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Landing gear improvement #10842

Merged
merged 16 commits into from
Dec 10, 2018
Merged

Landing gear improvement #10842

merged 16 commits into from
Dec 10, 2018

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MaEtUgR
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@MaEtUgR MaEtUgR commented Nov 14, 2018

Test data / coverage
SITL/HITL and field tested ~20 flights in H520 Firmware before cherry-picking.

Describe problem solved by the proposed pull request
Controlling the landing gear is tied to the attitude setpoint message which is just misusing an existing message that lead to a lot of problems when implementing landing gear behaviour according to product requirements.

Describe your preferred solution
We took the time to solve these problems and make it more flexible and want to contribute this architecture.

Additional context
There were conflicts with #10805. (FYI @bkueng)


State: I'm still porting commits.

@MaEtUgR MaEtUgR requested a review from simonegu November 14, 2018 15:20
@MaEtUgR MaEtUgR changed the title [WIP] Landing gear improvement Landing gear improvement Nov 14, 2018
@dagar
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dagar commented Nov 14, 2018

What do you think about getting landing gear out of control group 0?

image

Later that could facilitate handling landing gear entirely outside of the position and attitude controllers.

@LorenzMeier
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I recall having discussed that and I think that is necessary.

@MaEtUgR
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MaEtUgR commented Nov 15, 2018

Sure, this is just a first step of detaching the landing gear out of the attitude setpoint because it really has nothing to do with the attitude and its controller. These changes were necessary to solve our nasty dependency issues because of product customization that lead to a severe maintenance effort to keep up to date with PX4 and that's why we wanted to contribute. Any further work in this direction is appreciated. The only obstacle I see with removing it from the control group is messing with the IO which usually takes more time but that should not hinder us after all.

@MaEtUgR MaEtUgR requested a review from Stifael November 19, 2018 08:50
@MaEtUgR MaEtUgR changed the title Landing gear improvement [WIP] Landing gear improvement Dec 6, 2018
@MaEtUgR MaEtUgR force-pushed the pr-landing-gear-improvement branch from a337ddf to 7f74019 Compare December 6, 2018 14:23
@MaEtUgR MaEtUgR changed the title [WIP] Landing gear improvement Landing gear improvement Dec 6, 2018
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MaEtUgR commented Dec 6, 2018

I rebased because there were conflicts in the position controller because of my own pr #10831

@MaEtUgR MaEtUgR force-pushed the pr-landing-gear-improvement branch from 7f74019 to 6128744 Compare December 10, 2018 14:00
@MaEtUgR
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MaEtUgR commented Dec 10, 2018

Rebased without conflicts, any reason this is waiting?

@LorenzMeier
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No, good to go.

@Stifael Stifael dismissed their stale review December 10, 2018 15:17

Comments were adressed

@Stifael Stifael merged commit 2c06cb7 into master Dec 10, 2018
@Stifael Stifael deleted the pr-landing-gear-improvement branch December 10, 2018 15:18
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5 participants