forked from Archive/PX4-Autopilot
8bae4e5c0e
Follow me : tidied second order filter implementation Added velocity filtered info to uORB follow target status message, and rebase to potaito/new-follow-me-task FollowMe : Rebasing and missing definition fixes on target position second order filter Follow Me : Remove Alpha filter delay compensation code, since second order filter is used for pose filtering now Followme : Remove unused target pose estimation update function Follow Target : Added Target orientation estimation logic Follow Target : Replaced offset vector based setpoint to rate controlled orbital angle control Follow Target : Bug fixes and first working version of rate based control logic, still buggy Follow Target : Added target orientation, follow angle, orbit angle value into follow_target_status uORB message for debugging Follow Target : Fix orbit angle step calculation typo bug Follow Target : Few more fixes Follow Target : Few fixes and follow angle value logging bug fix Follow Target : Added lowpass alpha filter for yaw setpoint filtering Follow Target : Remove unused filter delay compensation param Follow Target : Add Yaw setpoint filter initialization logic and bufix for when unwrap had an input of NAN angle value Follow Target : Add Yaw setpoint filtering enabler parameter Follow Target : Change Target Velocity Deadzone to 1.0 m/s, to accomodate walking speed of 1.5 m/s Follow Target : Add Orbit Tangential Velocity calculation for velocity setpoint and logging uORB topics Follow target : Fix indentation in yaw setpoint filtering logic Follow Target : Fix Follow Target Estimator timeout logic bug that was making the 2nd order pose filter reset to raw value every loop Follow Target : Remove debug printf statement for target pose filter reset check Follow Target : Add pose filter natural frequency parameter for filter testing Follow Target : Make target following side param selectable and add target pose filter natural frequency param description Follow Target : Add Terrain following altitude mode and make 2D altitude mode keep altitude relative to the home position, instead of raw local position origin Follow Target : Log follow target estimator & status at full rate for filter characteristics test Follow Target : Implementing RC control user input for Follow Target control Follow Target : edit to conform to updated unwrap_pi function Follow Target : Make follow angle, distance and height RC command input configurable Follow Target : Make Follow Target not interruptable by moving joystick in Commander Follow Target : reconfigure yaw, pitch and roll for better user experience in RC adjusting configurations, and add angular rate limit taking target distance into account Follow Target : Change RC channels used for adjustments and re-order header file for clarity Follow Target : Fix Parameters custom parent macro, since using DEFINE_PARAMETERS alone misses the parameter updates of the parent class, FlightTask Follow Target : Fix Orbit Tangential speed actually being angular rate bug, which was causing a phenomenon of drnoe getting 'dragged' towards the target velocity direction Follow Target : Final tidying and refactoring for master merge - step 1 Add more comments on header file Follow Target : tidy, remove unnecessary debug uORB elements from follow_target_status message Follow Target : Turn off Yaw filtering by default Follow Target : Tidy maximum orbital velocity calculation Follow Target : add yaw setpoint filter time constant parameter for testing and fix NAV_FT_HT title Follow Target : Add RC adjustment window logic to prevent drone not catching up the change of follow target parameters Follow Target : fixes Follow Target: PR tidy few edits remove, and update comments Follow Target : apply comments and reviews Follow Target : Edit according to review comments part 2 Follow Target : Split RC adjustment code and other refactors - Splitted the RC adjustment into follow angle, height and distance - Added Parameter change detection to reset the follow properties - Added comments and removed yaw setpoint filter enabler logic Follow Target : Modify orbit angle error bufferzone bug that was causing excessive velocity setpoints when setpoint catched up with raw orbit setpoint Follow Target : Remove buffer zone velocity ramp down logic and add acceleration and rate limited Trajectory generation library for orbit angle and velocity setpoint Follow Target : Remove internally tracked data from local scope function's parameters to simplify code Follow Target : Fix to track unwrapped orbit angle, with no wrapping Follow Target : Apply user adjustment deadzone to reduce sensitivity Follow Target : Apply suggestions from PR review round 2 by @potaito Revert submodule update changes, fall back to potaito/new-followme-task Follow Target : [Debug] Expose max vel and acceleration settings as parameters, instead of using Multicopter Position Controller 's settings Follow Target : Use matrix::isEqualF() function to compare floats Follow Target : Add Acceleration feedback enabler parameter and Velocity ramp in initial commit for overshoot phenomenon improvement Follow Target : Implement Velocity feed forward limit and debug logging values Follow Target : Apply Velocity Ramp-in for Acceleration as well & Apply it to total velocity setpoint and not just orbit tangential velocity component Follow Target : Don't set Acceleration setpoint if not commanded Follow Target : Use Jerk limited orbit angle control. Add orbit angle tracking related uORB values" Follow Target : Add Orbit Angle Setpoint Rate Tracking filter, to take into consideration for calculating velocity setpoint for trajectory generator for orbit angle Revert "Follow Target : Add Orbit Angle Setpoint Rate Tracking filter, to take into consideration for calculating velocity setpoint for trajectory generator for orbit angle" This reverts commit a3f48ac7652adb70baf3a2fed3ea34d77cbd6a70. Follow Target : Take Unfiltered target velocity into acount for target course calculation to fix overshoot orbit angle 180 deg flip problem Follow Target : Remove Yaw Filter since it doesn't make a big difference in yaw jitterness Follow Target : Remove velocity ramp in control & remove debug values from follow_target_status.msg Follow Target : Tidy Follow Target Status message logging code Follow Target : Remove jerk and acceleration settings from Follow Target orbit trajectory generation Follow Target : Change PublicationMulti into Publication, since topics published are single instances Follow Target : Edit comments to reflect changes in the final revision of Follow Target Follow Target : Apply incorrectly merged conflicts during rebase & update Sticks function usage for getThrottled() Follow Target : Apply final review comments before merge into Alessandro's PR Apply further changes from the PR review, like units Use RC Sticks' Expo() function for user adjustments to decrease sensitivity around the center (0 value) Update Function styles to lowerCamelCase And make functions const & return the params, rather than modifying them internally via pointer / reference Specify kFollowPerspective enum as uint8_t, so that it can't be set to negative value when converted from the parameter 'FLW_TGT_FP' Fix bug in updateParams() to reset internally tracked params if they actually changed. Remove unnecessary comments Fix format of the Follow Target code Fix Follow Perspective Param metadata follow-me: use new trajectory_setpoint msg Convert FollowPerspective enum into a Follow Angle float value 1. Increases flexibility in user's side, to set any arbitrary follow angle [deg] 2. Removes the need to have a dedicated Enum, which can be a hassle to make it match MAVSDK's side 3. A step in the direction of adding a proper Follow Mode (Perspective) mode support, where we can support kite mode (drone behaves as if it is hovering & getting dragged by the target with a leash) or a constant orbit angle mode (Drone always on the East / North / etc. side, for cinematic shots) Continue fixing Follow Target MAVSDK code to match MAVSDK changes - Support Follow Angle configuration instead of Follow Direction - Change follow position tolerance logic to use the follow angle *Still work in progress! Update Follow Me MAVSDK Test Code to match MAVSDK v2 spec - Add RC Adjustment Test case - Change follow direction logic to follow angle based logic completely - Cleanup on variable names and comment on code follow-me: disable SITL test Need to update MAVSDK with the following PR: https://github.com/mavlink/MAVSDK/pull/1770 SITL is failing now because the follow-me perspectives are no longer defined the same way in MAVSDK and in the flight task. update copyright year follow-me: mark uORB topics optional Apply review comments more copyright years follow-me sitl test: simpler "state machine" flight_mode_manager: exclude AutoFollowTarget and Orbit on flash contrained boards Remove unnecessary follow_target_status message properties - As it eats up FLASH and consumes uLog bandwidth |
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README.md
PX4 Drone Autopilot
This repository holds the PX4 flight control solution for drones, with the main applications located in the src/modules directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
- Official Website: http://px4.io (License: BSD 3-clause, LICENSE)
- Supported airframes (portfolio):
- Multicopters
- Fixed wing
- VTOL
- Autogyro
- Rover
- many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
- Releases: Downloads
Building a PX4 based drone, rover, boat or robot
The PX4 User Guide explains how to assemble supported vehicles and fly drones with PX4. See the forum and chat if you need help!
Changing code and contributing
This Developer Guide is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
Developers should read the Guide for Contributions. See the forum and chat if you need help!
Weekly Dev Call
The PX4 Dev Team syncs up on a weekly dev call.
Note The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the Dronecode calendar.
Maintenance Team
- Project: Founder
- Architecture
- Dev Call
- Communication Architecture
- UI in QGroundControl
- Multicopter Flight Control
- Multicopter Software Architecture
- VTOL Flight Control
- Fixed Wing Flight Control
- OS / NuttX
- Driver Architecture
- Commander Architecture
- UAVCAN
- State Estimation
- Vision based navigation and Obstacle Avoidance
- RTPS/ROS2 Interface
See also maintainers list (px4.io) and the contributors list (Github).
Supported Hardware
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
Pixhawk Standard Boards
- FMUv6X and FMUv6U (STM32H7, 2021)
- Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
- FMUv5 and FMUv5X (STM32F7, 2019/20)
- FMUv4 (STM32F4, 2015)
- FMUv3 (STM32F4, 2014)
- FMUv2 (STM32F4, 2013)
Manufacturer and Community supported
- Holybro Durandal
- Hex Cube Orange
- Hex Cube Yellow
- Airmind MindPX V2.8
- Airmind MindRacer V1.2
- Bitcraze Crazyflie 2.0
- Omnibus F4 SD
- Holybro Kakute F7
- Raspberry PI with Navio 2
Additional information about supported hardware can be found in PX4 user Guide > Autopilot Hardware.
Project Roadmap
A high level project roadmap is available here.