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HIL and fixed wing fixes - gives perfect results in simulation #447

Merged
merged 21 commits into from
Oct 10, 2013
Merged

HIL and fixed wing fixes - gives perfect results in simulation #447

merged 21 commits into from
Oct 10, 2013

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LorenzMeier
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@thomasgubler Please review for fixed wing changes. @DrTon @julianoes Please review for state machine changes.

This change addresses the following challenges / issues:

  • HIL required a RC previously and also the power module to be connected. Fixed.
  • The HIL voltage was fighting with power module readings. Fixed.
  • Mode switching from QGC completely supported
  • Remains on the restart-mission-from-start feature used previously confused the navigation engine on the first waypoint. Fixed now (found during test flights two weeks ago)
  • Added default gains for a number of fixed wing airframes. Will need more tuning, but should be reasonable.
  • The waypoint switching / reached distance now depends on the L1 distance and airspeed. This makes much smoother transitions.
  • Roll control integrals are reset on exiting circle mode. This is a kind of practical approach, but with good reasons.
  • From tridge: Monitoring of IO rails added.

This has been tested extensively in HIL and should be good to merge. Test flights (in particular on multicopter) would be appreciated.

Andrew Tridgell and others added 15 commits September 12, 2013 09:24
@LorenzMeier
px4io: split io_handle_battery() out from io_handle_status()
f7c3ed3 
ready to add vservo and rssi
@LorenzMeier
uORB: added new servorail_status object
f12794d 
used for VSERVO and RSSI on FMUv2
@LorenzMeier
px4io: added monitoring of vservo and vrssi
e9e46f9 
publish via servorail_status ORB topic
@LorenzMeier
added error_count field to sensor report structures
0b7294a
@LorenzMeier
perf: added perf_event_count() method
7257642 
this allows drivers to get an event_count from a perf counter
@LorenzMeier
Merge branch 'master' of github.com:PX4/Firmware into status_monitoring
c9b8a01
@LorenzMeier
drivers: report error_count in drivers where possible
4893509
@LorenzMeier
Merge branch 'master' of github.com:PX4/Firmware into status_monitoring
6a784b7
@LorenzMeier
Merged status changes
90c4664
@LorenzMeier
State machine fixes for HIL
d1871bd
@LorenzMeier
Robustified flight close to waypoints
81e9c06
@LorenzMeier
Added useful default gains
69fda8a
@LorenzMeier
Fixed turn radius return value
5bc7d7c
@LorenzMeier
Added support for dynamic turn radii
d59cdf6
@LorenzMeier
Dynamic integral resets for straight and circle mode, announcing turn…
a3bdf53 
… radius now
@DrTon
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DrTon commented Oct 8, 2013

Changes in commander looks good, I will test it later.

LorenzMeier added a commit that referenced this pull request Oct 10, 2013
@LorenzMeier
Merge pull request #447 from PX4/hil_usb_only
0cb8e78 
HIL and fixed wing fixes - gives perfect results in simulation
@LorenzMeier LorenzMeier merged commit 0cb8e78 into master Oct 10, 2013
@LorenzMeier LorenzMeier deleted the hil_usb_only branch October 10, 2013 16:01
PX4BuildBot pushed a commit that referenced this pull request May 18, 2018
Update submodule ecl to latest Fri May 18 01:26:47 UTC 2018
dbedb37 
    - ecl in PX4/Firmware (e12c30a): PX4/PX4-ECL@bae4b8a
    - ecl current upstream: PX4/PX4-ECL@cb63f16
    - Changes: PX4/PX4-ECL@bae4b8a...cb63f16

    cb63f16 2018-05-17 Daniel Agar - cmake cache ECL source directory path to work with catkin (#447)
dagar added a commit that referenced this pull request May 18, 2018
@dagar
Update submodule ecl to latest Fri May 18 01:26:47 UTC 2018 (#9484)
ac4053f 
 * cb63f16 2018-05-17 Daniel Agar - cmake cache ECL source directory path to work with catkin (#447)
 * fixes #9447
TSC21 pushed a commit to TSC21/Firmware that referenced this pull request Feb 15, 2019
@dagar
cmake cache ECL source directory path to work with catkin (PX4#447)
cb63f16
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2 participants
@LorenzMeier @DrTon