create mc_rate_control (split out of mc_att_control) #12650

dagar · 2019-08-06T18:26:10Z

Testing

dagar · 2019-08-07T14:35:18Z

As a single diff this is probably rather hard to review, however the majority of it was simply duplicating mc_att_control and gutting code on each side. Besides that the only real change is slightly different logic in the now standalone mc_rate_control for when to not run.

MaEtUgR

Everything I saw while scanning the code is in my opinion a huge leap in the right direction. I don't see a thing that breaks but I also couldn't study every single detail. It doesn't solve all problems but it doesn't have to but it makes it a lot easier and hence attractive for further improvements.

We should do some testing especially also of the acro, stabilized, rattitude modes.

MaEtUgR

I started looking into details but it's too much to look through right now.

src/lib/drivers/accelerometer/CMakeLists.txt

src/modules/mc_att_control/CMakeLists.txt

src/modules/mc_att_control/mc_att_control_main.cpp

jorge789 · 2019-08-08T20:46:26Z

Tested on PixRacer V4:
Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Vehicle did not respond to Yaw command.
Mission Plan Mode (Automated): Good.
RTL: Good.

- Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
Vehicle failed to responde Yaw commands on stabilized mode (This happened only in PR12650 Firmware).

Log:
https://review.px4.io/plot_app?log=47a32527-fc4e-4297-a1d3-ae4bb3cec54e

MASTER COMPARISON:
https://review.px4.io/plot_app?log=3ac7de57-3964-4614-bbcb-e904e2e0251b

Tested on CUAV V5+:
Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Vehicle did not respond to Yaw command.
Mission Plan Mode (Automated): Good.
RTL: Good.

- Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
Vehicle failed to responde Yaw commands on stabilized mode (This happened only in PR12650 Firmware).

Log:
https://review.px4.io/plot_app?log=1b449549-87f9-4dee-b4b1-ea58a0911c85

MASTER COMPARISON:
https://review.px4.io/plot_app?log=d4b59275-bca8-48c2-bfba-de89b38cf99e

Junkim3DR · 2019-08-08T21:49:07Z

Tested on NXP FMUK66 v3:

Modes Tested
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=d6a5d72d-41f7-415c-af3e-00a4fb773ea1

Tested on Pixhawk Pro v4Pro:

Modes Tested
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=33e25ec1-4c84-424b-b432-153faaa93b82

Tested on Pixhawk 4 mini v5:

Modes Tested
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=14ba9c4b-4022-4a23-9997-f7c171861a01

jorge789 · 2019-08-08T23:15:34Z

Tested on Pixhawk 2 Cube v3

Loaded el PR12650 and vehicle did not arm, and popup message said "Preflight Fail: Compass #2 uncalibrated. The vehicle has failed a pre-arm check. In order to arm the vehicle, resolve the failure."
Proceeded to calibrate all sensors but calibrations were rejected.

Loaded Stable firmware and vehicle calibrated and armed without issues.

**Log **
https://review.px4.io/plot_app?log=18094d44-f808-4b67-b7d6-8ef0df7f4f05

dagar · 2019-08-09T00:32:13Z

Tested on Pixhawk 2 Cube v3

Loaded el PR12650 and vehicle did not arm, and popup message said "Preflight Fail: Compass #2 uncalibrated. The vehicle has failed a pre-arm check. In order to arm the vehicle, resolve the failure."
Proceeded to calibrate all sensors but calibrations were rejected.

Loaded Stable firmware and vehicle calibrated and armed without issues.

**Log **
https://review.px4.io/plot_app?log=18094d44-f808-4b67-b7d6-8ef0df7f4f05

@jorge789 this is an unrelated problem caused by the buggy icm20948 driver (previously reported itself erroneously as another mpu9250). You should be seeing the same issue in master until you recalibrate.

jlecoeur

Looks good to me, apart from latency considerations.

src/modules/mc_rate_control/MulticopterRateControl.cpp

dagar · 2019-10-25T16:32:52Z

Not ready to merge until all VTOL types have been carefully tested.

dannyfpv · 2019-11-05T23:56:06Z

Tested on Pixhawk 4 mini v5
Mission mode
Notes: Good flight
log:
https://review.px4.io/plot_app?log=18ab7d53-a401-4c12-805a-4b007a81806d

jlecoeur · 2019-11-18T10:26:01Z

What is the status of this? Was it tested on all VTOL types? Is anything else blocking?

dagar · 2019-11-19T22:01:14Z

What is the status of this? Was it tested on all VTOL types? Is anything else blocking?

These changes check out in SITL and have been tested to some extent on real hardware by the test team. I'm not absolutely confident all VTOL subtleties have been preserved, but to be honest that's a pretty good indicator we have a larger problem.

It's early in the v1.11 release cycle. Let's get this in, keep an eye out for possible regressions, and continue working towards a fundamentally better architecture that's maintainable.

Thanks for the help everyone!

dagar added Admin: Enhancement (improvement) 💡 Multirotor 🛸 labels Aug 6, 2019

dagar mentioned this pull request Aug 6, 2019

[WIP]: mc_att_control split out rate controller and sensor aggregation into new modules #12225

Closed

dagar requested review from bresch and MaEtUgR August 6, 2019 18:27

dagar added this to the Release v1.10.0 milestone Aug 6, 2019

dagar force-pushed the pr-mc_rate_control branch 2 times, most recently from 49f678b to 5056af4 Compare August 7, 2019 00:57

dagar marked this pull request as ready for review August 7, 2019 00:57

dagar force-pushed the pr-mc_rate_control branch 5 times, most recently from a2fc430 to 396712e Compare August 7, 2019 04:46

dagar requested a review from a team August 7, 2019 14:44

MaEtUgR previously approved these changes Aug 8, 2019

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MaEtUgR reviewed Aug 8, 2019

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dagar dismissed MaEtUgR’s stale review via 0570bbd August 9, 2019 00:13

dagar force-pushed the pr-mc_rate_control branch from a1a57f9 to 0570bbd Compare August 9, 2019 00:13

dagar force-pushed the pr-mc_rate_control branch 2 times, most recently from 3c1f811 to b69f734 Compare August 9, 2019 01:30

dagar force-pushed the pr-mc_rate_control branch 8 times, most recently from de792e6 to 21f68bb Compare October 21, 2019 23:04

jlecoeur previously approved these changes Oct 25, 2019

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src/modules/mc_rate_control/MulticopterRateControl.cpp Show resolved Hide resolved

dagar dismissed jlecoeur’s stale review via 01670db October 25, 2019 18:44

dagar force-pushed the pr-mc_rate_control branch from 21f68bb to 01670db Compare October 25, 2019 18:44

dagar force-pushed the pr-mc_rate_control branch from 01670db to be25215 Compare October 29, 2019 14:35

dagar mentioned this pull request Nov 4, 2019

[DO NOT MERGE] debugging SITL CI poll timeouts #13371

Closed

dagar force-pushed the pr-mc_rate_control branch 2 times, most recently from d49c1ad to bf9c967 Compare November 5, 2019 21:46

create mc_rate_control (split out of mc_att_control)

2b2d61b

dagar force-pushed the pr-mc_rate_control branch from bf9c967 to 2b2d61b Compare November 7, 2019 15:06

dagar added 2 commits November 19, 2019 15:44

Merge remote-tracking branch 'px4/master' into pr-mc_rate_control

29362ee

fmu-v5 stackcheck disable camera_capture and camera_trigger

e45a666

dagar changed the title ~~[WIP]: create mc_rate_control (split out of mc_att_control)~~ create mc_rate_control (split out of mc_att_control) Nov 19, 2019

dagar merged commit 84fe64b into PX4:master Nov 19, 2019

dagar deleted the pr-mc_rate_control branch November 19, 2019 22:03

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create mc_rate_control (split out of mc_att_control) #12650

create mc_rate_control (split out of mc_att_control) #12650

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dagar commented Aug 9, 2019

Tested on Pixhawk 2 Cube v3

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create mc_rate_control (split out of mc_att_control) #12650

create mc_rate_control (split out of mc_att_control) #12650

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Tested on Pixhawk 2 Cube v3

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Tested on Pixhawk 2 Cube v3

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