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Author SHA1 Message Date
Paul Riseborough 9599f58c5d msg: add uORB topic for IMU sensor corrections 2017-01-19 19:24:52 +01:00
Paul Riseborough 4f1b748786 msg: Fix documentation errors in sensor_combined 2017-01-19 19:24:52 +01:00
Matthias Grob db581fa5e8 mc_pos_control: hotfix for possible thrust below minimum thrust setting 
Hotfix after a crash because of a heavily negative desired thrust that got clipped to 0 by the mixer.
0 thrust meant no more attitude tracking.
 2017-01-19 18:05:57 +01:00
David Sidrane 23eb07ff3e Only perform GIOP operations on defined IO (#6381) 
Check if the table entry fo the IO requested is defined
   so that 0 is never passed to px4_arch_gpioXXXX functions.
 2017-01-18 09:53:16 -10:00
Beat Küng e7db0ed098 test_mixer & mixer: use memmove instead of memcpy 
Both, src & dst use the same array, thus potentially overlapping.
Behavior of memcpy in that case is undefined.
 2017-01-18 18:23:42 +01:00
Chris Lovett 33a307873a Enable rc mode change switch to override offboard mode. This is a safety feature, in case offboard control goes crazy, user can always regain control by switching modes to stabilize, or alt hold or position hold, however they have configured the mode change RC switch. 2017-01-18 18:15:58 +01:00
Vlad Radulescu ec104bb7ac Corrected a tiny spelling mistake and modifed the PPM_MIN_CHANNELS check so it accepts a minimum of 5 channels. It seems that was the initial intention. 2017-01-17 23:40:31 -08:00
David Sidrane 569b20d184 FMUv5 Fixed hardfault log 
F7 was missing in the CONFIG_xxx that controlled enableing the
  hardfault_log boot code that can save the fault log
 2017-01-17 23:11:20 -08:00
Henry Zhang 0fdf3b13e8 MindPX: disable USART3 flow control 2017-01-17 23:10:43 -08:00
Paul Riseborough bcf7cac5d9 EKF: remove hardcoded limit on optical flow time delta 
Allow for up to 50% lost data.
 2017-01-18 06:06:45 +11:00
Paul Riseborough 3fb7effb0c EKF: Allow optical flow use when on-ground with poor data quality 2017-01-18 06:06:45 +11:00
Sander Smeets ba10db06c2 Code formatting 2017-01-17 03:14:26 -08:00
Sander Smeets d0dad4ad7d Indenting 2017-01-17 03:14:26 -08:00
Sander Smeets de039ca870 VTOL back transition acceptance radius calculation 2017-01-17 03:14:26 -08:00
Paul Riseborough 21270bb06a EKF: Use last known position when resuming OF aiding 2017-01-17 08:58:01 +11:00
BharathR 496dee5d2d Fixed PX4 sanity test script (removed a check msg) (#6354) 
* Fixed build error in Snapdragon Flight legacy driver mode (partially)

* Fixed build error in eagle_legacy_default mode (px4muorb.h generation issue)

* Fixed the snapdragon flight sanity test script (default and legacy driver modes)

* Fixed PX4 sanity test script (removed a check msg)
 2017-01-16 13:10:31 -08:00
Lorenz Meier 7fd06ee913 MAVLLink simulator interface: Simulate minimum airspeed noise 2017-01-16 08:26:37 -08:00
Lorenz Meier b8598c4407 Sensors: Adjust airspeed fail checks 2017-01-16 08:26:37 -08:00
Lorenz Meier a13082bfed commander: Widen pre-flight check for airspeed 2017-01-16 08:26:37 -08:00
Lorenz Meier b29e0040f1 ETS airspeed: Work around weird choice of manufacturer zero level cutoff 2017-01-16 08:26:37 -08:00
wangxdflight 67c3102db4 updated to remove a compilation flag check as orb_exists() is already supported 2017-01-16 08:25:58 -08:00
wangxdflight b693e29d64 enable px4 flight for excelsior(legacy) 2017-01-16 08:25:58 -08:00
Lorenz Meier 12767c8538 MC position controller: Stop holding position once ground contact is established. 
This ensures the system does not tip over on landings. Tested in SITL with a GPS drift model.
 2017-01-16 08:25:26 -08:00
Matthias Grob 5b54d78128 land detector: changed minimum throttle threshold to have useful landing detection in real world scenarios 2017-01-16 08:25:26 -08:00
Matthias Grob 39f9647291 mc_pos_control: fixed float literals and commented calculations 2017-01-16 08:25:26 -08:00
Matthias Grob f95fb0f20f land detector: commented takeoff throttle values for each mode 2017-01-16 08:25:26 -08:00
Matthias Grob 5f3cbbbbc2 mc_pos_control: changed thrust calculation to 3D projection onto body z axis 
until now the desired thrust was simply the absolute value of the thrust setpoint vector
but a multicopter is only capable of producing thrust in its (negative) body z axis
this leads to excess thrust during attitude tracking errors

one important use case is:
trying to land with minimal thrust in NED z axis against gravity
but the position controller still correcting some small horizontal estimation errors
then this prevents unwanted thrust in a completely wrong direction
 2017-01-16 08:25:26 -08:00
Julian Oes d63db203ba mc_pos_control: don't publish attitude sp 2x 2017-01-16 08:25:26 -08:00
Matthias Grob 7ab2958757 land_detector: added takeoff throttle threshold 
if we control manually and are still landed, we want to stay idle until the pilot rises the throttle
 2017-01-16 08:25:26 -08:00
Matthias Grob 5529023ec1 mc_pos_control: added feed forward hover thrust 
the velocity controller was misusing the integral part to account for the constant gravitational force offset
the hover throttle from the parameter is now is now directly used as feed forward for the thrust in world z direction
the integrator compensates for inaccurate paarameter but should now be idealy zero
 2017-01-16 08:25:26 -08:00
FantasyJXF 3f94818dcf spelling error; 
as it is
 2017-01-16 03:11:03 -08:00
Daniel Agar 73b31c031f cmake nuttx rsync copy only use relative paths 
- this is to work around confusion between cygwin and windows native
   paths
 - closes #6332
 2017-01-16 02:16:23 -08:00
BharathR dafa838e2f Fixed Snapdragon Flight sanity test script (default and legacy driver modes) (#6323) 
* Fixed build error in Snapdragon Flight legacy driver mode (partially)

* Fixed build error in eagle_legacy_default mode (px4muorb.h generation issue)

* Fixed the snapdragon flight sanity test script (default and legacy driver modes)
 2017-01-16 00:20:59 -08:00
Henry Zhang e81548bdb9 MindPX: Fix for hmc5883 rotation 2017-01-16 00:19:03 -08:00
Lorenz Meier 50002a0ff6 Update EEKF2 to match ecl updates 2017-01-15 01:57:38 -08:00
Lorenz Meier 7652a3737c Update ECL 2017-01-15 01:57:38 -08:00
Lorenz Meier 453bde73f8 ECL: Simplify / correct estimator interface 2017-01-15 10:17:41 +01:00
Roman c5a55d97aa initialise data members properly 
- dot not use memset for struct with non POD types

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-15 10:02:31 +01:00
Paul Riseborough 1465adca2f EKF: Improve use of memcpy 
Changes made to remove Coverity scan errors
 2017-01-15 10:02:31 +01:00
Paul Riseborough 26a06567bb EKF: add missing initialisation for class variables 2017-01-15 10:02:31 +01:00
Paul Riseborough f999729d70 EKF: fix incorrect use of memcpy 2017-01-15 10:02:31 +01:00
Paul Riseborough b536382ae1 EKF: remove dead code 2017-01-15 10:02:31 +01:00
Paul Riseborough 6358bbd257 EKF: remove self assignment 2017-01-15 10:02:31 +01:00
Paul Riseborough 3b61528f0f EKF3: initialise default value for EV fusion gate 2017-01-15 10:02:31 +01:00
Paul Riseborough 9ddcba3ed0 EKF: remove un-used variable 2017-01-15 10:02:31 +01:00
Lorenz Meier 1c42cea28e MAVLink: Ignore bogus mission item requests silently 2017-01-15 01:47:10 +01:00
Daniel Agar d668a2d798 clang-tidy performance-unnecessary-value-param 2017-01-14 16:26:25 -08:00
Daniel Agar a7cdef6c5c clang-tidy modernize-redundant-void-arg 2017-01-14 16:24:45 -08:00
James Goppert 8e297022e6 Update px4tools api for mission test. 2017-01-14 18:55:39 -05:00
Daniel Agar d8f423aa2b travis-ci run check_format 2017-01-14 18:31:09 -05:00