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34082 Commits

Author SHA1 Message Date
David Sidrane 85bd04f0c7 can-gps-v1:canbootloader Fixed 2021-01-13 22:06:46 -05:00
David Sidrane 3e08fd6682 can-gps-v1: Removed GPIO_CAN_CTRL 2021-01-13 22:06:46 -05:00
David Sidrane c2c92cb2c8 can-gps-v1: Added LED pin 2021-01-13 22:06:46 -05:00
David Sidrane cdae8bf168 can-gps-v1:Fixed Clock 2021-01-13 22:06:46 -05:00
Daniel Agar a0d8d5ac74 sensors/vehicle_gps_position: untangle and remove unnecessary state 2021-01-13 20:17:49 -05:00
Daniel Agar bc8ec5d1f5 uavcannode: support optical_flow 2021-01-13 19:35:28 -05:00
RomanBapst 47364ce8d6 updated tuning for gazebo plane airframe config 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst f05599caff tecs: use speed derivative provided by local position 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer b230bbfe88 ROMFS: remove outdated TECS parameter from configs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
RomanBapst e546584555 tecs: moved trivial getter methods to header file 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Roman Bapst 701c105ab6 Update src/lib/tecs/TECS.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst fa559aef43 TECS: stop learing integrator if airspeed is not available, but don't zero it 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst d4d1c0fe01 TECS: some cosmetics 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 97cc1e25dd TECS: hande pitch and throttle integrator saturation consistently 
- don't decay integrator during saturation but prevent it from being learned
into the direction which causes more actuator saturation

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 77627a08ca TECS: don't allow speed height weights to be larger than one 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer dca89763b3 TECS: apply FW_LND_THRTC_SC to altitude error time constant 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 3d3ff75495 TECS: update some params to latest results from flight testing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 3102b9f071 TECS: remove throttle integral limits 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 987c320825 TECS: removed unused parameter 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 5c4c2c240c tecs: dot not clip throttle integrator during saturation but only allow 
it to propagate into a direction which does not saturate

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 2ca4269464 TECS: separate integral gains for throttle and pitch loops 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 72dfb2078a TECS: adapt params to new control structure 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 01f891618b TECS: move to new control loop architecture 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 447e14906c TECS: log more TECS states to enable better analysis 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 8823f5e1ec TECS: added method to get SKE weighting 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst d0e8b882a2 TECS: added alpha filter classes to energy rate and tas derivative 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
xdwgood cabb50a67b 13001_caipirinha_vtol:Ensure that the max/min pwm changes take effect 2021-01-13 11:32:01 +01:00
Julian Kent be0f5a7fe4 Fix implicit float->double conversions in tests 2021-01-13 10:26:10 +01:00
Julian Kent 2d6758a39d Cleanup of dataman mocks and check interval definition 2021-01-13 10:26:10 +01:00
Julian Kent a97a4d8bb8 Fix enum and param update 2021-01-13 10:26:10 +01:00
Julian Kent c745c8bb45 Small navigator refactor/cleanup 2021-01-13 10:26:10 +01:00
Julian Kent 04d859e36e Fix test failure from parameter autosave starting WQ 2021-01-13 10:26:10 +01:00
RomanBapst f97dcde4e2 GeofenceBreachAvoidanceTest: added tests for max dist to home 
Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
RomanBapst 3fa15cec91 GeofenceBreachAvoidance: improve behavior when using max dist to home option 
- ensure that the vehicle is loitering with sufficient clearance to the boundary

Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
Julian Kent a5dfa0c803 Add helper function for decel distances 
Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 10:26:10 +01:00
RomanBapst 0ac597fba8 Use new GeofenceBreachAvoidance from Navigator 
Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
RomanBapst e536868104 Add GeofenceBreachAvoidance class 
Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
Julian Kent 8622c21496 Move VelocitySmoothing to new motion_planning library 
Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 10:26:10 +01:00
Jannik Beyerstedt 3834690c4b Add parameter to select the set of used GNSS systems 2021-01-13 08:33:07 +01:00
JacobCrabill 917fef546a uavcan: Remove single-GNSS limitation from UavcanGnssBridge 2021-01-12 22:04:52 -05:00
Daniel Agar a57b9f9381 delete drv_baro.h, drv_mag.h, drv_range_finder.h, drv_device.h and purge UAVCAN CDev usage 2021-01-12 22:04:52 -05:00
Daniel Agar 7f5fae91b0 boards: mro ctrl zero f7 fix default power module calibration 2021-01-12 16:51:05 -05:00
Jaeyoung-Lim 16b1b220fd Fix roslaunch multivehicle regression caused by #16497 2021-01-12 21:19:36 +01:00
Beat Küng daaf8b61dc drivers: remove ism330dlc 
not used anymore
 2021-01-12 09:55:59 -05:00
Beat Küng 9f5dee2ecf v5x/v6x: update IMU sensors (remove ISM330DLC) 2021-01-12 09:55:59 -05:00
Daniel Agar 48f125f150 estimated IMU bias preflight checks 
- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
 - ekf2 publish estimated bias limits in estimator_sensor_bias
 - preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
 2021-01-12 09:09:42 +01:00
TSC21 7c95e99156 tools: make sure that uORB type names found as part of field names are not capitalized as ROS types 2021-01-12 09:05:59 +01:00
Daniel Agar cb74cb8692 boards: enable CONFIG_ARMV7M_LAZYFPU everywhere 2021-01-12 09:04:38 +01:00
Daniel Agar abec2bd8df
msg: estimator_status_flags shorten fields 
- previously this message exceeded the logger total field length (1500 bytes)
 2021-01-11 11:49:51 -05:00
Daniel Agar 04f9ada500
ekf2: selector improve fallback selection when the primary becomes unhealthy 
- if an ekf instance becomes unhealthy prefer switching to the next best healthy instance on a different IMU
 2021-01-11 09:38:26 -05:00