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Author SHA1 Message Date
mcsauder 4f71c4e123 Change #defines to static constexpr types in LidateLite.h, updated the docs link in ll40ls.cpp, and shortened comments to allow uniform indentation in LidarLiteI2C.h. 2019-09-27 07:55:53 +01:00
mcsauder 9023030931 LidarLite driver minor comment updates/formatting and change instances of OK to PX4_OK. 2019-09-27 07:55:53 +01:00
mcsauder 7b16c3482d Refactor the ll40ls namespace driver methods to more closely match the cm8jl65, mappydot, leddar_one, and other distance sensor driver implementations. 2019-09-27 07:55:53 +01:00
kamilritz 8ce4a15778 Update frame in mavlink receiver odometry to newest mavlink 2019-09-26 14:48:20 -04:00
kamilritz 9c46a89f64 Update EKF_AID_MASK 2019-09-26 14:48:20 -04:00
Silvan Fuhrer bfbc9dda91 VTOL: fix front transition rate publication (enable FW attitude controller to run instantly when transition is started). For that the vehicle_status_poll is moved before vehicle_control_module_poll in FW att C 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-26 11:39:55 -04:00
kritz 190c817a9e ekf2: update to latest ecl version [continued] (#13023) 
* ekf2: update to latest ecl version

Includes compatibility changes for renamed variables.

* ekf2: Add write of odometry velocity data

Co-Authored-By: kritz <kritz@ethz.ch>

* ekf2: Modify parameters to enable control of vision velocity fusion

* ekf2: Update to latest ecl with timestamp messages
 2019-09-26 10:21:53 +02:00
Daniel Agar dedd257433 CollisionPrevention: fix integer rounding (#13028) 2019-09-26 09:45:55 +02:00
Daniel Agar 3031f94ded mavlink: optimize normal mode for typical GCS usage over serial radio 2019-09-25 14:08:04 -04:00
Daniel Agar 2366abefd8 nxp/fmuk66-v3: readd uavcan 
* this was accidentally dropped earlier this year
 2019-09-25 13:42:59 -04:00
Daniel Agar 88fb6f7b8e cm8jl65: move to PX4Rangefinder and cleanup 
* cm8jl65 split out header and main
* cm8jl65: move to PX4Rangefinder
* PX4Rangefinder: move signal_quality handling to PX4Rangefinder
 2019-09-25 12:52:45 -04:00
Daniel Agar a217e15c5f Jenkins temporarily disable Catkin build 2019-09-25 10:45:12 -04:00
Mark Sauder db8e203a7a Update the Integrator class local variable dt from double to float and utilize the hrt_abstime typedef. (#12935) 2019-09-25 14:41:54 +02:00
Julian Oes 0b368d043f mavlink: always check stream subscriptions (#13018) 
This fixes the regression where we saw this in SITL:
ERROR [mavlink] system boot did not complete in 20 seconds

The reason was that the stream subscription requests were not checked
because the while loop was not running yet because mavlink was not
booted completely.
By moving the stream subscription requests into a function we can run
them even if we don't run the rest of the loop.
 2019-09-25 14:37:08 +02:00
kritz b78429aa60 Fix print statements cast error on posix firmware builds (#647) 2019-09-25 14:34:43 +02:00
kritz 4a38f5a2f6 Add timestamp to ECL print statements, (#644) 
which is helpful for EKF replay debugging.
 2019-09-25 11:24:42 +02:00
Daniel Agar b6db872303 listener fix incorrect "never published" cases (#13006) 
- fixes #12955
 2019-09-25 10:46:13 +02:00
Matthias Grob bc8781d130 Appveyor: update to Windows Toolchain v0.6 (#13016) 2019-09-25 10:43:04 +02:00
Mark Sauder 4a6742c3e6 Deprecate the non-functioning HC_SR04 driver. (#13021) 2019-09-25 10:34:50 +02:00
Julian Kent 07d656e971 Guidance feature for Collision Prevention (#13017) 
* add guidance

* remove COL_PREV_ANG and replace with COL_PREV_CNG

* safe max ranges per bin

* increase default value for colprev delay to account for tracking delay

* update parameter description

* fix and extend testing

* add handling for overlapping sensor data

* fix decision process for overlapping sensors
 2019-09-24 17:00:04 +02:00
bresch 6139812293 FailureDetector - use standard topic subscription for attitude topic and 
pass vehicle_status from commander instead of subscribing to it.
 2019-09-24 14:17:58 +02:00
bresch 000c1e364c FailureDetector - Ignore attitude check for MC in acro and rattude, and FW in manual, acro and rattitude modes 2019-09-24 14:17:58 +02:00
kamilritz 35c50f693f Add missing id for vehicle_visual_odometry_aligned for rtps 2019-09-24 10:49:33 +01:00
Matthias Grob 6a5ca6e336 FlightTask: use inline assignment initializer for reset_counters struct 2019-09-24 10:34:08 +02:00
bresch 679b1659eb AutoLineSmoothVel - Reorganize functions declarations to match cpp file 2019-09-24 10:34:08 +02:00
bresch c811cf4784 FlightTask - Move ekf reset counter monitoring logic in the base FlihtTask 
Each child FlightTask can simply implement what it wants to do in case
of an EKF reset event by overriding one of the _ekfResetHandler functions
 2019-09-24 10:34:08 +02:00
kritz bb88d4ce5e Undo wrong comment change 2019-09-24 08:50:29 +10:00
Kamil Ritz 562731936a Update quaternion direction in documentation pdf 2019-09-24 08:50:29 +10:00
kamilritz 8c061fb6a4 Fixing wrong label of quaternion direction 2019-09-24 08:50:29 +10:00
Jannik Beyerstedt fe3fec413c fix #595 and add new all-in-one conversion script (PX4 only) 2019-09-24 08:20:16 +10:00
kamilritz 83eb326076 Missing posNED 2019-09-24 07:48:46 +10:00
kamilritz fd6b364c11 posNED to pos and velNED to vel and add ev vel covariances to reset 2019-09-24 07:48:46 +10:00
kamilritz 4f6ca3a74c Replace rest of spaces with tabs 2019-09-24 07:48:46 +10:00
kamilritz cea053820d Remove spaces with tabs 2019-09-24 07:48:46 +10:00
kamilritz 1e57c4bbec Fix white space 2019-09-24 07:48:46 +10:00
kamilritz 10cbd79db7 Rotate external vision info in reset function if necessary 2019-09-24 07:48:46 +10:00
kamilritz 4511b9ff5e Add missing checks for flags.ev_vel 2019-09-24 07:48:46 +10:00
kamilritz e7d927c899 Stop using bad GPS when we have vision velocity 2019-09-24 07:48:46 +10:00
kamilritz bd8f05567a set vel_pos_test_ratio to zero if no fusion happens 2019-09-24 07:48:46 +10:00
kamilritz 4b30de587f Make vel_pos innov gate variable name clearer 2019-09-24 07:48:46 +10:00
kamilritz 4237d7ccd7 Improve external vision position fusion 2019-09-24 07:48:46 +10:00
kamilritz 3e8139ff9f Enable vision velocity fusion 2019-09-24 07:48:46 +10:00
kamilritz 149233a9ab Add velocity observations to external vision interface 2019-09-24 07:48:46 +10:00
kritz 7427768e70 ECL reference frame alignment fix (#12771) 
* Fix EKF frame alignemen in ECL

* Remove empty lines

* Add initalization for ev_odom

* Only use yaw covariance for angErr

* Improve frame naming in comments

* Use copyTo

* Add aligned as suffix

* Add missing vehicle_visual_odometry_aligned
 2019-09-23 14:24:52 -04:00
Matthias Grob 412b44ff6e Commander: allow RC to override during RTL 2019-09-23 12:42:33 +02:00
Matthias Grob 4f44fde080 Commander: remove not disarming by RC message 
Refactoring the condition to be more clear.
 2019-09-23 12:42:33 +02:00
Matthias Grob 973999a4d3 Fix some template type conversions and style 2019-09-23 10:59:12 +02:00
Christian Clauss 41516fbd55 Old style exceptions are Python 3 syntax errors 2019-09-22 17:47:37 -04:00
Daniel Agar bc35251799 Update submodule mavlink v2.0 to latest Sun Sep 22 08:37:26 EDT 2019 
- mavlink v2.0 in PX4/Firmware (09bd7bbcab7ba508043018eefbe020ff74d79c66): https://github.com/mavlink/c_library_v2/commit/be2f1fbe0a8235ff4632e7df1d54c89a3c8615bd
    - mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/d4a4a4314b8912015e999e17a3f66afee434a9cd
    - Changes: https://github.com/mavlink/c_library_v2/compare/be2f1fbe0a8235ff4632e7df1d54c89a3c8615bd...d4a4a4314b8912015e999e17a3f66afee434a9cd
 2019-09-22 14:23:56 -04:00
bazooka joe fb3a91cc4f added circuit_breaker_enabled_by_val() 
added and using circuit_breaker_enabled_by_val() where possible instead of circuit_breaker_enabled() which search for cbrk parameters by name, which is extensive process.
 2019-09-22 13:55:40 -04:00