fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-03 21:00:36 +08:00
Code Issues Packages Projects Releases Wiki Activity
48,275 Commits 852 Branches 161 Tags
copilot/fix-stack-buffer-overflow
Commit Graph

28679 Commits

Author SHA1 Message Date
Beat Küng 836c7c6575 StickAccelerationXY: brake a bit faster 
The drag is based on max_acc/max_vel, which means that increasing the
maximum velocity leads to slower braking (at the same starting speed).

Especially a combination of small max_acc (slow responsiveness) with high
max_vel led to an exceedingly high braking distance.
This improves that while still being smooth.
 2021-02-24 17:27:31 +01:00
Beat Küng 1be4163506 mc_pos_control_params: increase velocity limits a bit 
I hit those on my vehicle
 2021-02-24 17:27:31 +01:00
Beat Küng ad9688e63c mc: remove unused param definitions MPC_JERK_MIN and MPC_DEC_HOR_SLOW 2021-02-24 17:27:31 +01:00
Matthias Grob a637f282ce FunctionsTest: cover lerp 2021-02-24 17:27:31 +01:00
Beat Küng 14bf9cf753 mc: add SYS_VEHICLE_RESP param to configure vehicle responsiveness 2021-02-24 17:27:31 +01:00
Daniel Agar 5f3e883f2c sensors/vehicle_imu: vehicle_imu_status include accel/gyro full raw FIFO sample rate 2021-02-24 08:13:53 -05:00
Daniel Agar 6c3262c54b cmake cleanup src/drivers/imu 2021-02-23 15:58:36 -05:00
Daniel Agar 11ad41f7cb delete old imu/mpu6000 driver 2021-02-23 15:58:36 -05:00
Daniel Agar 4364e23633 delete unused imu/bmi160 2021-02-23 15:58:36 -05:00
Daniel Agar f9705c96f7 delete unused imu/bma180 2021-02-23 15:58:36 -05:00
Daniel Agar e38560b928 sensor_calibration: increase threshold for updating calibration offsets or scale 
- this is to minimize needlessly writing negligible parameter changes and triggering unnecessary estimator bias resets
 2021-02-23 13:32:00 -05:00
Nicolas MARTIN d65d06f82d SIH/gps: express gps position noise in meters and reduce noise value 
Previous horizontal position noise was a white Gaussian noise with std=0.8m
It results in a noise with high frequencies too high making some ekf
position tests fail (test ratio to allow arming).

The new noise values are below real GPS errors but as theses errors are
generally low frequency, so they cannot be modeled with a white noise.
 2021-02-23 13:27:28 -05:00
Nicolas MARTIN 80a73ab5b5 SIH: add distance sensor fault simulation 2021-02-23 12:57:40 -05:00
Nicolas MARTIN ab41319009 SIH: add distance sensor 2021-02-23 12:57:40 -05:00
Daniel Agar 69bd3ecf95 sensor_calibration: respect board rotation even if uncalibrated 
- fixes https://github.com/PX4/PX4-Autopilot/issues/16873
 2021-02-23 15:24:14 +01:00
brad112358 d53fcb0bab mavlink: use RADIO_STATUS to regulate parameter sending 2021-02-22 18:57:29 -05:00
Daniel Agar 7cc4aa6fe2 vtol_att_control: fix code style 2021-02-22 12:09:39 -05:00
Nicolas MARTIN 50ec809fdf SIH: add mag offset from parameters 
An absolute value superior to 10000 block mag publication
 2021-02-22 11:56:16 -05:00
Nicolas MARTIN 8f54dc402d SIH: add baro offset (or pressure change) from parameters 
An absolute value superior to 10000 block barometer publication
 2021-02-22 11:56:16 -05:00
Nicolas MARTIN 1df63cb6b1 SIH: add gps fix loss simulation from parameters 
A new parameter allows to change the SIH number of gps satellites used
If it is below 4, fix is lost
 2021-02-22 11:56:16 -05:00
Sander Smeets a8a9832b59 Allow new modes for forward thrust 2021-02-22 11:18:49 -05:00
Lorenz Meier 1b8a3079e6 Update commander_params.c 
Better documentation boolean settings, removed duplicate boolean.
 2021-02-22 11:17:16 -05:00
Lorenz Meier 90f5d7338c Commander: Relax pre-arm check for EKF 
The previous testing ratios could lead to extremely tight pre-arm acceptance.
 2021-02-22 11:17:16 -05:00
Lorenz Meier f12d368a64 Commander: Document arming check params 2021-02-22 11:17:16 -05:00
Lorenz Meier 87f98f096f Commander: Respect position circuit breaker 
This ensures that commander respects the position check circuit breaker and allows arming without position.
 2021-02-22 11:17:16 -05:00
David Jablonski ed7a5314d8 rtl: head towards home location after descend 2021-02-22 16:37:08 +01:00
David Jablonski aeccb621c5 rtl: added loiter radius for descending 2021-02-22 16:37:08 +01:00
Daniel Agar 30e8a14be3 logger: update SDLOG_PROFILE comment to reflect current default 
- closes https://github.com/PX4/PX4-Autopilot/issues/16904
 2021-02-22 08:45:10 +01:00
Lorenz Meier aacbc04730 PX4IO: Robustify upgrade process 
These changes remove the two code paths to updates (forceupdate and update) and try to reboot and bootload IO independent of its state, wether it is in bootloader mode already, safety switch is off or if it is in "nominal state" (running and safety on). This ensures that there are no conditions where user error or boot sequence can prevent a successful upgrade. The only state where an upgrade will not be done is if the system is fully armed.
 2021-02-21 19:56:16 -05:00
Daniel Agar bbc721917c mavlink: mission ignore takeoff pitch error 
- this mission rejection was only added recently in https://github.com/PX4/PX4-Autopilot/pull/16792
 - causing QGC compatibility issues https://github.com/mavlink/qgroundcontrol/pull/9464
 2021-02-21 16:40:38 -05:00
Daniel Agar 1956cd8ff1 cmake: add px4io binary as ExternalProject build byproduct 
- needed for incremental px4io changes to actually make it all the way through to the ROMFS
 2021-02-21 14:04:26 -05:00
Daniel Agar 414f9f81d9 move fake GPS to standalone module 2021-02-20 14:13:36 -05:00
Silvan Fuhrer 0ea8104344 select single system-wide wind estimate message (current best) 
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
 - rename message wind_estimate to wind
 - publish wind from currently used ekf instance (ekf2selector)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-20 13:15:01 -05:00
jciberlin 9d65e9a980 ghst: keep the previous values for channels that are not updated 
Keep the previous values for channels that are not updated (ghost protocol). Add new test data for ghost protocol.
 2021-02-20 11:29:57 +01:00
jciberlin 96c72a5657 RCTest: add tests for ghost protocol 
Add tests for ghost protocol
 2021-02-20 11:29:57 +01:00
Juraj Ciberlin c0f7429f8c ghst: use memcpy instead of for loop 
PR review, ghost protocol, use memcpy instead of for loop

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2021-02-20 11:29:57 +01:00
jciberlin 64342f568d Ghost protocol 
ghst: add ghost protocol
 2021-02-20 11:29:57 +01:00
Daniel Agar 711a69854b uthash: move remaining utarray usage to parameters and delete unused 
- this is to discourage further use until utarray can be dropped entirely
 2021-02-20 11:28:22 +01:00
Daniel Agar 9ed959402e mavlink: store instances in array 
- simplify mavlink header writes that go back through the mavlink module
 - add locking around mavlink command line usage (start, stop, status, etc)
 2021-02-20 11:28:22 +01:00
Lorenz Meier 4984c19700 PX4 IO: Retry upgrades of IO 
This adds robustness to system timing and bad link.
 2021-02-20 11:07:53 +01:00
alexklimaj ed20bc92c3 Fix uavcannode build 2021-02-20 10:49:08 +01:00
Beat Küng 9d11d94e7e px4iofirmware: guard against parsing multiple RC protocols 
It was for example possible that DSM got parsed, and in the next iteration
SBUS got parsed, leading to multiple PX4IO_P_STATUS_FLAGS_RC_ flags set.
input_rc::input_source was then incorrectly set to DSM.

Partially guarding was already done: if SBUS got parsed, DSM and others
were skipped.

The IO will still clear all PX4IO_P_STATUS_FLAGS_RC_* flags on RC loss.
 2021-02-19 09:28:46 -05:00
PX4 BuildBot c863d6a346 Update submodule ecl to latest Fri Feb 19 12:39:03 UTC 2021 
- ecl in PX4/Firmware (5be2f2c8f835fde0ce648561636cf565d95f5741): https://github.com/PX4/PX4-ECL/commit/310f41517590165a82f807562b3cbb9a76e4c7d8
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/81937370ac5234a4c318d838acee4d9bb4bfa697
    - Changes: https://github.com/PX4/PX4-ECL/compare/310f41517590165a82f807562b3cbb9a76e4c7d8...81937370ac5234a4c318d838acee4d9bb4bfa697

    8193737 2021-02-18 bresch - [AUTO COMMIT] update change indication
04844a0 2021-02-16 bresch - ekf control: move time_last_in_air/on_ground out of GPS control logic
b00d4a9 2021-02-16 bresch - mag fusion: improve on ground forced mag fusion logic
 2021-02-19 08:34:17 -05:00
Daniel Agar 5e188b3cd7 ekf2: populate local_position dist_bottom_sensor_bitfield 2021-02-18 10:37:02 -05:00
Alex Mikhalev 06e2bca3a6 batt_smbus: Use orb_publish_auto 2021-02-18 07:52:26 -05:00
Alex Mikhalev 6bd4dff51f drivers/smbus: Increase max block size to 34 
batt_smbus for BQ40Z80 transfers up to 34 bytes (32 byte block + 2 byte
address), but this was overflowing and failing the PEC check.
So increase the buffer size

Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
 2021-02-18 07:52:26 -05:00
Alex Mikhalev 93b1a148b7 batt_smbus: Pass device address to base class 
Fixes a warning printed at runtime

Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
 2021-02-18 07:52:26 -05:00
Daniel Agar 4678201da4 update libuavcan to latest 2021-02-17 22:47:35 -05:00
David Sidrane 8c2678bca1 uavcan_servers:Reworked file naming and use ROM fs as fall back 
Supporting direct down loads from ROMFS with preferece give to the
   files fould on the SD card first. This will allow a user to provide
   an updated uavcan firware on the SD card, and there is no overhead
   of coping files from the ROM FS to the SD card.
 2021-02-17 22:47:35 -05:00
David Sidrane 5ea56af5f0 canbootloder:Make support for ALT Bootloader an Option 2021-02-17 22:47:35 -05:00