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39,175 Commits 514 Branches 136 Tags 601 MiB
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39175 Commits

Author SHA1 Message Date
bresch d47f9f155a MC mixer: replace multirotor_motor_limits by control_allocator_status 
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix

MCRateControl: use control_allocator_status to get saturation info
 2021-11-09 10:35:10 -05:00
Jaeyoung-Lim dd83ef1813 Fix fw position controller takeoff 
This was introduced by a rebase
 2021-11-09 10:30:28 -05:00
Matthias Grob 00905973c7 boards/kakutef7: remove dmesg to save flash 2021-11-09 16:05:25 +01:00
Matthias Grob 4aa0756d08 ManualControlSelector: correct parameter for any source according to documentation 2021-11-09 16:05:25 +01:00
Matthias Grob fabf865411 Use backwards compatible manual_control_setpoint instead of manual_control_input 2021-11-09 16:05:25 +01:00
Matthias Grob 423aadcc4f ManualControl: fix RC override 2021-11-09 16:05:25 +01:00
Matthias Grob 7e4a079e09 Commander: report when RC selected mode is not available 2021-11-09 16:05:25 +01:00
Matthias Grob a593a51f05 Commander: fix mode initialization with RC 2021-11-09 16:05:25 +01:00
Matthias Grob 9f17f3b0f3 ManualControl: correct source for RC mode switches without mode slot 2021-11-09 16:05:25 +01:00
Matthias Grob 21739c6937 MulticopterRateControl: Add event for landing gear retraction when landed 2021-11-09 16:05:25 +01:00
Matthias Grob 2b29df06fd ManualControl: avoid scheduling based on unchosen input 2021-11-09 16:05:25 +01:00
Matthias Grob 48869ed03e ManualControl: Simplify check if switches updated 2021-11-09 16:05:25 +01:00
Matthias Grob 38ab7e6ab9 Commander: separate function for action request execution 2021-11-09 16:05:25 +01:00
Matthias Grob 820ba07d4b Fix landing gear processing 2021-11-09 16:05:25 +01:00
Matthias Grob 0a02d8e774 Commander: handle denying disarm when not landed centrally 2021-11-09 16:05:25 +01:00
Matthias Grob af54ac7cdb ManualControl: remove unused variables and renaming 2021-11-09 16:05:25 +01:00
Matthias Grob e73e6a490d ManualControl: separate function for stick arming 2021-11-09 16:05:25 +01:00
Matthias Grob a349dae760 Use action_request to command RC VTOL transitions 2021-11-09 16:05:25 +01:00
Matthias Grob dcd26bd2b8 Commander: fix "Manual control lost" showing double in QGC 
because of the missing tab in the deprecated message.
 2021-11-09 16:05:25 +01:00
Matthias Grob 956997eb1e Replace arm_request and mode_request with combined action_request 
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
 2021-11-09 16:05:25 +01:00
Matthias Grob 052e29267d Use mode_request for RC mode switching 2021-11-09 16:05:25 +01:00
Matthias Grob f8e4846851 Use arm_request for manual killing 2021-11-09 16:05:25 +01:00
Matthias Grob af607e3040 Use separate arm_request instead of vehicle_command for RC arming 2021-11-09 16:05:25 +01:00
Matthias Grob c4473bdab7 ManualControl: clean up arm/disarm gesture 2021-11-09 16:05:25 +01:00
Matthias Grob 48ed350b25 ManualControlSelector: simplification refactoring 
- clang tidy did't like {bool} == true in a condition
- setpoint_from_input() got small enough ot just put in line
 2021-11-09 16:05:25 +01:00
Matthias Grob cc2ec09659 ManualControl: fix arm button logic during testing 
The latching logic has to be different than for the arm switch
this difference got lost in the rewrite of the old obfuscated
arming trigger logic.
 2021-11-09 16:05:25 +01:00
Matthias Grob 0901b73f50 ManualControlSelector: rename functions and validate chosen inputs all the time 2021-11-09 16:05:25 +01:00
Matthias Grob 28a29ad050 ManualControlSelector: revamp logic to switch when configuration is changed 2021-11-09 16:05:25 +01:00
Matthias Grob 05946ff0c6 mavlink_receiver: remove unused start_helper declaration 2021-11-09 16:05:25 +01:00
Matthias Grob 7a2ef4a917 Commander: don't publish RC_IN_MODE to vehicle_status 
This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
 2021-11-09 16:05:25 +01:00
Matthias Grob fff2de43a5 commander_params: update description based on ManualControlSelector 2021-11-09 16:05:25 +01:00
Matthias Grob 396bab52ad ManualControlSelector: refactor selection to chose based on a single condition 2021-11-09 16:05:25 +01:00
Matthias Grob 1bd786c71a ManualControlSelector: don't invalidate existing setpoint with other invalid input 2021-11-09 16:05:25 +01:00
Matthias Grob e15f6b27f2 ManualControlSelector: copy manual_control_input struct instead of each individual field 2021-11-09 16:05:25 +01:00
Matthias Grob 63ddb050ef ManualControlSelector: refactor timeout calculation to be consistent 2021-11-09 16:05:25 +01:00
Matthias Grob 2528e8c572 ManualControl: correct calculation of dt in seconds 2021-11-09 16:05:25 +01:00
Matthias Grob 12bb2de175 state_machine_helper: rever explicitly handling unavaialble mission 
It was already handled by the existing condition.
 2021-11-09 16:05:25 +01:00
Matthias Grob 4dc165efd0 Commander: don't retry to reach the desired_main_state if we reached it 2021-11-09 16:05:25 +01:00
Matthias Grob d48302c841 Commander: send out manual control lost event 2021-11-09 16:05:25 +01:00
Matthias Grob 93bed7f670 vehicle_command: shorten arming action/origin enum names 2021-11-09 16:05:25 +01:00
Matthias Grob 709c909929 commander_params: correct RC override description 2021-11-09 16:05:25 +01:00
Julian Oes b3a5072de5 commander/manual_control: use msg enum for params 
Instead of using a private enum class we should define the enum in the
vehicle_command message and then use it consistently.
 2021-11-09 16:05:25 +01:00
Julian Oes f1b1068824 commander: remove unused mode/main_state methods 
With the previous changes these seem no longer required.
 2021-11-09 16:05:25 +01:00
Julian Oes 42af44700b mc_rate_control: always allow landing gear control 
Except of course when landed and we try to put it up.
 2021-11-09 16:05:25 +01:00
Julian Oes 486a4b0118 mavlink: reduce calls to hrt_absolute_time 2021-11-09 16:05:25 +01:00
Julian Oes 454aa611ae manual_control: add missing 7 2021-11-09 16:05:25 +01:00
Julian Oes 2c0fc686a7 manual_control: don't accept outdated input 2021-11-09 16:05:25 +01:00
Julian Oes 4d00a56230 manual_control: method can be static 2021-11-09 16:05:25 +01:00
Julian Oes 6027398459 manual_control: handle invalid rc_in_mode 2021-11-09 16:05:25 +01:00
Julian Oes 50cca204d8 manual_control: add check for instance 2021-11-09 16:05:25 +01:00