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autotune_enable
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18241 Commits
Author SHA1 Message Date
TSC21 6add0fff7f add iris_dual_gps config and the possibility of testing GPS blending through simulation 2020-06-16 09:57:05 +01:00
JaeyoungLim 39b803a9dc Remove gps noise multiplier parameter (#15108) 
This removes the gps noise multiplier parameter that can be set on the firmware side
 2020-06-15 22:32:32 +02:00
Beat Küng 16323256bc gyro calibration: add median filter to motion detection 
The bmi088 has a bit more noise and tends to trigger it.
This improves reobustness against noise, and increases the threshold
slightly.
 2020-06-11 12:25:13 -04:00
Matthias Grob 7ff25373e4 powerCheck: add power redundancy check 
A parameter spcifies what the redundancy level for 5V rail supply
needs to be and a check makes sure that it's available before
taking off such that the user is aware of a broken or disconnected
redundant power module.
 2020-06-10 10:13:51 -04:00
Daniel Agar 6f6efd60b7 boards: centralize optional external I2C sensor start 
- configured with new parameter SENS_EXT_I2C_PRB
 2020-06-10 09:04:13 -04:00
Beat Küng 0fcb873636 logger: add raw FIFO high-rate IMU logging profiles 
Minimum requirement to use: set IMU_GYRO_RATEMAX to 400.

Logging rate of a single topic: ~85 KB/s. If multiple should be logged,
a really good SD card has to be used.
 2020-06-09 09:58:15 -04:00
Matthias Grob c36c8d161c MulticopterLandDetector: remove arbitrary maximum altitude based on battery percentage 2020-06-08 10:41:19 +02:00
Daniel Agar 39a33a35ae sensors/vehicle_imu: pause computing publication update rate 2020-06-07 11:23:22 -04:00
Daniel Agar 786733cd1a sensors/vehicle_imu: only publish status at 10 Hz (or on change) 2020-06-07 11:23:22 -04:00
Daniel Agar 8890ea23b7 sensors/vehicle_imu: only apply corrections once before publication 2020-06-07 11:23:22 -04:00
RomanBapst af5c48b869 navigator: always make sure that we set target lat/lon for fixed wing 
takeoff

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-06-05 21:52:12 -04:00
Daniel Agar 31fe7af454 selectively increase optimization -Os -> -O2 
- targetted at modules/libraries that benefit without drastically
increasing flash usage
 - ignored on boards with CONSTRAINED_FLASH set
 2020-06-04 20:59:52 -04:00
Beat Küng 32642b78bf gyro filtering: apply IMU_GYRO_CUTOFF also to D-term 
Greatly improves the noise on the d-term on a Kopis 2. Apparently the order
of filtering vs differentiating matters.

Also disables the DGYRO filter by default, as the D-term now already has
a default filter of 30Hz applied.
 2020-06-04 20:58:40 -04:00
Julian Oes c37ba26a2f mavlink: remove outdated comment 2020-06-03 17:57:12 +02:00
Julian Oes 2c5b8a9491 mavlink: handle stream not updated 
Our answer does not just depend on whether the stream was found but
whether we actually were able to send out an update.
 2020-06-03 17:57:12 +02:00
Julian Oes efb10a2fbc mavlink: address review comments 2020-06-03 17:57:12 +02:00
Julian Oes 7d1b451e39 mavlink: add missing copyright header, pragma once 2020-06-03 17:57:12 +02:00
Julian Oes afafc541d8 mavlink: use send() instead of using reset flag 
I think we can just directly use send() and don't need to use the
workaround of resetting the send flag to trigger one send.

Also, we don't need to override it if we don't need to check any params.
 2020-06-03 17:57:12 +02:00
Julian Oes b54c44bd37 mavlink: don't send streams with interval 0 
We only need to send them immediately if the interval is < 0 meaning
unlimited.
 2020-06-03 17:57:12 +02:00
Julian Oes 3815e608f4 mavlink: create stream if needed and trigger once 
Instead of creating the stream and deleting it again, we now create it
with a rate of 0 and trigger it once.

This should avoid heap fragmentation by continous allocations.
 2020-06-03 17:57:12 +02:00
Julian Oes acdc15e2cd mavlink: create stream even if rate is 0 
This allows to send a message exactly once if requested.
 2020-06-03 17:57:12 +02:00
Julian Oes bb032a9c46 mavlink: remove incorrect outdated comment 
Default is -2, so the comments seems wrong.
 2020-06-03 17:57:12 +02:00
Julian Oes 80f91b0f6a mavlink: add support for legacy requests back in 2020-06-03 17:57:12 +02:00
Julian Oes b4cbd93b7c mavlink: new args to request message, omit param1 
We can omit param1 because it is already used for the message_id, so
it's basically duplicate information and won't get used anywhere.
 2020-06-03 17:57:12 +02:00
Julian Oes 27b6c209e0 mavlink: Move request message logic to function 2020-06-03 17:57:12 +02:00
David Jablonski 62bf0a6cf8 added streams to mavlink messages 2020-06-03 17:57:12 +02:00
David Jablonski edbe7e3ef0 added FLIGHT_INFORMATION stream 2020-06-03 17:57:12 +02:00
David Jablonski e1f4a70c0e added AUTOPILOT_VERSION and PROTOCOL_VERSION streams 2020-06-03 17:57:12 +02:00
David Jablonski aef2a5755e moving storage_information stream to separate file 2020-06-03 17:57:12 +02:00
David Jablonski 9ce9fe38de use storage_id 1 2020-06-03 17:57:12 +02:00
David Jablonski fd09198c7e implemented MAV_CMD_REQUEST_MESSAGE for STORAGE_INFORMATION 2020-06-03 17:57:12 +02:00
Daniel Agar 9e509a4bec navigator: RTL minor whitespace and style fixes 2020-06-02 22:08:55 -04:00
Daniel Agar aca6be8b5c navigator: RTL destination throttle dataman access 2020-06-02 22:08:55 -04:00
Daniel Agar 11585dfb67 ekf2: decrease default GPS horizontal velocity noise 2020-06-02 08:18:12 -04:00
Dusan Zivkovic 08fdc90175 mission: keep current heading if close to ROI while heading sp is invalid 2020-06-02 12:04:23 +02:00
Daniel Agar a9dacae57e sensors/vehicle_angular_velocity: limit scheduling to IMU_GYRO_RATEMAX 2020-06-01 15:08:50 -04:00
Daniel Agar 96f043cd62 sensors/vehicle_acceleration: limit scheduling to IMU_INTEG_RATE 2020-06-01 15:08:50 -04:00
Daniel Agar b139f48fef sensors: throttle mavlink emergency log messages 
- in rare situations sending these messages multiple times in close succession can actually cause a loop of additional sensor timeouts
 2020-06-01 11:25:12 -04:00
Daniel Agar 51a36f0b61 sensors/vehicle_imu: improve initial sensor interval monitoring 
- add perf counters for monitoring
 2020-05-31 21:41:37 -04:00
Daniel Agar e34bdb4be9 move IMU integration out of drivers to sensors hub to handle accel/gyro sync 
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu 
 - sensors: voted_sensors_update now consumes vehicle_imu
 - delete sensor_accel_integrated, sensor_gyro_integrated
 - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
 - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
 2020-05-30 11:07:54 -04:00
Dusan Zivkovic 1f57d63503 precland: set the previous position setpoint to invalid, in the position setpoint triplet 2020-05-29 09:18:43 +02:00
Dusan Zivkovic 7eee9deb4c mission: handle precision landing inactivation properly 2020-05-29 09:11:01 +02:00
Dusan Zivkovic a758ea1220 RTL: enable precision landing at the end of RTL, configurable by parameter 2020-05-29 09:11:01 +02:00
Dusan Zivkovic ed9e504695 precland: add a method to check if precland is activated 2020-05-29 09:11:01 +02:00
TSC21 ad4d4287fa mavlink odometry: properly set the frame id fields 2020-05-28 15:45:13 +01:00
TSC21 562d57fee8 mavlink: fix odometry frames of reference setup 2020-05-28 15:45:13 +01:00
Daniel Agar 0ec48cfef3 ekf2: increase default baro noise 2 -> 3.5 m 2020-05-28 08:35:07 -04:00
Hamish WilleeandMathieu Bresciani 14853539e3 CBRK_FLIGHTTERM: Does not affect takeoff failure safety detection (#14972) 
* CBRK_FLIGHTTERM: Clarify does not affect takeoff failure safety detection

* FD_FAIL_P FD_FAIL_R - clarify apply on takeoff

* Improve param text

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2020-05-28 08:30:48 +02:00
Pandacoolcool 664c79742b navigator_main.cpp: don't reset wv enable status (#14901) 
* navigator_main.cpp: don't reset wv enable status

* fix review
 2020-05-27 15:49:04 +03:00
Matthias Grob d92e66863a mc_pos_control: migrate MPC_*_VEL_* parameter to acceleration scaling 
Before #14212 the velocity control gains used in the multicopter
position controller were defined as a scale between velocity error in
one axis (or it's integral and derivative respectively) and the unit
thrust vector. The problem with this is that the normalization of the
unit thrust vector changes per vehicle or even vehicle configuration
as 0 and 100% thrust get a different physical response. That's why
the gains are now defined as scale between velocity error
(integral/derivative) and the output acceleration in m/s².
 2020-05-26 14:44:41 +02:00