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22320 Commits

Author SHA1 Message Date
Matthias Grob 0c4719de3e mc_pos_control: smooth takeoff, fixed gradient of the velocity ramp by takeoff speed parameter 
because we need a workaround for the broken auto takeoff logic which can start the vehicle with a loiter setpoint
in this case the very first moment is still a jump but then it gets taken over by the fix gradient ramp
this can basically be reverted after the auto takeoff logic is fixed
 2017-04-27 14:05:20 +02:00
Matthias Grob b5820afa14 mc_pos_control: smooth takeoff, fixed ramp reset bug and takeoff speed limiting condition 
currently when the vehicle is landed again (not after bootup) the core position controller does not run anymore
therefore the velocity limit ramp in some cases did not get reset correctly

speed limiting in auto takeoff mode only needs to be limited when the user did not take over
 2017-04-27 14:05:20 +02:00
Matthias Grob 9a162a24bb mc_pos_control: improved smooth takeoff and used it for manual takeoff as well 
adresses:
there were setpoint twitches at the beginning and end of my smooth takeoff routine
it was to slow and not configurable
it was only available for automatic takeoff
 2017-04-27 14:05:20 +02:00
Matthias Grob 75872b0713 mc_pos_control: switched auto takeoff to clean position control to takeoff point with gradual velocity limit 
auto takeoff  was pretty chaotic and bypassed the velocity controller until some magic condition
the goal of this approach is to make the behaviour and smoothness more predictable and reuse the exact same logic for manual takeoff
 2017-04-27 14:05:20 +02:00
Matthias Grob 5fd6bfc18c mc_pos_control: reorder velocity setpoint limiting, adding comments 2017-04-27 14:05:20 +02:00
Matthias Grob f5964ec237 mc_pos_control: pure refactor, reduce one level of indentation in calculate_thrust_setpoint 2017-04-27 14:05:20 +02:00
Matthias Grob 40d058558b mc_pos_control: pure refactor, split up core position control into velocity and thrust setpoint generation 2017-04-27 14:05:20 +02:00
Matthias Grob fac34de11e mixer_multirotor: switched to math::constrain (#7073) 
- a local implementation was used before which is not necessary
 2017-04-26 15:25:05 -04:00
Beat Küng fc30f880c8 px4fmu_spi.c for v4: fix usage of wrong GPIO macros 
This got introduced with the refactoring in c5e841256a
 2017-04-26 13:56:59 +02:00
Daniel Agar f04f1d6b03 sensors HIL increase gyro and accel timeout 
- fixes #7050
 2017-04-25 23:52:11 +02:00
Beat Küng 0d22e97c09 sensor_params: document PWM_RATE=0 for Oneshot125 2017-04-25 12:59:12 +02:00
Beat Küng bd0c1cffc2 mount.aux.mix: remove the mode channel 
It does not exist, neither in the actuator group docs, nor in vmount.
 2017-04-25 12:59:12 +02:00
David Sidrane 0a1fbef8c8 pwm:ensure that a rate of 0 will invoke the ioctl 
Prior to onshot being added to the system. The -r of the
   "rate" command would not invoke the ioctl PWM_SERVO_SET_UPDATE_RATE
   when -r was not provided on the command line. This may have been a
   feature or a bug.

   When onshot was added to the pwm command a bug was intorduced
   that precluded the ioctl PWM_SERVO_SET_UPDATE_RATE from being
   called on -r 0.

   This commit fixes that issue, and preserves the "prio to oneshot"
   behavior of the "rate" command when -r is not specified.
 2017-04-25 09:02:28 +02:00
Beat Küng 44a507fcfe camera_interface: initialize _p_pin & handle error 2017-04-24 16:49:26 +02:00
Beat Küng f42a626527 vmount: fix null-pointer access if invalid output mode was selected 
In case of an invalid output mode, thread_data.output_obj was null.
 2017-04-24 16:49:26 +02:00
Beat Küng 2ef5ebb6db 4002_quad_x_mount: remove vmount start 
vmount is automatically started now when the param is set from rcS
 2017-04-24 16:46:28 +02:00
Beat Küng 69e8213b37 rcS: set MIXER_AUX to mount if vmount enabled and output is AUX 
This automatically selects the mount aux mixer if mount is enabled via
parameters. A user can customize this by adding a file
 etc/mixers/mount.aux.mix
to the SD card.
 2017-04-24 16:46:28 +02:00
Beat Küng 3f3ac414e3 fix rc.interface: do not append .mix when setting MIXER_AUX 
Because further down the mixer file is set as:
	set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
 2017-04-24 16:46:28 +02:00
Mohammed Kabir 60fe87aac2 commander : preflight checks increase max_mags to 4 2017-04-24 12:24:11 +02:00
Mohammed Kabir 57aa41df2c sensors : decouple maximum sensor count and allow flexible maximums 2017-04-24 12:24:11 +02:00
Mohammed Kabir f0accd39f0 sensors : add support for 4th magnetometer 2017-04-24 12:24:11 +02:00
Mohammed Kabir 74f4f72a4c commander : add support for calibrating 4 magnetometers 2017-04-24 12:24:11 +02:00
Mohammed Kabir c8dad56300 mathlib : switch min/max to constexpr to match std::min/max 2017-04-24 12:24:11 +02:00
Mohammed Kabir 9909a373b0 commander : warn if more than 4 mags are connected 2017-04-24 12:24:11 +02:00
Lorenz Meier 6d21aac4a9 BMM150 driver: Be less strict on C++ options 2017-04-24 10:38:39 +02:00
Lorenz Meier e054d1fff7 FMUv5: Start BMI055 in correct rotation 2017-04-24 10:38:39 +02:00
Lorenz Meier 145513ff28 BMI055: Correct boot instructions, better default to 16g 2017-04-24 10:38:39 +02:00
Lorenz Meier 3affe67c96 Enable BMI055 for FMUv5 and improve console handling 2017-04-24 10:38:39 +02:00
Lorenz Meier 53bb6c6822 ROMFS: Start ICM on all boards 2017-04-24 10:38:39 +02:00
Sergej Scheiermann 641a03510c changes on drivers according to comments from DavidS 2017-04-24 10:38:39 +02:00
Sergej Scheiermann da31e6e0b5 bmm150 max datarate changed 2017-04-24 10:38:39 +02:00
Sergej Scheiermann 5923e66cf3 bmp285 support added 2017-04-24 10:38:39 +02:00
Sergej Scheiermann c3711efd27 initial commit of bmm150 2017-04-24 10:38:39 +02:00
Sergej Scheiermann c5e841256a changes added for SPI CS defines as requested for BMI055 driver integration (e.g. GPIO_SPI1_CS_PORTE_PIN15 for bmi055 gyro) to avoid double declaration of same chip select pin 2017-04-24 10:38:39 +02:00
Sergej Scheiermann dad5224206 bmi055 added to start-up script 2017-04-24 10:38:39 +02:00
Sergej Scheiermann 7dcdc57412 Update px4fmu_spi.c 2017-04-24 10:38:39 +02:00
Sergej Scheiermann e55516c4b7 Update bmi055_main.cpp 
format check
 2017-04-24 10:38:39 +02:00
Sergej Scheiermann cfed8ee2dd bmi055 initial integration 2017-04-24 10:38:39 +02:00
Beat Küng 061bff14c8 rpi startup configs: set logger buffer size to 200 
Avoid dropouts, we have enough RAM there.
 2017-04-24 10:12:23 +02:00
Daniel Agar ea2a611f0b posix-configs replace sdlog2 with logger 2017-04-24 10:12:23 +02:00
Lorenz Meier de7fef8dd6 Crazyflie: Switch to logger 2017-04-24 10:12:23 +02:00
Lorenz Meier 17c022b73e Aerocore 2: Switch to logger 2017-04-24 10:12:23 +02:00
Lorenz Meier 4d8b5e60c3 System: Set new logger system as the default 
This will upgrade systems to the new .ulog format used by http://logs.px4.io and supported by Flight Plot
 2017-04-24 10:12:23 +02:00
Mohamed Abdelkader Zahana da8724accb removing pwm_start block; not needed in i2c 2017-04-23 23:29:10 +02:00
Mohamed Abdelkader Zahana 60e0ca9321 add both options (pwm/i2c) for lidar lite 2017-04-23 23:29:10 +02:00
Mohamed Abdelkader Zahana 9911a55393 use i2c for lidar lite 2017-04-23 23:29:10 +02:00
Lorenz Meier c60ad883a4 Update SITL 2017-04-23 19:24:40 +02:00
Lorenz Meier 21f409366a MAVLink app: Warn sender if a command has been rejected 2017-04-23 19:23:09 +02:00
Lorenz Meier 1766f65f02 Update Gazebo SITL 2017-04-23 15:24:41 +02:00
Lorenz Meier f7469581b9 VMount: Fix interface spec with respect to MAVLink / vehicle command interface 2017-04-23 15:19:41 +02:00