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24 Commits

Author SHA1 Message Date
Lorenz Meier 50bd148f53 Aero: Update maintainer 2018-01-06 12:19:31 +01:00
Julian Oes 7229ec2a37 Move throttle check from land detector to posctrl 
This commit is an attempt to fix a race condition happening on takeoff
between the land detector and the multicopter position controller.

Previously, an auto-takeoff leads to the following events:

1. A takeoff setpoint is given.
2. The thrust setpoint spikes because we don't enter smooth takeoff yet.
3. The land detector detects a takeoff because of the high thrust.
4. The position controller sees the landed state transition and
   initiates the smooth takeoff. Thrust goes back down.
5. Depending on control gains the takeoff is successful or fails
   if the smoothing takes too long which causes thrust to be too low, so
   the land detector detects land again.

The two obvious problems with this are:
- The intermittent spike.
- The failed takeoff because of the smoothing leads to a delay..

With this change, the logic for a takeoff detection is moved from the
land detector to the position controller.

The events are now:

1. A takeoff setpoint is given.
2. The position controller detects the takeoff setpoint and initiates
   the smooth takeoff.
3. As thrust ramps up, the land detector detects the take off.

In the same way, we now detect the intent to takeoff in manual,
altitude, control, position control in the position controller instead
of in the land detector.
 2017-10-09 19:05:15 +02:00
David Sidrane c01889ea4f ROMFS:Removed fmuv1 exclude from Air Frames 2017-09-10 13:37:23 -04:00
Lucas De Marchi 9d6aee82dd aerofc: switch companion baud to 921600 2017-09-05 20:28:15 +01:00
Beat Küng 69f0288649 aerofc airframe: RTF -> Ready to Fly Drone & add maintainer 2017-07-14 11:57:11 +02:00
Lorenz Meier 86acaf0159 Quad configs: add class field 2017-06-27 11:07:03 +02:00
Beat Küng 882c5bbdc9 4070_aerofc: update MPC and LND parameters 2017-04-06 12:18:30 +02:00
Lucas De Marchi c39e9a9695 ROMFS: aerofc: set default EKF2 params 2017-04-06 12:18:30 +02:00
Lucas De Marchi e535156599 ROMFS: set baudrate to 460800 for aerofc 
We are getting way to much transfer errors with high baudrate
 2017-04-06 12:18:30 +02:00
José Roberto de Souza 340be986a6 ROMFS: aerofc: Switch from sdlog2 to logger 
Logger have adds support of ULog over MAVLink and it will be used in AeroFC.
 2017-01-28 11:03:07 +01:00
Lorenz Meier f795fb0535 Disable Aero on non-Aero boards 2016-12-21 08:37:45 +01:00
Lucas De Marchi f48605b975 Revert "aerofc: use logger when autoconfig" 
This reverts commit e4e5a77f71.
 2016-12-20 08:56:38 +01:00
Beat Küng 176c6e0df2 aerofc config: update default parameters for attitude & position controllers 2016-12-05 18:08:44 +01:00
Beat Küng e4e5a77f71 aerofc: use logger when autoconfig 2016-12-05 18:08:44 +01:00
Lorenz Meier 899fb8d3c5 Aero: Add integrator gains for attitude control 2016-12-02 23:39:30 +01:00
Lucas De Marchi 2fb09b7978 Add AUTOCNF to Intel Aero RTF 
Thanks to Beat Küng for improved tuning.
 2016-11-28 09:21:12 +01:00
Lucas De Marchi f51595ab16 Fix setting output mode in the wrong place 
Make it common with other boards
 2016-11-28 09:21:12 +01:00
Lucas De Marchi 8fe765c3aa Change drone name 
This is the file to set things related to the Intel Aero RTF.
 2016-11-28 09:21:12 +01:00
Lucas De Marchi 4989f8d40a aerofc: start mavlink to communicate with Aero Compute Board 2016-11-28 09:21:12 +01:00
José Roberto de Souza 873901c7cd aerofc: Sleep for some time to wait tap_esc startup 
Or mixer load will fail
 2016-11-28 09:21:12 +01:00
Lucas De Marchi 99bb7be10f aerofc: leave OUTPUT_MODE as rcin 
So it just does rcin and does not try to do the other initializations.
 2016-11-28 09:21:12 +01:00
Lucas De Marchi 3b3d4f385c aerofc: fix UART port assignments 2016-11-28 09:21:12 +01:00
James Goppert 893714dc6a aerofc: Fixes for init 2016-11-28 09:21:12 +01:00
José Roberto de Souza 15c75ebb40 aerofc: Add autostart script 
As ASC use a non-standard UART for mavlink it is necessary check for
the board name and set SYS_AUTOSTART to initialize mavlink on the
right interface otherwise there is no way to change the SYS_AUTOSTART.
 2016-11-28 09:21:12 +01:00