Spacecraft Modules Stack #10
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- Added an empty constructor, setPort, and validatePort functions for Serial API - Changed GPS to not allocate Serial object dynamically - Moved access check on serial port name into the Serial API - Improved the Qurt platform validatePort Serial function to implement a more rigorous check. Added safety check to the setPort Serial function to make sure it isn't called after the port has been already opened.
* Added decoy termios support to Qurt so that ghst parser in RC library can be used. No termios is actually needed but has to be there for the parser to work
For Septententrino we seem to sometimes fill the buffer pretty full. If we ask for too much, readAtLeast will fail completely and make the GPS discovery logic fall over. Therefore, let's not ask for too much and just read what we can given the available buffer. Signed-off-by: Julian Oes <[email protected]>
Fixes MS5837.cpp:343:29: error: 'T' was not declared in this scope by using last temperature instead
Update uORB definition and sprintf float formatting
…sion isn't selected Solves multiple references compilation errors
Currently only v6x-rt and SITL are supported But targets with label allyes will try to enable all kconfig symbols
* Added implementations of Rx Tx swap and single wire for new UART API needed by CRSF driver * Added inverted mode to Serial interface API
Signed-off-by: Silvan Fuhrer <[email protected]>
Signed-off-by: Silvan Fuhrer <[email protected]>
In HITL the actuators should not be mapped and they are in lockdown. We should not reconfigure disarmed, min, max PWM values without updating the actual output values because the IO will consider the last outputs before the FMU was rebooted with the configuration of the new boot. This can result in spinning motors when switching to SIH.
This removes the duplication with unexpected differences and allows to consistently handle the output instead of overriding the output for some specific cases which leads to unexpected corner cases. E.g. disabled outputs suddenly outputing PWM in lockdown.
…_always_enable_pwm` The existing disarmed logic already handles disabled outputs it makes sense to reuse it and not have lockdown handled differently resulting in unexpeced corner cases.
This is a minimal change to make it harder to crash a vehicle with an empty battery if the capacity was set wrong. The disadvantage is that the state of charge estimate will fluctuate more under load. We need better documentation and improvements to the estimation.
Use setpoints in manual mode for now Add scaling parameters F
Add manual force control for spacecraft
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@Jaeyoung-Lim a thing that is annoying now is that without without rate control running, the simulator stalls, so we can't test Manual mode; We should really consider moving the lockstep elsewhere... |
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@Pedro-Roque Where would you move it? Fundamentally, direct actuator control does not really work with lockstep, because the actuator commands do not correlate with sensor data. We could also just turn lockstep off for testing actuator controls. I am not really motivated to fix this " properly" for gazebo classic, as we fixed this in the new gazebo with a better architecture, and gazebo classic will not last more than a year or two... |
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PR directed to adding all functionality for spacecrafts using PX4.
To-does:
Actuator testing does not output anything on the actuator_motors topicFixed. A future PR to https://github.com/mavlink/qgroundcontrol/blob/5967a9e888891f26f62e8c33b95b18255928f5c0/src/Vehicle/Actuators/ActuatorTesting.cc#L48 could be a nice addition to all testing All Thrusters.In SITL, setting Manual mode triggers comm loss;Not present anymore. Arming via pxh> works, also works in manual mode. Rate setpoints are set and thrust/torque setpoints are obtained.@Jaeyoung-Lim ideally we should work on this branch or towards merging things on this branch before merging in main.