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ACRO mode #634

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ACRO mode #634

wants to merge 150 commits into from

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DrTon
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@DrTon DrTon commented Feb 4, 2014

ACRO mode (direct attitude rates control with RC) implemented for multirotors. Main state ACRO added and corresponding switch (ACRO is submode of MANUAL). Arming in ACRO not allowed for safety reasons. For fixed wing: vehicle_control_mode flags set but need support in fw controller.

Tested in HIL and in real flight.

kroimon
kroimon reviewed Feb 4, 2014
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src/modules/sensors/sensors.cpp
@@ -670,6 +673,10 @@ class Sensors
warnx(paramerr);
}

if (param_get(_parameter_handles.rc_map_acro_sw, &(_parameters.rc_map_acro_sw)) != OK) {
warnx("Failed getting acro sw chan index");
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Should be

warnx(paramerr);

@kroimon
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kroimon commented Feb 4, 2014

You might want to add the new main state somewhere around src/modules/mavlink/mavlink.c#L210.

@LorenzMeier
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Is this tested / good to merge?

@DrTon
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DrTon commented Feb 9, 2014

Julian tested and found strange issues, waiting for logs from him...

@julianoes
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Since it wasn't logging last time, the logs will probably come next weekend.

julianoes and others added 12 commits February 10, 2014 11:09
@julianoes
Merge remote-tracking branch 'px4/beta' into acro2
e0fbb0f
@DrTon
Merge branch 'master' into acro2
b165e6b
@LorenzMeier
Add filter parameters and multicopter defaults to parametrize Pauls e…
edd16af 
…stimator correctly when running for multicopters. Estimator itself not updated yet, will be next step.
@LorenzMeier
Renamed FW filter to EKF to express its generic properties, switched …
7b61c92 
…multicopters over to this filter for first tests.
@LorenzMeier
Decomission unmaintained position estimator
dca1e7f
@LorenzMeier
Updated filter to most recent version with accel scale estimation, ex…
ce56d75 
…posed crucial parameters for cross-vehicle support
@LorenzMeier
Merge branch 'master' of github.com:PX4/Firmware into ekf_params
479fddf
@LorenzMeier
Merge branch 'master' of github.com:PX4/Firmware into ekf_params
fd34a84
@LorenzMeier
Added home position switch on GPS position - gives a more reliable ho…
46a796f 
…me position setup
@LorenzMeier
Changed home position set to depend on the commander home position sw…
7cad27a 
…itch
@LorenzMeier
Proper zero init of the filter
9c5dbee
@LorenzMeier
Safety checks, prepared to use GPS variance
b37d0f8
@DrTon DrTon closed this May 20, 2014
@DrTon DrTon deleted the acro2 branch May 20, 2014 19:38
PX4BuildBot pushed a commit that referenced this pull request Apr 28, 2018
PX4-NuttX/nuttx branch test: px4-master_auto_rebase
ce30044 
NuttX:
 - https://github.com/PX4-NuttX/nuttx/tree/px4-master_auto_rebase
 - PX4/NuttX@67cf95c

Changes from PX4-NuttX/nuttx (PX4/NuttX@65b87d0) in current PX4/master (c7c3e23)
PX4/NuttX@65b87d0...67cf95c

67cf95c (HEAD, origin/px4-master_auto_rebase) [PX4: WIP] Fix transmission status handling in the serial interrupt
d473a0d [PX4: REJECTED] cstdint fix
89ee297 [PX4: REJECTED] add math.h
9e3d865 [PX4: WIP] Jenkinsfile
7e756e4 (origin/master) Merged in david_s5/nuttx/master_kinetis_usb_fixes (pull request #634)
efed1b6 net/udp:  Remove an unused variable warning.  Add some comments.
5e7fe7b arch/arm/src/imxrt:  Add IOMUX implemention for GPIO5.
f5d0fc7 fs/vfs and net/udp:  Repartition logic of commit 0c96344, moving into net/udp.  Add support to handle connected UDP sockets.  The correct 'optimal blksize' to return is the MSS.  The MTU is always too big.
c881ea6 arch/arm/src/imxrt:  IMXRT LPUART Clock enable fix.
119ce87 net/udp:  Fix a backward conditional test added in commit 434da18.

Apps:
 - https://github.com/PX4-NuttX/apps/tree/px4-master_auto_rebase
 - PX4/NuttX-apps@d29b7b4

Changes from PX4-NuttX/apps (PX4/NuttX-apps@7e2f17d) in current PX4/master (c7c3e23)
PX4/NuttX-apps@7e2f17d...d29b7b4

d29b7b4 (HEAD -> px4-master_auto_rebase, origin/px4-master_auto_rebase) [REJECTED] add-var-expansion-in-nsh-parse.patch
529cde0 (origin/master) apps/exmples/ostest:  Eliminate a warning.
938a9b9 apps/wireless/bluetooth/btsak:  Add a README file.
141abff apps/wireless/bluetooth/btsak:  Add commands to get the result of GATT read and write operations.
8a0e690 apps/wireless/bluetooth/btsak:  Clean-up for changes to IOCTL defintions; Add GATT read/write comments.  Stell need commands to get the result of the read/write operations.
99479aa wireless/bluetooth/btsak:  Add commdands to support MTU exchange.
b2a6a6b apps/wireless/bluetooth/btsak:  Adds a command to get the results of the GATT discovery.
6c14b97 apps/wireless/bluetooth/btsak:  Implements GATT discover commands.
9078b06 wireless/bluetooth/btsak:  Correct format of help for GATT commands.
f78e3dc wireless/bluetooth/btsak:  Removed bogus name from structure.  This was left over from a previous change and had me confused for awhile.
PX4BuildBot pushed a commit that referenced this pull request Apr 28, 2018
PX4-NuttX/nuttx branch test: px4_firmware_nuttx-7.22+
0c227c1 
NuttX:
 - https://github.com/PX4-NuttX/nuttx/tree/px4_firmware_nuttx-7.22+
 - PX4/NuttX@0ac630e

Changes from PX4-NuttX/nuttx (PX4/NuttX@65b87d0) in current PX4/master (25528a5)
PX4/NuttX@65b87d0...0ac630e

0ac630e (HEAD, origin/px4_firmware_nuttx-7.22+, origin/HEAD, px4_firmware_nuttx-7.22+) [BACKPORT] Merged in david_s5/nuttx/master_kinetis_usb_fixes (pull request #634)

Apps:
 - https://github.com/PX4-NuttX/apps/tree/px4_firmware_nuttx-7.22+
 - PX4/NuttX-apps@7e2f17d

Changes from PX4-NuttX/apps (PX4/NuttX-apps@7e2f17d) in current PX4/master (25528a5)
PX4/NuttX-apps@7e2f17d...7e2f17d
PX4BuildBot pushed a commit that referenced this pull request Apr 28, 2018
PX4-NuttX/nuttx branch test: px4-master_auto_rebase
63158f5 
NuttX:
 - https://github.com/PX4-NuttX/nuttx/tree/px4-master_auto_rebase
 - PX4/NuttX@33e143d

Changes from PX4-NuttX/nuttx (PX4/NuttX@65b87d0) in current PX4/master (25528a5)
PX4/NuttX@65b87d0...33e143d

33e143d (HEAD, origin/px4-master_auto_rebase) [PX4: WIP] Fix transmission status handling in the serial interrupt
f72a8e9 [PX4: REJECTED] cstdint fix
3f05638 [PX4: REJECTED] add math.h
98f1a90 [PX4: WIP] Jenkinsfile
d004418 (origin/master) configs/nucleo-l476rg:  Add nxdemo configuration to nucleo-l476rg using PCD8544
3b26e4a configs/nucleo-l476rg:  Add support to Nokia LCD PCD8544 on nucleo-l476rg
51b7803  arch/arm/src/tiva:  Add TERMIOS IOCTL support to the Tiva serial driver.
7e756e4 Merged in david_s5/nuttx/master_kinetis_usb_fixes (pull request #634)
efed1b6 net/udp:  Remove an unused variable warning.  Add some comments.
5e7fe7b arch/arm/src/imxrt:  Add IOMUX implemention for GPIO5.

Apps:
 - https://github.com/PX4-NuttX/apps/tree/px4-master_auto_rebase
 - PX4/NuttX-apps@541cdf4

Changes from PX4-NuttX/apps (PX4/NuttX-apps@7e2f17d) in current PX4/master (25528a5)
PX4/NuttX-apps@7e2f17d...541cdf4

541cdf4 (HEAD -> px4-master_auto_rebase, origin/px4-master_auto_rebase) [REJECTED] add-var-expansion-in-nsh-parse.patch
9298baf apps/examples/nxdemo:  Add nxdemo application
529cde0 (origin/master) apps/exmples/ostest:  Eliminate a warning.
938a9b9 apps/wireless/bluetooth/btsak:  Add a README file.
141abff apps/wireless/bluetooth/btsak:  Add commands to get the result of GATT read and write operations.
8a0e690 apps/wireless/bluetooth/btsak:  Clean-up for changes to IOCTL defintions; Add GATT read/write comments.  Stell need commands to get the result of the read/write operations.
99479aa wireless/bluetooth/btsak:  Add commdands to support MTU exchange.
b2a6a6b apps/wireless/bluetooth/btsak:  Adds a command to get the results of the GATT discovery.
6c14b97 apps/wireless/bluetooth/btsak:  Implements GATT discover commands.
9078b06 wireless/bluetooth/btsak:  Correct format of help for GATT commands.
PX4BuildBot pushed a commit that referenced this pull request Apr 29, 2018
Update submodule nuttx to latest Sat Apr 28 20:26:31 CDT 2018
0b89c7f 
    - nuttx in PX4/Firmware (ca620dd): PX4/NuttX@65b87d0
    - nuttx current upstream: PX4/NuttX@0ac630e
    - Changes: PX4/NuttX@65b87d0...0ac630e

    0ac630e 2018-04-28 David Sidrane - [BACKPORT] Merged in david_s5/nuttx/master_kinetis_usb_fixes (pull request #634)
PX4BuildBot pushed a commit that referenced this pull request Apr 30, 2018
Update submodule nuttx to latest Sun Apr 29 20:26:28 CDT 2018
8508328 
    - nuttx in PX4/Firmware (a8bc3d1): PX4/NuttX@65b87d0
    - nuttx current upstream: PX4/NuttX@0ac630e
    - Changes: PX4/NuttX@65b87d0...0ac630e

    0ac630e 2018-04-28 David Sidrane - [BACKPORT] Merged in david_s5/nuttx/master_kinetis_usb_fixes (pull request #634)
@dagar dagar mentioned this pull request Apr 30, 2018
Merged
PX4BuildBot pushed a commit that referenced this pull request May 1, 2018
Update submodule nuttx to latest Mon Apr 30 20:26:28 CDT 2018
c3ae34a 
    - nuttx in PX4/Firmware (8404889): PX4/NuttX@65b87d0
    - nuttx current upstream: PX4/NuttX@0ac630e
    - Changes: PX4/NuttX@65b87d0...0ac630e

    0ac630e 2018-04-28 David Sidrane - [BACKPORT] Merged in david_s5/nuttx/master_kinetis_usb_fixes (pull request #634)
davids5 pushed a commit that referenced this pull request May 1, 2018
Update submodule nuttx to latest Mon Apr 30 20:26:28 CDT 2018
1d9bf83 
    - nuttx in PX4/Firmware (8404889): PX4/NuttX@65b87d0
    - nuttx current upstream: PX4/NuttX@0ac630e
    - Changes: PX4/NuttX@65b87d0...0ac630e

    0ac630e 2018-04-28 David Sidrane - [BACKPORT] Merged in david_s5/nuttx/master_kinetis_usb_fixes (pull request #634)
PX4BuildBot added a commit that referenced this pull request Oct 11, 2020
@PX4BuildBot
Update submodule sitl_gazebo to latest Sun Oct 11 08:40:06 EDT 2020
0cd00f6 
    - sitl_gazebo in PX4/Firmware (0a98563): PX4/PX4-SITL_gazebo-classic@6b9c8f1
    - sitl_gazebo current upstream: PX4/PX4-SITL_gazebo-classic@b943eda
    - Changes: PX4/PX4-SITL_gazebo-classic@6b9c8f1...b943eda

    b943eda 2020-10-11 James Goppert - Add stdout option to jinja to support param based spawn. (#634)
PX4BuildBot added a commit that referenced this pull request Oct 12, 2020
@PX4BuildBot
Update submodule sitl_gazebo to latest Mon Oct 12 00:39:30 UTC 2020
1a0b3e0 
    - sitl_gazebo in PX4/Firmware (8350fa7): PX4/PX4-SITL_gazebo-classic@6b9c8f1
    - sitl_gazebo current upstream: PX4/PX4-SITL_gazebo-classic@b943eda
    - Changes: PX4/PX4-SITL_gazebo-classic@6b9c8f1...b943eda

    b943eda 2020-10-11 James Goppert - Add stdout option to jinja to support param based spawn. (#634)
sfuhrer pushed a commit that referenced this pull request Dec 20, 2020
@cmic0
ekf2: add parameter to change range finder quality hysteresis (#634)
3cfbf9a 
* ekf2: add parameter to change range finder quality hysteresis
* Update ecl
MaEtUgR pushed a commit that referenced this pull request Feb 4, 2021
@cmic0 @jkflying
ekf2: add parameter to change range finder quality hysteresis (#634)
4a44c51 
* ekf2: add parameter to change range finder quality hysteresis
* Update ecl
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6 participants
@DrTon @kroimon @LorenzMeier @julianoes @ashcharles @thomasgubler