[backport] icp201: increase startup delay (FMUv6X) #21833
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…int and need to turn back (#21642) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* refactored uncommanded descend quadchute - use fixed altitude error threshold - compute error relative to higest altitude the vehicle has achieved since it has flown below the altitude reference (setpoint) * disabled altitude loss quadchute by default * altitude loss quadchute: added protection against invalid local z --------- Signed-off-by: RomanBapst <bapstroman@gmail.com>
…_transition_item set_vtol_transition_item sets the params of the mission item directly to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't for other NAV_CMDs. So make sure that whenever we use it, we then in the next step reset the touched mission_item fields. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
0.4 tilt is more reasobale to get nice transitions than the previous 0.3. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
The entire logic did not work for the case when the throttle channel is reversed because then QGC sets trim = max for that channel and the result is only half the throttle range.
This adds support for the TI LP5562 RGB LED driver. Things to note: - The driver is initialized in simple PWM mode using its internal clock, for R,G,B, but not for W(hite). - The chip doesn't have a WHO_AM_I or DEVICE_ID register to check. Instead we read the W_CURRENT register that we're generally not using and therefore doesn't get changed. - The current is left at the default 17.5 mA but could be changed using the command line argument. Datasheet: https://www.ti.com/lit/ds/symlink/lp5562.pdf Signed-off-by: Julian Oes <julian@oes.ch>
to make them easy to search for and check the arguments.
- Change timings for a more reliable calibration. - Make sure there's an error message when battery measurement is not available also when it gets disabled after system boot in the power just above the calibration button. - Safety check if measured electrical current goes up after issuing the high calibration value for the case the user did not unplug power and the detection either fails or is not enforced.
Some ESCs e.g. Gaui enter the menu relatively quickly if the signal is high for too long. To solve that it's kept high shorter. Also all tested ESCs detect the low signal within a shorter time so no need to wait longer.
Before this the ESC calibration aborts if battery detection doesn't work. The problem is if the user still connects the battery as he gets instructed and the calibration aborts then the ESCs are in calibration mode and after abortion calibrate to the wrong value. Also I realized there's no additional safety by aborting the calibration if the battery cannot be detected during the timeout because a pixhawk board without power module will report a battery status from the ADC driverand in it that no battery is connected which is the best it can do. In this situation the motors will still spin if the ESCs are powered.
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
This helps for more complicated cases where certain axes are controlled through and get feedback from a different allocator.
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
…esn't have VTOL module built Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* uavcan rtcm set max num injections * Subscribe to all instances of gps_inject_data and mirror uavcan rtcm pub mirror gps driver * Minor logic refactor in gps and uavcan gps inject data
This is now using the advanced lift drag plugin. The important step was to enable airmode for yaw, otherwise yaw gets saturated at low throttle and we can barely roll. The other trick was to raise airspeed a little bit to avoid operating too much at the lower end of throttle where control authority is low. Signed-off-by: Julian Oes <julian@oes.ch>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
5s is a more reasobale time for tailsitters, which rely differently on this param than other VTOL types. Tailsitters will ramp the pitch up withing this time, while for other VTOLS types its only the max transitiont time. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
… pos When switching into Hold mode establish a Loiter around current position, even if we were before already loitering (eg in Mission mode). Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This is required to auto-start the is31fl3195 driver if connected. Signed-off-by: Julian Oes <julian@oes.ch>
This is required to process data from the ADS1115 ADC and enables the params BATx_I_CHANNEL and BATx_V_CHANNEL. Testing is required whether this actually works on Pixhawk 6X though. Signed-off-by: Julian Oes <julian@oes.ch>
Adding ADC_ADS1115 Parameter to FMUv6x Default Build to allow FMUv6X user to use ADS1115 with Analog Power Modules.
This allows to consistently define: Motor stopped - disarmed PWM Motor idling - minimum PWM Motor at full thrust - maximum PWM Any allocation can then distinctly decide if a motor should be running or not depending on the context and also explicitly command that.
This allows PWM and all other output methods to configure stopped, idling and full thrust points and use them consistently. The fact that a fixed wing motor can be stopped when zero thrust is demanded is explicit and could in principle even be disabled. The mechanism is the same as for a standard VTOL stopping the multicopter motors in the fixed wing flight phase.
Signed-off-by: Julian Oes <julian@oes.ch> Co-authored-by: Julian Oes <julian@oes.ch>
…tion (#21765) - fixes wrong altitude reporting
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See #21765 for details.