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28679 Commits

Author SHA1 Message Date
Daniel Agar
5cb44a521c ekf2: estimator interface handle sample time with signed integers 
- this prevents unsigned integer overflow if the timestamp is smaller
than the configured delay (mostly a simulation edge case)
 2022-09-01 09:47:29 -04:00
dagar
75f6f22223 [AUTO COMMIT] update change indication 2022-08-31 08:52:30 -04:00
Daniel Agar
1948c5057a ekf2: handle all time on delayed horizon (except for newest sample checks) 
- a growing number of samples come into the backend with the time
already delayed (sensor's interrupt setting timestamp sample)
 - if the incoming timestamp is already delayed then the new data checks
(relative to latest IMU) can be slightly wrong
 - handle almost all timestamps and checks on delayed time horizon,
except for explicit checks of new samples
 - isRecent() and isTimedOut() helpers use delayed time
 - add new isNewestSampleRecent() used for checking the incoming
timestamp of the incoming (adjusted) data
 2022-08-31 08:52:30 -04:00
Beat Küng
d681782c7f fix flashfs: find_entry: do not go to the next sector if the CRC is invalid 2022-08-31 09:42:59 +02:00
Beat Küng
4f52cda504 flashfs: ensure no address past the end of a sector is dereferenced 
As it might result in a hardfault if it's the last flash sector.
 2022-08-31 09:42:59 +02:00
Hamish Willee
e780a583cd Fix typo follow height: FLW_TGT_HT 2022-08-29 13:25:35 +02:00
Ben Berry
734d3e4aa0 Reverted changes that broke Level Horizon calibration 2022-08-29 09:54:36 +02:00
Beat Küng
666b84027d GyroFFT: disable 4096 for IMU_GYRO_FFT_LEN 
saves around 10.5KB flash on px4-fmu-v5
 2022-08-25 22:02:15 -04:00
Beat Küng
060738cae1 src: avoid use of double precision pow & exp 
saves around 5KB flash on px4-fmu-v5
 2022-08-25 22:02:15 -04:00
Beat Küng
983a9815eb libevents: update submodule 2022-08-25 22:02:15 -04:00
Beat Küng
4c41934bb4 commander: inline HealthComponentIndex::HealthComponentIndex 
Saves around 1KB flash
 2022-08-25 22:02:15 -04:00
Beat Küng
1c89b0c9c8 commander: use actuator_function for ESC reporting 2022-08-25 22:02:15 -04:00
Beat Küng
13c93db11a commander: use circuit breaker params directly in arming checks 2022-08-25 22:02:15 -04:00
Beat Küng
4230eee24f commander: print 'ready for takeoff' to console for sitl after startup 2022-08-25 22:02:15 -04:00
Beat Küng
2fccb576ad commander: remove unused includes and variables 2022-08-25 22:02:15 -04:00
Beat Küng
dbb814ff24 HealthAndArmingChecks: CONSOLE_PRINT_ARMING_CHECK_EVENT & reduce flash usage 
- print list of events whenever they change if
  CONSOLE_PRINT_ARMING_CHECK_EVENT is set, instead of on each update call
- reduce flash usage by moving out templated code into non-template method
 2022-08-25 22:02:15 -04:00
Beat Küng
b2cb164c12 commander: replace health flags with health_report from arming checks 2022-08-25 22:02:15 -04:00
Beat Küng
6d1fb92eb7 commander: rework arming checks to use the events interface 2022-08-25 22:02:15 -04:00
Beat Küng
b3fe0eeae8 mavlink_events: send reset sequence out immediately on startup 2022-08-25 22:02:15 -04:00
Beat Küng
c7b64e3c01 commander: check for ack when calling 'commander takeoff' 2022-08-25 22:02:15 -04:00
Beat Küng
406b0bbc86 commander: handle VEHICLE_CMD_RUN_PREARM_CHECKS 2022-08-25 22:02:15 -04:00
Beat Küng
8f9be0541f HealthAndArmingChecks: add support for legacy mavlink_log reporting 2022-08-25 22:02:15 -04:00
Beat Küng
f23363f88c HealthAndArmingChecks: add unit tests for Report 2022-08-25 22:02:15 -04:00
Beat Küng
fcadc69e52 mavlink_receiver: set timestamp to gps_inject_data_topic 2022-08-25 22:02:15 -04:00
Beat Küng
b7a6de05df arming checks: add health topic 2022-08-25 22:02:15 -04:00
Beat Küng
07afcf4586 commander preflight checks: new structure using events interface 
- Reporter class that keeps track of results (list of events + whether
  arming is possible + health).
  And only reports when one or more checks change.
 2022-08-25 22:02:15 -04:00
Beat Küng
04f7df3848 SubscriptionMultiArray: use Subscription instead of SubscriptionInterval 
Saves ~3KB RAM on fmu-v5.
 2022-08-25 22:02:15 -04:00
Daniel Agar
9b0b0d1168
ekf2: update test change indication csv 2022-08-25 15:55:45 -04:00
Daniel Agar
4040e4cdf2 simulation organization and cleanup 
- new modules/simulation directory to collect all simulators and related modules
 - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc
 - simulation module renamed to simulator_mavlink
 - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator)
 - ignition_simulator renamed to simulator_ignition_bridge
 - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules
 - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world)
 - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
 2022-08-25 09:10:03 -04:00
Jukka Laitinen
f8f1213841 board_adc: Small fix for printf formatter 
Print sizeof type with %zu to be compatible with 64 bit targets, where it is unsigned long

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-08-25 07:50:23 +02:00
bresch
0061ef8b89 [AUTO COMMIT] update change indication 2022-08-24 09:16:11 -04:00
bresch
090d03eea2 ekf2: publish GNSS, rng and EV height biases 2022-08-24 09:16:11 -04:00
bresch
a2a29ba0dd ekf2: verify parameter configuration for height sources 2022-08-24 09:16:11 -04:00
bresch
8dd5d0d1a3 ekf2: don't reset height when in conditional range aiding 2022-08-24 09:16:11 -04:00
bresch
20cd599bb7 ekf2: fix param migration 2022-08-24 09:16:11 -04:00
bresch
2d39097f60 ekf2: move rng height to file 2022-08-24 09:16:11 -04:00
bresch
28b4cd0579 ekf2: move GNSS hgt control to file 2022-08-24 09:16:11 -04:00
bresch
b6f76b5eaa ekf2: move ev control to file 2022-08-24 09:16:11 -04:00
bresch
f555281c94 ekf2: move height control-related function to file 2022-08-24 09:16:11 -04:00
bresch
d87feee5b0 ekf2: move baro control logic to file 2022-08-24 09:16:11 -04:00
bresch
12e25eba62 ekf2: add common height fusion timeout parameter 2022-08-24 09:16:11 -04:00
bresch
52f726c5b7 ekf2: in bias estimator, use psd instead of var for prediction 
PSD is independent from the sampling time while variance isn't
 2022-08-24 09:16:11 -04:00
bresch
b04d61c411 ekf2: param migration for rng aid, aid mask (gps) and hgt mode 2022-08-24 09:16:11 -04:00
bresch
3fb218600a ekf2_test: add multi height source unit tests 2022-08-24 09:16:11 -04:00
bresch
aba2eac0df ekf2: publish GNSS, rng and EV height biases 2022-08-24 09:16:11 -04:00
bresch
8962cf2d25 ekf2: GPS, baro and range finder control parameters 
Also remove the legacy "range aid" than can be achieved by setting the
height reference to range finder and the range finder control parameter
to "conditional".

Conditional range aiding cal also be set when the height reference isn't
the range finder. This prevents the ratchetting effect due to switching
between references.
 2022-08-24 09:16:11 -04:00
bresch
578e1339ca ekf2: re-implement range aid 
range aid simply forces the range finder to be the height reference when
starting
 2022-08-24 09:16:11 -04:00
bresch
88ac5ea210 ekf2_test: add test case for accel clipping handling 2022-08-24 09:16:11 -04:00
bresch
375753eba8 ekf2_test: add inertial nav falling detection tests 2022-08-24 09:16:11 -04:00
bresch
66ce1a002b ekf2_test: rename VisionHeight -> ExternalVisionHeight 2022-08-24 09:16:11 -04:00