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move hover_thrust_estimator to new module (mc_hover_thrust_estimator)

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* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.

* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2020-03-11 21:20:54 -04:00
committed by GitHub
parent 4b9e6964f4
commit f9794e99f8
74 changed files with 419 additions and 141 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rc.mc_apps
+1
View File
@@ -61,6 +61,7 @@ mc_att_control start
# #
# Start Multicopter Position Controller. # Start Multicopter Position Controller.
# #
mc_hover_thrust_estimator start
mc_pos_control start mc_pos_control start
# #
ROMFS/px4fmu_common/init.d/rc.vtol_apps
+1
View File
@@ -22,6 +22,7 @@ vtol_att_control start
mc_rate_control start vtol mc_rate_control start vtol
mc_att_control start vtol mc_att_control start vtol
mc_pos_control start vtol mc_pos_control start vtol
mc_hover_thrust_estimator start
fw_att_control start vtol fw_att_control start vtol
fw_pos_control_l1 start vtol fw_pos_control_l1 start vtol
boards/aerotenna/ocpoc/default.cmake
+1
View File
@@ -51,6 +51,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/airmind/mindpx-v2/default.cmake
+1
View File
@@ -69,6 +69,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/atlflight/eagle/default.cmake
+1
View File
@@ -72,6 +72,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/atlflight/eagle/qurt.cmake
+1
View File
@@ -62,6 +62,7 @@ px4_add_board(
landing_target_estimator landing_target_estimator
local_position_estimator local_position_estimator
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
muorb/adsp muorb/adsp
boards/atlflight/excelsior/default.cmake
+1
View File
@@ -72,6 +72,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/atlflight/excelsior/qurt.cmake
+1
View File
@@ -62,6 +62,7 @@ px4_add_board(
landing_target_estimator landing_target_estimator
local_position_estimator local_position_estimator
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
muorb/adsp muorb/adsp
boards/av/x-v1/default.cmake
+1
View File
@@ -69,6 +69,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/beaglebone/blue/default.cmake
+1
View File
@@ -43,6 +43,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/bitcraze/crazyflie/default.cmake
+1
View File
@@ -27,6 +27,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/emlid/navio2/default.cmake
+1
View File
@@ -45,6 +45,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/holybro/durandal-v1/default.cmake
+1
View File
@@ -74,6 +74,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/holybro/durandal-v1/stackcheck.cmake
+1
View File
@@ -75,6 +75,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/holybro/kakutef7/default.cmake
+1
View File
@@ -41,6 +41,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/intel/aerofc-v1/default.cmake
+1
View File
@@ -48,6 +48,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/intel/aerofc-v1/rtps.cmake
+1
View File
@@ -48,6 +48,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
micrortps_bridge micrortps_bridge
boards/modalai/fc-v1/default.cmake
+1
View File
@@ -67,6 +67,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/mro/ctrl-zero-f7/default.cmake
+1
View File
@@ -72,6 +72,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/mro/x21-777/default.cmake
+1
View File
@@ -66,6 +66,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/mro/x21/default.cmake
+1
View File
@@ -69,6 +69,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/nxp/fmuk66-v3/default.cmake
+1
View File
@@ -71,6 +71,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/nxp/fmurt1062-v1/default.cmake
+1
View File
@@ -63,6 +63,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/omnibus/f4sd/default.cmake
+1
View File
@@ -59,6 +59,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/px4/fmu-v2/default.cmake
+1
View File
@@ -81,6 +81,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/px4/fmu-v2/multicopter.cmake
+1
View File
@@ -49,6 +49,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/px4/fmu-v2/test.cmake
+1
View File
@@ -79,6 +79,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/px4/fmu-v3/default.cmake
+1
View File
@@ -78,6 +78,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/px4/fmu-v3/rtps.cmake
+1
View File
@@ -78,6 +78,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
micrortps_bridge micrortps_bridge
boards/px4/fmu-v4/default.cmake
+1
View File
@@ -72,6 +72,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/px4/fmu-v4/rtps.cmake
+1
View File
@@ -72,6 +72,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
micrortps_bridge micrortps_bridge
boards/px4/fmu-v4/stackcheck.cmake
+1
View File
@@ -72,6 +72,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/px4/fmu-v4pro/default.cmake
+1
View File
@@ -74,6 +74,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/px4/fmu-v4pro/rtps.cmake
+1
View File
@@ -74,6 +74,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
micrortps_bridge micrortps_bridge
boards/px4/fmu-v5/critmonitor.cmake
+1
View File
@@ -74,6 +74,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/px4/fmu-v5/default.cmake
+1
View File
@@ -77,6 +77,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/px4/fmu-v5/irqmonitor.cmake
+1
View File
@@ -74,6 +74,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/px4/fmu-v5/multicopter.cmake
+1
View File
@@ -63,6 +63,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/px4/fmu-v5/rtps.cmake
+1
View File
@@ -74,6 +74,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
micrortps_bridge micrortps_bridge
boards/px4/fmu-v5/stackcheck.cmake
+1
View File
@@ -75,6 +75,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/px4/fmu-v5x/default.cmake
+1
View File
@@ -75,6 +75,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake
+1
View File
@@ -75,6 +75,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/px4/raspberrypi/default.cmake
+1
View File
@@ -44,6 +44,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
#micrortps_bridge #micrortps_bridge
boards/px4/sitl/default.cmake
+1
View File
@@ -36,6 +36,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/px4/sitl/rtps.cmake
+1
View File
@@ -37,6 +37,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
micrortps_bridge micrortps_bridge
boards/px4/sitl/test.cmake
+1
View File
@@ -36,6 +36,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
boards/uvify/core/default.cmake
+1
View File
@@ -51,6 +51,7 @@ px4_add_board(
logger logger
mavlink mavlink
mc_att_control mc_att_control
mc_hover_thrust_estimator
mc_pos_control mc_pos_control
mc_rate_control mc_rate_control
navigator navigator
platforms/qurt/src/px4/common/commands_hil.c
+1
View File
@@ -53,6 +53,7 @@ const char *get_commands()
"commander start --hil\n" "commander start --hil\n"
"sensors start\n" "sensors start\n"
"ekf2 start\n" "ekf2 start\n"
"mc_hover_thrust_estimator start\n"
"mc_pos_control start\n" "mc_pos_control start\n"
"mc_att_control start\n" "mc_att_control start\n"
"mc_rate_control start\n" "mc_rate_control start\n"
posix-configs/SITL/init/test/test_shutdown
+1
View File
@@ -25,6 +25,7 @@ land_detector start vtol
navigator start navigator start
ekf2 start ekf2 start
vtol_att_control start vtol_att_control start
mc_hover_thrust_estimator start
mc_pos_control start vtol mc_pos_control start vtol
mc_att_control start vtol mc_att_control start vtol
mc_rate_control start vtol mc_rate_control start vtol
posix-configs/bbblue/px4.config
+1
View File
@@ -67,6 +67,7 @@ navigator start
ekf2 start ekf2 start
land_detector start multicopter land_detector start multicopter
mc_hover_thrust_estimator start
mc_pos_control start mc_pos_control start
mc_att_control start mc_att_control start
mc_rate_control start mc_rate_control start

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