Merged beta into master

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -23,12 +23,7 @@ then
 	param set FW_LND_TLALT 5
 	param set FW_THR_LND_MAX 0
 	param set FW_PR_FF 0.35
-	param set FW_PR_I 0.005
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.08
 	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.005
-	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.04
 fi
 

src/modules/commander/commander_helper.cpp

@@ -110,6 +110,7 @@ static float bat_v_load_drop = 0.06f;
 static int bat_n_cells = 3;
 static float bat_capacity = -1.0f;
 static unsigned int counter = 0;
+static float throttle_lowpassed = 0.0f;
 
 int battery_init()
 {
@@ -383,8 +384,15 @@ float battery_remaining_estimate_voltage(float voltage, float discharged, float
 
 	counter++;
 
+	// XXX this time constant needs to become tunable
+	// but really, the right fix are smart batteries.
+	float val = throttle_lowpassed * 0.97f + throttle_normalized * 0.03f;
+	if (isfinite(val)) {
+		throttle_lowpassed = val;
+	}
+
 	/* remaining charge estimate based on voltage and internal resistance (drop under load) */
-	float bat_v_empty_dynamic = bat_v_empty - (bat_v_load_drop * throttle_normalized);
+	float bat_v_empty_dynamic = bat_v_empty - (bat_v_load_drop * throttle_lowpassed);
 	/* the range from full to empty is the same for batteries under load and without load,
 	 * since the voltage drop applies to both the full and empty state
 	 */

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -808,6 +808,14 @@ FixedwingAttitudeControl::task_main()
 				continue;
 			}
 
+			/* default flaps to center */
+			float flaps_control = 0.0f;
+
+			/* map flaps by default to manual if valid */
+			if (isfinite(_manual.flaps)) {
+				flaps_control = _manual.flaps;
+			}
+
 			/* decide if in stabilized or full manual control */
 
 			if (_vcontrol_mode.flag_control_attitude_enabled) {
@@ -927,7 +935,6 @@ FixedwingAttitudeControl::task_main()
 					/* allow manual control of rudder deflection */
 					yaw_manual = _manual.r;
 					throttle_sp = _manual.z;
-					_actuators.control[4] = _manual.flaps;
 
 					/*
 					 * in manual mode no external source should / does emit attitude setpoints.
@@ -1090,13 +1097,13 @@ FixedwingAttitudeControl::task_main()
 
 			} else {
 				/* manual/direct control */
-				_actuators.control[0] = _manual.y + _parameters.trim_roll;
+				_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y + _parameters.trim_roll;
-				_actuators.control[1] = -_manual.x + _parameters.trim_pitch;
+				_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x + _parameters.trim_pitch;
-				_actuators.control[2] = _manual.r + _parameters.trim_yaw;
+				_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r + _parameters.trim_yaw;
-				_actuators.control[3] = _manual.z;
+				_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
-				_actuators.control[4] = _manual.flaps;
 			}
 
+			_actuators.control[actuator_controls_s::INDEX_FLAPS] = flaps_control;
 			_actuators.control[5] = _manual.aux1;
 			_actuators.control[6] = _manual.aux2;
 			_actuators.control[7] = _manual.aux3;

src/modules/fw_att_control/fw_att_control_params.c

@@ -64,7 +64,7 @@
  * @max 1.0
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
+PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.4f);
 
 /**
  * Pitch rate proportional gain.
@@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
  * @max 1.0
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
+PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
 
 /**
  * Pitch rate integrator gain.
@@ -88,7 +88,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
  * @max 50.0
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_PR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_PR_I, 0.005f);
 
 /**
  * Maximum positive / up pitch rate.
@@ -126,7 +126,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
  * @max 1.0
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
+PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
 
 /**
  * Roll to Pitch feedforward gain.
@@ -161,7 +161,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
  * @max 100.0
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_RR_I, 0.005f);
 
 /**
  * Roll Integrator Anti-Windup
@@ -247,7 +247,7 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
  * @max 10.0
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_RR_FF, 0.3f);
+PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
 
 /**
  * Pitch rate feed forward

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -58,7 +58,7 @@
  * @max 100.0
  * @group L1 Control
  */
-PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
+PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f);
 
 /**
  * L1 damping
@@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
  * @max 1.0
  * @group L1 Control
  */
-PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
+PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
 
 /**
  * Throttle max slew rate
@@ -123,10 +123,11 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
  * The maximum roll the controller will output.
  *
  * @unit degrees
- * @min 0.0
+ * @min 35.0
+ * @max 65.0
  * @group L1 Control
  */
-PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f);
+PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
 
 /**
  * Throttle limit max
@@ -151,6 +152,8 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
  * For aircraft with internal combustion engine this parameter should be set
  * for desired idle rpm.
  *
+ * @min 0.0
+ * @max 1.0
  * @group L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
@@ -161,6 +164,8 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
  * This throttle value will be set as throttle limit at FW_LND_TLALT,
  * before arcraft will flare.
  *
+ * @min 0.0
+ * @max 1.0
  * @group L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
@@ -173,6 +178,8 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
  * distance to the desired altitude. Mostly used for takeoff waypoints / modes.
  * Set to zero to disable climbout mode (not recommended).
  *
+ * @min 0.0
+ * @max 150.0
  * @group L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
@@ -193,6 +200,8 @@ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
  * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
  * FW_THR_MAX reduced.
  *
+ * @min 2.0
+ * @max 10.0
  * @group L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);

src/modules/mavlink/mavlink_messages.cpp

@@ -547,7 +547,7 @@ protected:
 			msg.onboard_control_sensors_health = status.onboard_control_sensors_health;
 			msg.load = status.load * 1000.0f;
 			msg.voltage_battery = status.battery_voltage * 1000.0f;
-			msg.current_battery = status.battery_current * 100.0f;
+			msg.current_battery = status.battery_current / 10.0f;
 			msg.drop_rate_comm = status.drop_rate_comm;
 			msg.errors_comm = status.errors_comm;
 			msg.errors_count1 = status.errors_count1;
@@ -572,7 +572,7 @@ protected:
 					bat_msg.voltages[i] = 0;
 				}
 			}
-			bat_msg.current_battery = status.battery_current * 100.0f;
+			bat_msg.current_battery = status.battery_current / 10.0f;
 			bat_msg.current_consumed = status.battery_discharged_mah;
 			bat_msg.energy_consumed = -1.0f;
 			bat_msg.battery_remaining = (status.battery_voltage > 0) ?