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18241 Commits
Author SHA1 Message Date
bresch 8693ad15a7 ekf: add logging of range finder consistency check 2022-04-13 11:41:48 +02:00
bresch baf9cc9597 ekf: use uint64_t for time variables 2022-04-13 11:41:48 +02:00
bresch 9fc331b7ea ekf: requires kinematically consistent range finder data to continue terrain aiding 2022-04-13 11:41:48 +02:00
bresch 78211f9dbb ekf: improve rng consistency check 
To pass from invalid to valid:
- time hysteresis
- some vertical velocity
- test ratio < 1
- low-passed signed test ratio < 1

To pass from valid to invalid:
- low-passed signed test ratio >= 1
 2022-04-13 11:41:48 +02:00
bresch b1ea2e4e15 ekf: use same gate for innov and innov sequence monitoring 2022-04-13 11:41:48 +02:00
bresch f96287b80a ekf: access member variable without getter 2022-04-13 11:41:48 +02:00
bresch 904bf8ef9f ekf: add range finder kinematic consistency check 
At each new valid range measurement, the time derivative of the distance
to the ground is computed and compared with the estimated velocity.
The average of a normalized innovation squared statistic check is used
to detect a bias in the derivative of distance measurement,
indicating that the distance measurements are kinematically inconsistent
with the filter.
 2022-04-13 11:41:48 +02:00
bresch 064518f57a ekf: extract range finder noise computation 2022-04-13 11:41:48 +02:00
Matthias Grob 97b2947416 FlightTaskAuto: refactor _commanded_speed_ts -> _time_last_cruise_speed_override 2022-04-13 12:23:27 +03:00
Matthias Grob 68cf686892 FlightTask: rename and move setCruisingSpeed() -> overrideCruiseSpeed() 2022-04-13 12:23:27 +03:00
Matthias Grob f892a624b7 FlightModeManager/FixedwingPositionControl: robustify vehicle command parameter casting 2022-04-13 12:23:27 +03:00
RomanBapst 3ed929c7b6 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
RomanBapst d41de33a85 FlightModeManager: handle MAV_CMD_DO_CHANGE_SPEED 
- support setting the cruise speed of the auto flight task via command

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
RomanBapst ca657f36ef FixedWingPositionControl: handle VEHICLE_CMD_DO_CHANGE_SPEED 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
RomanBapst 36e32ecd7b navigator: stop handling speed changes via reposition triplet 
- the mc and fw controllers are handling the speed changes directly

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
Matthias Grob 10f927ae2b MulticopterPositionControl: remove unused return value parameters_update() 2022-04-12 10:13:11 -04:00
Daniel Agar 8166a500ac Update world_magnetic_model to latest Mon Apr 11 11:14:11 UTC 2022 (#19475) 2022-04-12 10:11:51 -04:00
Daniel Agar bb2ea574aa ekf2: properly reset IMU biases on calibration change (non-multi-EKF) 
- this was working in the multi-EKF case using vehicle_imu, but missing
in sensor_combined
 2022-04-11 12:23:55 -04:00
Daniel Agar 04f37222f8 ekf2: fix IMU missed perf count when not using multi-EKF 2022-04-10 11:07:33 -04:00
PX4 BuildBot f2c5d70d3a Update submodule mavlink to latest Sun Apr 10 12:39:00 UTC 2022 
- mavlink in PX4/Firmware (a1530591764f0c694560e4bb6ae41c15d3e35c9b): https://github.com/mavlink/mavlink/commit/0133e5db7fd640dcf250f3ba7817d6f0f7bb7589
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/56a5110d38b77c8477b0a1d6ee909607a588f98d
    - Changes: https://github.com/mavlink/mavlink/compare/0133e5db7fd640dcf250f3ba7817d6f0f7bb7589...56a5110d38b77c8477b0a1d6ee909607a588f98d

    56a5110d 2022-04-09 Tom Pittenger - Add radius to DO_REPOSITION (#1825)
3b5959bd 2022-04-07 Thomas Debrunner - Option to not reset non-configurable params in preflight storage (#1826)
 2022-04-10 10:21:14 -04:00
Silvan Fuhrer c7023e5879 Increase NAV_LOITER_RAD and RTL_LOITER_RAD to 80m each 
For many VTOLs/fixed-wing drones a 50m loiter radius is too tight, and
going to 80m is a better and safer default.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-04-09 14:31:17 -04:00
Nicolas MARTIN eb1bb4335b commander: fix enable_failsafe reason (#19391) 
- In this case, no action is configured for datalink lost. Action is configured for RC lost.
 - In case of no data link and no rc failsafe is enabled but reporting a "no_datalink" reason but "no_rc_and_no_datalink" seems more explicit.
 2022-04-09 14:30:49 -04:00
Daniel Agar 091fca701e px4io: input_rc only publish new successful decodes 
- previously an invalid decode would continue to be transferred to the FMU (at 50 Hz) and published to the rest of the system as successfully decoded new RC data
 - by only publishing new successful decodes we can more effectively discard invalid data in downstream consumers
 2022-04-09 14:28:16 -04:00
Matthias Grob fe26ee244d modeCheck: allow arming in land mode for MAVSDK compatibility 
ideally we can remove it again when the workflow is changed to
first changing mode then arming.
 2022-04-08 09:56:47 +02:00
Daniel Agar 77a37c26bf rc_update: further tighten timing requirements for valid data 
- any real RC data input will be much faster than 3 Hz, so this is an
easy way to minimize bogus decoded data from propagating
 2022-04-07 14:42:05 -04:00
Daniel Agar 98623f69a3 update mavlink submodule to latest 
- update MAV_TYPE VTOL usage for current mavlink
 2022-04-07 20:35:41 +02:00
Julian Oes a5bd65b923 mavlink: set correct param capability 
PX4 supports int32 parameter types by interpreting the 32 bits in
the float field as an int32 field. To signal this behaviour, it should
set the bit which is described as PARAM_ENCODE_BYTEWISE.

PX4 had always handled parameters this way but never actually sent the
capability (which back then was called PARAM_UNION), however, it should
have. This came up recently in the MAVLink devcall when these flags were
discussed. The takeaway was to remove the flags to make it clearer and
to make sure the projects (like PX4) send them out correctly.
 2022-04-07 20:35:41 +02:00
Matthias Grob 92adc71424 ArmStateMachine: port over unit tests to functional gtests 2022-04-06 10:02:14 +02:00
Matthias Grob f968a5947d ArmStateMachine: port arming_state_names into the class 2022-04-06 10:02:14 +02:00
Matthias Grob 074080c816 Commander: separate out arm state machine to class 
Pure refactoring and just the first step to avoid conflicts on the way.
 2022-04-06 10:02:14 +02:00
Igor Misic 80aef942cd safety and safety button: refactoring #19413 2022-04-05 07:57:37 +02:00
Daniel Agar 8c3ba7adb4 commander: silence GPS no longer validity PX4_WARN 2022-04-04 14:43:11 -04:00
Alessandro Simovic 47b08fd698 precland: save flash space 2022-04-04 17:26:52 +02:00
Hovergames 457130fb69 Support for NXP UWB position sensor 
uwb_sr150 driver for the sensor, and some
modifications in precision landing to allow
landing on a platform using the UWB system.
 2022-04-04 17:26:52 +02:00
Matthias Grob 3aee2497bb commander_params: add precision land option for mode switch 2022-03-30 18:11:44 +02:00
Kabir MohammedandAlex Mikhalev d3b3de7159 mavlink: Use round instead of ceil on BATTERY_STATUS percentage 
Co-authored-by: Alex Mikhalev <alex@corvus-robotics.com>
 2022-03-30 09:49:11 -04:00
Matthias Grob 7cd57b4415 FlightTaskOrbit: alert user about exceeded radius (mavlink_log) 2022-03-29 18:46:37 +02:00
Matthias Grob 3e8d2fea94 FlightTaskOrbit: alert user about exceeded radius (events) 2022-03-29 18:46:37 +02:00
Matthias Grob 8ad44ee128 FlightModeManager: remove needless space at the end of invalid task error string 2022-03-29 18:46:37 +02:00
Matthias Grob 9bdde98a68 FlightModeManager: refactor flight task switch result condition for vehicle commands 2022-03-29 18:46:37 +02:00
Matthias Grob ffaef906c4 FlightModeManager: don't ack with result failed when parameters are invalid 
Command denied is defined as "supported but has invalid parameters"
which matches the case.
 2022-03-29 18:46:37 +02:00
Matthias Grob fc0be6c4fc FlightModeManager: switch to failsafe task if orbit is rejected 2022-03-29 18:46:37 +02:00
RomanBapst 18074dec5a simulator: fix conversion from hPa to Pa 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-29 17:41:54 +03:00
Daniel Agar 84e796c385 drives/gps: add new sensor_gnsss_relative msg 
- for ublox this corresponds to NAV_RELPOSNED
 2022-03-29 07:59:41 +02:00
Matthias Grob c7f114a26a FlightTaskOrbit: increase radius limit 2022-03-28 17:57:56 +02:00
Matthias Grob d0794c1189 FlightTaskOrbit: don't start Orbit if radius is not in range 2022-03-28 17:57:56 +02:00
Daniel Agar 0595efbd9b sensors/vehicle_magnetometer: publish sensors_status_mag and other minor updates to stay in sync with air data 2022-03-26 16:08:41 -04:00
Daniel Agar 0c31f63896 sensors: add baro calibration and cleanup 
- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting
 2022-03-26 16:08:41 -04:00
Daniel Agar 3d08e031d2 rc_update: improve manual_switches simple protections 
- require back to back matching switch decode to match within 1 second
 - clear any previous manual switches if RC is unstable
 2022-03-25 10:56:24 -04:00
Daniel Agar 875a2cc423 commander: remove loop counters and update UI LED control to use monotonic time 2022-03-24 22:43:26 -04:00