Decoupling the roll and yaw axis by modifying the mixer#41
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Manuraj-PM wants to merge 55 commits intoairbound-developfrom
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Decoupling the roll and yaw axis by modifying the mixer#41Manuraj-PM wants to merge 55 commits intoairbound-developfrom
Manuraj-PM wants to merge 55 commits intoairbound-developfrom
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…scaling) (#28) * Initial setup for the vertical thrust maping to motor frame is done. Phi and drone's attitude based calculation * Included loging and the implementation of throttle boosting based on TRT's orientation and TV orientation. * Get the Average RPM data to the Tailsitter module. * Did pitch scaling but commented due to throttle scaling test. * Implementation for real flight is completed. * RPM based implementation for Realflight.. * Made changes for the real flight and simulation tests.. * Changed the dumstack pop up * Minor bug fix and log improvement * I was very confident of my code but one comma made an issue comma issue fixed * Some update in the estimator to fix the Kalman estimation * Exposed Hover RPM as a parameter * Some unit changes * Attitude_Control: Updated the compensation gain * Tailsitter:Did the clean SITL DEBUG * Tailsitter:Commented SITL Debug * AttitudeControl:Modified the boost factor * ESCTelem_SIM:Removed Debugg comment * Tailsitter:Correct spelling mistake and Do time based msg print * Taisitter:Correct the coefficients * AttitudeControl:Remove dead code * Tailsitter:Change the RPM Debug msg * Tailsitter:Change the RPM Debug msg add index * Tailsitter:Add bias state in Kalman to remove the bias in the estimation * tailsitter:Apply existing throttle scaling in absence of RPM data * tailsitter:Apply existing throttle scaling in absence of RPM data-1 * TailSitter:Disable the throttle boost during transition * tailsitter:Change the lower value of RPM to 2500 to remove servo jitter during arming * Pixhaw6C-bdshot default_param: Change the rate parameters to quick tune value * Version:Update version change * Remove whitespace for esc telem get_average_motor_rpm method * Add hal check for esc telem * Add #if guards for esc telem in tailsitter.cpp --------- Co-authored-by: Manuraj P M <manurajp@airbound.co> Co-authored-by: Mayank Joneja <mayankj@airbound.co>
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…atti decouple control. (#42) * Deafult_params: Change the pitch rate tuning parameters to new quick tune values * Default_params:Change the vertical tuning parameters --------- Co-authored-by: Manuraj P M <manurajp@airbound.co>
* Added custom storage feature * Removed dead code, added definition for max parameter name size. * Use MAVLink generated constant for parameter size - Replace hardcoded MAX_AB_PARAM_SIZE value with MAVLINK_MSG_AIRBOUND_PARAMETER_GETSET_FIELD_DATA_VALUE_LEN from the generated header to ensure consistency with the MAVLink message definition * AP_CustomMavlinkHandler.cpp: modified AIRBOUND_PARAMETER_STATUS message argument to reflect the result when airbound parameter get/set action fails * Fixed styling in AP_CustomMavlinkHandler Replaced print statement with GCS statements * Removed gcs print from custom_storage init function. * Fixed formatting * Fixed formatting --------- Co-authored-by: Atharva Sawant <atharvas@airbound.co>
* defaults_param:Change Angle and rate PID gain to manual tuned PID gains * version:Change RC version from 2 to 3 --------- Co-authored-by: Manuraj P M <manurajp@airbound.co>
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#44) * Add lua script to autobailout when there is pitch instability during vtol descend. * autobail.lua: - Changed parameter defaults - modified landing detection function logic to accomodate NAV_VTOL_LAND * Changed autobailout script parameter prefix from QREC_* -> AUTOB_* * autobailout.lua: Replace bad count to autobailout with time based autobailout * Moved autobail file location * autobailout.lua: Modified parameter table key and added parameter asserts * Renamed autobailout.lua to ab_autobailout.lua * rename ab_autobailout.lua to autobailout.lua autobailout.lua: Ensure type consistency on variables holding time * default.parm: add Q_M_SPOOL_TIME to 1 * Fix for test chibios failure due to custom log field
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Add blending logic for RPM scaler and throttle scaler based on RPM difference.
…Phi and drone's attitude based calculation
…TRT's orientation and TV orientation.
added 25 commits
March 30, 2026 13:03
…protection for cos(90) division
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Please find the notion page here for the non linear mixer implementation:
https://www.notion.so/airbound/Mixer-for-the-tailsitter-2ea21adf4be980b4bb11f953aeb3d857?source=copy_link