commit adds an airframe config for a glider model
2021-10-10 12:33:25 -04:00
bresch d1a2d6e1aa h480_ctrlalloc: tune rate controller 2021-10-08 09:35:40 +02:00
bresch 21b1f090e6 SITL: add typhoon_h480_ctrlalloc target 2021-10-08 09:35:40 +02:00
bresch b18b7e84d2 CA pseudo-inverse: normalize control allocation matrix 2021-10-08 09:35:40 +02:00
bresch 212df95193 ctrlalloc: use normal rate controller 2021-10-08 09:35:40 +02:00
Silvan Fuhrer fb8bf7eaa6 ROMFS: remove default params from configs
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>
2021-10-07 09:22:59 -04:00
Daniel Agar 6d78054f50
mavlink USB auto start/stop on boards with VBUS
- no longer start sercon or mavlink usb by default
 - on USB connection (VBUS) monitor serial USB at low rate and start Mavlink if there's a HEARTBEAT or nshterm on 3 consecutive carriage returns
 - the mavlink USB instance is automatically stopped and serdis executed if USB is disconnected
 - skipping Mavlink USB (and sercon) saves a considerable amount of memory on older boards
2021-10-03 15:32:54 -04:00
bresch 1443f773da mbe: add module to targets 2021-10-02 21:25:21 -04:00
bresch cd61065aea sitl: start MC autotune module 2021-10-02 18:12:05 -04:00
bresch 76615f8df3 VTOL: set HTE horizontal speed sensitivity threshold low 2021-09-25 20:07:28 -04:00
Daniel Agar 089c962d92 px4io: moving mixing to FMU side
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
2021-09-25 19:15:05 -04:00
Beat Küng 5b674ea831 ROMFS: remove some airframes and mixers on v2 to reduce flash 2021-09-11 14:08:41 -04:00
Beat Küng 1ee423e3c8 pwm_out, dshot: remove mode_* handling and capture ioctl's
They now use all unused pins, whereas camera_capture, camera_trigger and
pwm_input modules start before to reserve their pins.
2021-09-08 16:10:24 -04:00
Daniel Agar 000765e9f0 NuttX mount procfs and binfs in px4 init 2021-09-08 10:21:24 -04:00
Daniel Agar 40e5477edb NuttX boards fix mkfatfs and rcS logic 2021-09-01 15:16:00 -04:00
David Sidrane 1618933014 rcS:Scope netman to all 5X and 6X 2021-08-20 10:15:57 -04:00
David Sidrane 8952fa2935 rc.sensors:Fix Shell Check warning 2021-08-13 14:22:00 -04:00
Daniel Agar 3f172dbfa7 ROMFS: new parameters for starting differential pressure sensors 2021-08-12 10:11:13 -04:00
TSC21 a930edf34b init.d-posix: rcS: allow to use a different startup config to the micrortps_client in UDP 2021-08-12 08:44:53 +02:00
Daniel Agar c8366e736e ROMFS: update ATL Mantis EDU optical flow defaults 2021-08-08 14:21:28 -04:00
romain-chiap 718e5b5b5d
sih: add fixed-wing support 2021-08-05 09:16:14 +02:00
Daniel Agar be2f65be35 drives/tap_esc: refactor to use OutputModuleInterface 2021-08-04 17:15:24 -04:00
Daniel Agar e900f2ea54 boards: Advanced Technology Labs (ATL) Mantis EDU support and airfarme (SYS_AUTOSTART 4061)
Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: Daniel Agar <daniel@agar.ca>
2021-08-04 17:15:24 -04:00
Beat Küng b9e2d2c0f2 4100_tiltquadrotor: remove LED_RGB_MAXBRT 2021-08-03 10:36:25 +02:00
Beat Küng 95789252d0 airframes: minor param cleanups (remove commented 'param set') 2021-08-03 10:36:25 +02:00
Hyungsub 1e2877cedf Tune down solo roll rate controller 2021-08-02 07:51:13 +02:00
Daniel Agar e84c6664bb ROMFS: update airframes/4901_crazyflie21 legacy battery parameter 2021-07-23 19:58:38 -04:00
Daniel Agar 6f4111e073 ROMFS: update airframes/17003_TF-G2 legacy battery parameter 2021-07-23 19:58:38 -04:00
Blake McHale 4a436f1ac9 Add missing receive port arg to micrortps_client start 2021-07-13 21:42:10 -04:00
Daniel Agar ad11927661 ROMFS: delete redundant wing mixers
- these are nearly identical with slightly different scaling and haven't been tested for years
2021-07-13 21:12:11 +02:00
Daniel Agar 3924f0ef30 ROMFS: delete Hobbyking Micro PCB 2021-07-13 14:07:45 -04:00
Jaeyoung-Lim db1dc1c9a1 Add airframe configuration and make target for believer
This commit adds an airframe configuration and make target for believer
2021-07-13 18:04:52 +02:00
Daniel Agar d8704cee67 platforms: px4 log build string then print (fputs) 2021-07-10 13:14:49 -04:00
Daniel Agar c5b1fe86ca delete deprecated BAT_* parameters 2021-07-08 22:19:12 -04:00
Beat Küng 32fe63916d mixers: exclude FX79.main.mix from px4_fmu-v2 2021-07-08 10:07:52 +02:00
Beat Küng d30720c960 airframes: exclude some mixers + airframes (HIL, vtol) from fmu-v2
To reduce flash
2021-07-07 21:38:09 -04:00
Matthias Grob acf848ba99 PWM: Draft implementation to respect PWM_OUT when loading defaults 2021-07-02 12:48:04 +02:00
Jaeyoung-Lim e45b862f1d Specify orientaiton of ADIS16448 IMU from rc.sensors
Specify orientaiton of ADIS16448 IMU for from the rc.sensors

WIP: Currently only handling one orientation
2021-06-30 09:34:12 -04:00
TSC21 145e7387fb posix: start the microRTPS client in sim every time the module is available 2021-06-21 16:36:44 +02:00
Hamish Willee d6f69ef2a0 aion robotic frame - fix broken link to R1 UGV docs 2021-06-12 11:58:26 -04:00
David Sidrane e0fab172a4 camera_trigger:Support more than 8 channles 2021-06-11 15:13:23 +02:00
echoG 6bc09138c1
Adding BatMon smart battery as a module and refactoring SMBUS based SBS 1.1 spec to a library 2021-06-09 12:17:45 -04:00
achim 6fb1ba7583 Update rcS
remove sd index file spoofing
2021-06-04 11:43:17 -04:00
Matthias Grob 70050ae4f5 mc_pos_control_params: correct MPC_POS_MODE docs since 1 is depracated 2021-06-04 09:32:03 -04:00
Daniel Agar ad0482155e ROMFS: reduce LOGGER_BUF default to 8 kB on older boards 2021-05-12 17:06:33 +02:00
Silvan Fuhrer c8ec6b3d08 Airspeed selector: remove ASPD_STALL and replace by FW_AIRSPD_STALL
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-05-10 13:43:05 +02:00
Yannick Fuhrer 759a60ac82 Update rc.vtol_defaults
based on our experience with VTOL it makes sense to change the yaw mode default. You always want your VTOL to yaw in transition direction before starting the transition.
2021-05-01 10:45:14 -04:00
korotkoves d62204856c ROMFS/px4fmu_common/init.d-posix/rcS: split and source data from files in PATH 2021-04-28 09:00:47 +02:00
Matthias Grob 789d91900d commander_params: lower COM_DISARM_PRFLT but disable for fixed-wing 2021-04-21 14:55:04 +02:00
Lorenz Meier 6bc11596fe VTOL mixer: Correct alt rate channels
The baby shark config did mark main rate outputs (50 Hz) as alt rate, resulting in the alt rate being set to 50 Hz.
2021-04-13 18:39:27 +02:00
Daniel Agar f33fee99c1 ROMFS: init.d-posix/airframes migrate EKF2_GPS_MASK -> SENS_GPS_MASK 2021-04-06 13:48:40 -04:00
Daniel Agar e05a4badf8
ROMFS: rcS start uavcan earlier
- starting this earlier is a minor improvement for things like lights and buzzers on UAVCAN or parameter sync over mavlink
2021-04-06 09:48:11 -04:00
Daniel Agar f9460107d0 cleanup PWM param naming inconsistencies 2021-04-05 22:41:06 -04:00
Daniel Agar 54438140e1 ROMFS: posix airframes update to new parameter defaults mechanism (AUTOCNF replacement) 2021-04-05 15:29:34 -04:00
Daniel Agar 357b322eb5 ROMFS: tune_control stop if px4io update fails 2021-04-05 11:49:55 -04:00
Daniel Agar ad934b4911
icm20948 i2c passthrough driver for ak09916 magnetometer (Here+ GPS/compass)
- 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)
2021-04-04 21:18:16 -04:00
Jaeyoung-Lim 01083cecfc Enable adis16448 with parameter
This commit adds enabling adis16448 with a parameter
2021-04-03 13:58:25 -04:00
斯东Stone e789124bd9 Remove duplicated line in 50003_aion_robotics_r1_rover 2021-04-01 09:36:20 -04:00
Chris Lovett 292a66ce41
Add support for simulators running on a different host than the PX4 instance 2021-03-31 20:56:38 -04:00
Beat Küng 9dd6bef7f9 autostart scripts: remove SYS_PARAM_VER
With the airframe defaults there's no use for that anymore
2021-03-31 20:12:05 -04:00
Bastian Jäger 752bc9ebce
startup scripts: fix rc.mavlink_override 2021-03-31 14:05:24 +02:00
TSC21 eca4d90a91 init.d-posix: adjust COM_OBC_LOSS_T when using PX4_SIM_SPEED_FACTOR 2021-03-31 13:25:01 +02:00
Daniel Agar 3d667b1675
delete unused drivers/lights/blinkm 2021-03-28 19:21:29 -04:00
Silvan Fuhrer 3983f0b833
ROMFS: add new VTOL config and mixer (generic quadplane tiltrotor VTOL) 2021-03-23 19:55:19 -04:00
Julian Oes 2ab276f5ca ROMFS: disable MAVLink broadcast by default
I don't think we should be broadcasting by default as we haven't done
that in the past. This suddenly spams the network with a lot of
messages, and leads to confusing situations in offices where there are
multiple PX4 SITL and QGC intances are open.
2021-03-23 12:54:46 -04:00
Daniel Agar 7c2b945c21 ROMFS: posix rcS add gyro_fft and gyro_calibration start 2021-03-18 10:04:04 +01:00
Daniel Agar 1429423876 gyro_fft: support sensor_gyro (non-fifo) 2021-03-18 10:04:04 +01:00
Lorenz Meier d35ce21594 PWM out: Ensure correct loading on single-bank targets 2021-03-17 22:03:18 +01:00
Lorenz Meier 935cc05c47 FMU PWM OUT: Start driver in interface 2021-03-17 22:03:18 +01:00
Lorenz Meier 0efa7556fe VTOL airframe: Remove spurious tab 2021-03-17 22:03:18 +01:00
Lorenz Meier 595b3a05fb Draco airframe: Remove tabs 2021-03-17 22:03:18 +01:00
Lorenz Meier 4af42be3f3 IFO-S airframe: Remove tabs 2021-03-17 22:03:18 +01:00
Lorenz Meier e887aa902f IFO airframe: Remove tabs 2021-03-17 22:03:18 +01:00
Lorenz Meier 06f7c49d3a Baby-shark airframe: Remove spurious tabs 2021-03-17 22:03:18 +01:00
Lorenz Meier c904767f1d Always start airspeed
This ensures we get readings in the log and in the telemetry even if the sensor is disabled.
2021-03-17 22:03:18 +01:00
Lorenz Meier 891b231215 Ensure that AUX mixer is loaded when 2nd bank is present 2021-03-17 22:03:18 +01:00
Lorenz Meier 38f306908d Remove PWM14 VTOL airframe 2021-03-17 22:03:18 +01:00
Daniel Agar e7722b11eb pwm_out multi-instance support
PX4 uses banks of 8 outputs as a logical structure. Boards that have
more outputs than 8 get multiple instances. This is an arbitrary choice
that helps with overall structure and enables the mixing of different
device classes (like FMU, IO or UAVCAN).
2021-03-17 22:03:18 +01:00
Daniel Agar 2257c3767e simple gyro auto calibration module 2021-03-15 09:46:47 +01:00
David Jablonski 02abb760a3 SITL: add iris with fog-simulating lidar 2021-03-11 00:39:09 +01:00
Daniel Agar f8eaa6e46b ROMFS handle bl_update generically
- include all available legacy bootloaders
2021-03-11 00:38:18 +01:00
Jaeyoung-Lim 1d66b033a4 Append mixer with aux outputs 2021-03-10 07:15:53 +01:00
Jaeyoung-Lim 0db29866f1 Add standard_vtol drop 2021-03-10 07:15:53 +01:00
Daniel Agar 4d288512b5 add board architecture specific init defaults 2021-03-09 19:59:41 +01:00
Kevin Dominic Merkel d5e468a19e
change typhoon_h480 roll-/pitchrate P gain to reduce oscillations (#17044) 2021-03-07 18:18:00 +01:00
Nicolas MARTIN 66beffa2f3 Enable pre-arm checks in HIL modes
by airframe parameters HIL mode will still disable:
 - usb check
 - power checks
 - safety switch
2021-03-05 21:23:31 +01:00
Gonçalo Atanásio 9f6c882d2a
boards: crazyflie v2.1 Default to EKF2 with no MAG
Co-authored-by: TheLegendaryJedi <goncalo.atanasio@gmail.com>
2021-03-04 19:30:17 -05:00
Daniel Agar c9a2d0ed34 IMU_GYRO_RATEMAX set system default to 400 Hz
- MC default is still 800 Hz
2021-03-02 10:08:49 -05:00
Daniel Agar fd1fff89d4 dataman: remove flash backend 2021-02-26 00:28:48 +01:00
Daniel Agar ac5167b459 init.d-posix: delete rc.mavlink_override 2021-02-25 13:44:19 -08:00
garfieldG 8db37225d6 Added rc.mavlink_override to test the new parameters with sitl 2021-02-25 08:52:38 -08:00
garfieldG 3cd9b3c2cf Added support in Mavlink Ethernet channel parameters
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
2021-02-25 08:52:38 -08:00
Beat Küng 3fa825bf88 boards: remove intel/aerofc-v1
it's discontinued
2021-02-25 09:28:37 -05:00
Beat Küng 7e33d03470 drivers: remove tap_esc
- it's not used anymore
- it would need a refactoring to use mixer_module
2021-02-25 09:28:37 -05:00
Beat Küng 8986264feb airframes: remove aerofc as it's discontinued 2021-02-25 09:28:37 -05:00
JacobCrabill 35f822fca6 uavcan_v1: Working ESC setpoint pub/sub 2021-02-24 19:22:11 +01:00
Lorenz Meier aacbc04730 PX4IO: Robustify upgrade process
These changes remove the two code paths to updates (forceupdate and update) and try to reboot and bootload IO independent of its state, wether it is in bootloader mode already, safety switch is off or if it is in "nominal state" (running and safety on). This ensures that there are no conditions where user error or boot sequence can prevent a successful upgrade. The only state where an upgrade will not be done is if the system is fully armed.
2021-02-21 19:56:16 -05:00
Julian Oes fecd96dc28 ROMFS: add remote port for gimbal mavlink instance
Previously, we did not set a remote port which meant that the default
remote port 14550 was used. This meant that the mavlink instance
talking to the gimbal was interfering with the connection to the ground
station (on 14550).
2021-02-17 13:54:34 -05:00
Julian Oes 6f56797f3d mavlink: hack to forward messages from gimbal
This is a hack to make sure the messages from the gimbal arrive at other
links (e.g. the ground station). It means that the gimbal does not get
flooded with all other messages that would get forwarded but messages
from the gimbal will still make it through.
2021-02-17 13:54:34 -05:00
Julian Oes b8ad7092dc mavlink: use Mavlink 2 by default 2021-02-17 13:54:34 -05:00
Julian Oes 8da3a490af ROMFS: use gimbal v2 protocol with typhoon_h480 2021-02-17 13:54:34 -05:00
Julian Oes 642adbead8 if750a: use MAVLink gimbal v2 device 2021-02-17 13:54:34 -05:00
Julian Oes e6b1775bb6 vmount/navigator/mavlink: gimbal v2 changes
This is a collection of commits all having to do with changes in the
Mavlink gimbal v2 protocol as described in:
https://mavlink.io/en/services/gimbal_v2.html
2021-02-17 13:54:34 -05:00
Julian Oes 422bac4bfd mavlink: add gimbal mode to talk to gimbal device 2021-02-17 13:54:34 -05:00
Julian Oes a16939f47e ROMFS: start mavlink instance for gimbal 2021-02-17 13:54:34 -05:00
Daniel Agar ab0d0fd0be
uORB move to PX4 platform layer 2021-02-17 11:25:56 -05:00
Tim 540e4f9464
Uuv position control extension (#16688)
* 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
2021-02-15 18:40:28 +01:00
Lorenz Meier ec2cf70276 Rover position controller: Modernize implementation
This commit moves the steering output from yaw to the roll channel to better reflect the lateral control input / reaction mapping. It also removes old unused parameters and modernizes the mainloop to remove unnecessary polling.
2021-02-14 11:17:28 +01:00
Lorenz Meier bb0b4db028 ROMFS: Better defaults for rover 2021-02-14 11:17:28 +01:00
Lorenz Meier 3135e4d31a SITL: Set correct L1 period 2021-02-14 11:17:28 +01:00
Lorenz Meier 9d20dea3b8 Rover: remove unused parameter 2021-02-14 11:17:28 +01:00
Daniel Agar fb2a199621 delete unmaintaned mkblctrl driver 2021-02-14 10:38:15 +01:00
Daniel Agar e6bc6438e8 ROMFS: airframes use new param default mechanism 2021-02-12 08:27:47 -05:00