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20,407 Commits 514 Branches 136 Tags 234 MiB
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20407 Commits

Author SHA1 Message Date
Lorenz Meier 3e8061c3cd Iris mixer: Update naming of mixer 2016-12-19 20:39:48 +01:00
Lorenz Meier 83b177c5ad DC mixer: Fix geometry for Iris 2016-12-19 20:39:48 +01:00
Lorenz Meier 6b0ac296b6 Fix usage of Iris mixer, make space by deleting unused files 2016-12-19 20:39:48 +01:00
Lorenz Meier 92c35f26be Tests: Correct use of unsubscribe 2016-12-19 20:39:03 +01:00
Lorenz Meier 313ff2a6f2 UAVCAN: Correct use of unsubscribe 2016-12-19 20:39:03 +01:00
Lorenz Meier 1d98c8f202 MAVLink app: Correct use of unsubscribe 2016-12-19 20:39:03 +01:00
Lorenz Meier 3532b48411 TAP ESC: Correct use of unsubscribe 2016-12-19 20:39:03 +01:00
Lorenz Meier 97ce9edcac FMU: Tighter compile checks and correct use of unsubscribe 2016-12-19 20:39:03 +01:00
Lorenz Meier 4b99a8f28c Fix sf1xx start 2016-12-19 20:37:40 +01:00
Lorenz Meier dfed9a3f13 Fix nullptr access in mixer group. This was only ever an issue on booboot and not in flight. 2016-12-19 20:36:05 +01:00
Lorenz Meier 6e32d0b52b Update ECL to include data validator fixes 2016-12-19 20:34:52 +01:00
Lorenz Meier c91f827072 sensors app: Always run validator so it gets updated and can detect timeouts 2016-12-19 20:34:52 +01:00
Lorenz Meier 143086ba2c HMC5883: Harden shutdown logic 2016-12-19 20:34:52 +01:00
Lorenz Meier 5759fd5726 GPS app: Increase stack to ensure 300 bytes headroom 2016-12-19 20:34:52 +01:00
Lorenz Meier fe5cc5622b Failover logging in sensors app: Trim down strings 2016-12-19 20:34:52 +01:00
Lorenz Meier b91b0463d2 Update ECL lib to include failover fix for one sensor case 2016-12-19 20:34:52 +01:00
Lorenz Meier cc7db94edc Sensors app mag voter: Increase stale value detection threshold to accomodate low-noise mag setups 2016-12-19 20:34:52 +01:00
Lorenz Meier 077f22ece7 HMC5883: Make driver stoppable to simplify system validation 2016-12-19 20:34:52 +01:00
Lorenz Meier 0e93b75ced Update ECL library to include configurable stale sample counts 2016-12-19 20:34:52 +01:00
Lorenz Meier 8297e979ff ECL: Update to include whitespace fixes 2016-12-19 20:34:52 +01:00
Lorenz Meier c62c3c98bf uORB devices: Guard more against invalid handles fed to publish routine 2016-12-19 20:34:52 +01:00
Lorenz Meier ca59d4cddb Simulator: Initialize ground truth topic handle 2016-12-19 20:34:52 +01:00
Lorenz Meier df613361b9 LPE: Increase stack to allow enough safe margin 2016-12-19 20:34:52 +01:00
Lorenz Meier 9667c98b61 Start UAVCAN in the two phases required 2016-12-19 15:13:05 +01:00
Dennis Mannhart e2ded396c8 Snapdragon pwm (#5940) 
* px4 pwm driver for snapdragon

* added driver to cmake file

* applied review changes and adjusted format

* adjustement to review 2

* run formatting

* added timeout initialization
 2016-12-16 18:41:45 +01:00
Mark Whitehorn 48778ed3f2 bump parameter minor version 2016-12-16 18:12:17 +01:00
Mark Whitehorn bad2dc80a4 change default THR_MDL_FAC to zero (disabled) 2016-12-16 18:12:17 +01:00
Mark Whitehorn e5f4f50a52 add param_find for THR_MDL_FAC 2016-12-16 18:12:17 +01:00
Roman d0d9ee373b bebop config: increase logger buffer from 20kB to 200kB 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Roman 5b0a1d4b2a updated DriverFramework: activated dlpf in mpu6050 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Roman daa88f69db bebop2 config: updated some positon control params for decent performance 
- this is not the final tune!!!

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Roman b0bca24526 bebop2 config: use logger instead of sdlog2 
- sdlog2 drops lots of data and logs very, very irregularly

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Mark Whitehorn 381a565ce3 add THR_MDL_FAC parameter handling to FMU 2016-12-15 23:39:53 +01:00
Roman d221313dfb implemented mapping between desired thrust and applied pwm in 
multirotor mixer.

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-15 23:39:53 +01:00
Dennis Mannhart 22733b1501 mc_pos_control: dont run alt-control when landing 2016-12-15 10:17:03 +01:00
Julian Oes ef7ade52b1 mc_pos_control: stay landing even after freefall 
This fixes the following case:
1. VTOL in auto mission descends to land
2. _in_landing is set to true correctly
3. _lnd_reached_ground is set to true because it's detected, motors idle.
4. The vehicle might drop for a few centimeters and _acc_z_lp goes back
   up above 4m/s^2, so freefall is detected.
5. The motors spin up again, and _in_landing and _lnd_reached_ground are
   both reset to false.
6. Since we're floating at a few centimeters, we can't actyally get to
   _vel_z_lp > 0.5, and therefore _in_landing is never triggered after.
7. Thus we never finish the landing.

This is fixed by only resetting _lnd_reached_ground to false but
leaving _in_landing true.
 2016-12-15 10:17:03 +01:00
Julian Oes 70fec788d9 mc_pos_control: allow takeoff in offboard mode 2016-12-15 10:17:03 +01:00
Julian Oes 072ba51064 mc_pos_control_main: changes got lost in rebase 2016-12-15 10:17:03 +01:00
Julian Oes b285827f52 mc_pos_control: remove leftover printf 2016-12-15 10:17:03 +01:00
Julian Oes 65b8bcae12 mc_pos_control: always require takeoff setpoint 
Problem: The drone started taking off in LOITER (HOLD) mode even if on
ground and did not do a proper takeoff jump. The effect was mostly a
hovering close above ground or tilting/flipping because of integrator
wind-up.

Solution: Stay at minimum throttle until a takeoff setpoint is issued.
 2016-12-15 10:17:03 +01:00
Julian Oes c64b8c7095 mc_pos_control: always use fabsf and not fabs 2016-12-15 10:17:03 +01:00
Julian Oes e01eaf172a Add body/NED frame for offboard velocity control 
This adds the possibility to use offboard velocity control in the body
frame and not just the NED (world) frame.

The frame is set in the set_position_target_local_ned message and passed
on to mc_pos_control in the position_setpoint topic.
 2016-12-15 10:17:03 +01:00
Julian Oes e3aecc0762 state_machine_helper: remove unused const var 2016-12-15 10:17:03 +01:00
Julian Oes 5b132aef70 mc_pos_control: hold position at offboard vel 0 
If velocity offboard control is used, it makes sense to lock/hold
position if the velocity input is 0. If this is not done, we will slowly
drift because nothing is integrating to keep the UAV at its position.
 2016-12-15 10:17:03 +01:00
Julian Oes 0b02a6e0f7 state_machine_helper: warn about offboard lost, not RC 
When offboard input stops and we're in OFFBOARD mode, we should complain
about offboard being lost and not RC because we probably never even had RC.
 2016-12-15 10:17:03 +01:00
Julian Oes 454cd33a5e mc_pos_control: move stuff where it belongs 2016-12-15 10:17:03 +01:00
Julian Oes 0b37272d75 mc_pos_control: further reshuffling 
Should not have any functional change
 2016-12-15 10:17:03 +01:00
Julian Oes 61fff54cbe mc_pos_control: copy triplet in one place only 2016-12-15 10:17:03 +01:00
Julian Oes 432824d603 mc_pos_control: move attitude setpoint to function 
Again, no functional change, just refactor.
 2016-12-15 10:17:03 +01:00
Julian Oes c200e581c3 mc_pos_control: move control into functions 
This is only a refactor with no functional change
 2016-12-15 10:17:03 +01:00