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Author SHA1 Message Date
Beat Küng 2f18a3699c micrortps_bridge: add optical_flow to the set of received topics 
Required for Optical Flow on the Aero via RTPS
 2017-12-05 23:48:15 -05:00
Julien Lecoeur bcceadcb85 NuttX: silence warnings -Wimplicit-fallthrough and -Wnonnull-compare 2017-12-05 22:51:43 -05:00
Julien Lecoeur 9fb98dad3e Fix warning -Wimplicit-fallthrough 2017-12-05 22:51:43 -05:00
Daniel Agar 41a1cc7583 LICENSE minor changes to template 2017-12-05 10:56:04 -05:00
Sander Smeets b21af471ac QuadChute monitor tecs height rate (#8395) 2017-12-04 13:12:44 -05:00
Matthias Grob f835d39017 Quaternion/Vector: Small refactor for review: put more comments, switched type conversions, took out default destination vector because confusing 2017-12-04 15:34:13 +01:00
Matthias Grob af2610ec04 Test: added check for quaternion vector to vector rotation constructor 
including all the parallel vector corner cases
 2017-12-04 15:34:13 +01:00
Matthias Grob 84cd7483ae Quaternion: added constructor which generates the shortest rotation that maps one vector to another 
including tedious corner case handling for parallel vectors with 180 degree rotations
 2017-12-04 15:34:13 +01:00
Matthias Grob d513c94f85 Test: added check for Vector.norm_squared() 2017-12-04 15:34:13 +01:00
Matthias Grob 5130da206a Vector: added norm_squared() because sometimes you can safe the sqrt operation 2017-12-04 15:34:13 +01:00
Paul Riseborough fa5010109e commander: Reset nav test when vehicle is disarmed 
Previously, the only way to clear a failed nav test was to reboot. This hindered testing.
 2017-12-04 09:09:54 +00:00
Paul Riseborough d783bc8ae1 commander: Check for nav divergence due to bad yaw at takeoff 
This check is performed for up to 30 seconds after takeoff or until  a horizontal speed of 5 m/s has been achieved.
If the vehicle is not landed and the check is active, then the yaw will be declared as failed if the velocity innovations fail for a continuous period of 1 second.
This will cause the local and global position and velocity validity to be latched false to prevent unsafe use of position control modes.
 2017-12-04 09:09:54 +00:00
Paul Riseborough afe857dfe6 commander: rework preflight GPS checks 
Fix the bug allowing arming without GPS checks passed in the first 20 seconds after gaining GPS lock when COM_ARM_WO_GPS is set to 0
Allow 10 seconds after boot for EKF quality checks to pass before reporting failure to allow EKF to stabilise.
Move GPS quality checking and reporting to after all innovation and bias checks.
Make messages more informative.
Add missing GPS speed accuracy check.
 2017-12-04 09:09:54 +00:00
Paul Riseborough c09eecbab1 commander: prevent ekf checking being bypassed if GPS checking is disabled 2017-12-04 09:09:54 +00:00
Paul Riseborough ddfe077f7c commander: strengthen pre-flight fail checking 
The commander checks use instantaneous values which are vulnerable to false negatives  or positives with noisy data or transient faults.

This patch checks the estimators published pre flight check status which is based on persistent checks using filtered data.
 2017-12-04 09:09:54 +00:00
Paul Riseborough fc80be0917 ekf2: improve preflight checks and publish status 
Separate the vertical and horizontal checks for use by local position validity reporting
Add checking of yaw using a decaying envelope filter to the horizontal checks.
Publish the check result to estimator_status topic.
 2017-12-04 09:09:54 +00:00
Paul Riseborough 92bcc63418 msg: add pre flight check status message 2017-12-04 09:09:54 +00:00
Paul Riseborough 83b765f707 EKF: Don't print navigation lost message on startup 2017-12-03 23:02:02 +00:00
David Sidrane c0a94cda07 px4-same70xplained-v1:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane 23cfef5753 px4-same70xplained-v1:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane c621965a2b zubaxgnss-v1:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane 1812d677c5 tap-v1:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane c4b2f39cf4 s2740vc-v1:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane 58af82312b px4nucleoF767ZI-v1:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane b85fbd496f px4io-v2:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane e9a318e4f7 px4fmu-v5:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane 093563efb0 px4fmu-v4pro:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane c9ed286874 px4fmu-v4:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane ad687cde62 px4fmu-v2:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane 096b25550d px4fmu-v2:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane e4f7b76296 px4flow-v2:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane c1ae7c76df px4esc-v1:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane 6b30a41da2 px4cannode-v1:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane c76f90f078 px4-stm32f4discovery:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane e15e9ba5c7 px4-same70xplained-v1:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane fea11f1d47 nxphlite-v3:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane 9879bea611 mindpx-v2:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane 8b6e447875 esc35-v1:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane d9cd9183db crazyflie:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane 687dbea572 auav-x21:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane 66d2509670 aerofc-v1:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
David Sidrane db02eac009 aerocore2:Ensure _ebss will be 4 byte aligned 2017-12-03 14:11:35 +00:00
Hamish Willee 6bb3e65d23 Make non-wrapping/scrolling table 2017-12-03 14:10:50 +00:00
Hamish Willee c551496a41 Stop parameter names from wrapping in markdown table 2017-12-03 14:10:50 +00:00
ChristophTobler 2ca2382dbb tap_esc: replace FILE with file_t from base class device 2017-12-03 14:10:20 +00:00
ChristophTobler 06a9f54796 tap_esc: changes needed to run on qurt 2017-12-03 14:10:20 +00:00
Lorenz Meier 0e1c7eb2d2 IO driver: Reflect availability of override state in safety topic 
This allows other components to correctly configure for potential manual override states if the pilot chooses to enable them.
 2017-12-02 11:39:52 +00:00
Lorenz Meier 1b7d3883a4 Commander: Obey override / manual reversion mode from external override device 
This change will force commander into manual reversion mode when an external override device (like PX4IO) overrides the system externally. This is not a functional change on the outputs, as they were in override mode even without this patch. However, this change ensures that the system state is consistent with the output state and also ensures that the pilot and operator has better situational awareness when he / she triggers the manual reversion without realizing it.
 2017-12-02 11:39:52 +00:00
Lorenz Meier 4abc578932 Commander: State machine helper documentation 
Future contributors need to know about the time constraints that the execution of this function needs to satisfy.
 2017-12-02 11:39:52 +00:00
Lorenz Meier 67fa220d61 IO driver: Report override device state 
This allows other components to correctly register the IO override status.
 2017-12-02 11:39:52 +00:00