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24394 Commits

Author SHA1 Message Date
JacobCrabill
64863fe54e uavcan_v1: Add Publishers dir to includes 2022-03-18 09:03:48 -07:00
JacobCrabill
73b1de85cb uavcan_v1: SocketCAN set 'can_fd' based on CONFIG 2022-03-18 09:03:06 -07:00
JacobCrabill
76da12fce3 uavcan_v1: Immediate transmit() from Publishers 
Add 'do_transmit()' to UavcanNode
Add 'transmit()' to Publisher base class to call do_transmit()
Call transmit() after canardTxPush from Publishers
 2022-03-17 17:01:54 -07:00
JacobCrabill
399ab35a4f fixup! HACK: Disable SO_TIMESTAMP in uavcan_v1 temporarily while bringing up H7 SocketCAN driver 2022-03-15 18:52:00 -07:00
JacobCrabill
7db8d3ad78 HACK: Disable SO_TIMESTAMP in uavcan_v1 temporarily while bringing up H7 SocketCAN driver 2022-03-15 17:45:34 -07:00
JacobCrabill
7e34806046 mavlink: Replace CONFIG_NET with CONFIG_NET_UDP 
Allows use of SocketCAN w/o also enabling UDP support in NuttX
 2022-03-15 17:22:27 -07:00
Daniel Agar
5717434e93 ekf2: initialize GPS drift metrics to NAN rather than 0 2022-03-14 10:09:24 -04:00
alessandro
62d1058cc2 log irlock_report and landing_target_pose messages 
Need to log both, because on some systems the
information will come in directly as a 
landing_target_pose message, and on others
it's coming in as irlock_report and then filtered
in PX4 to produce the landing_target_pose message.
 2022-03-14 10:13:08 +01:00
Matthias Grob
f1e44c6e2a PreFlightCheck: only allow modes suitable for takeoff 2022-03-14 09:03:39 +01:00
Daniel Agar
a430f0ccae
ekf2: add simple zero velocity update when vehicle at rest (#19149) 
- further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates
 2022-03-12 12:56:31 -05:00
Daniel Agar
3d54d25867
sensor calibration delete temperature (CAL_ACCx_TEMP, CAL_GYROx_TEMP, CAL_MAGx_TEMP) 
- this was an experiment to casually monitor sensor offsets relative to temperature, but now that all calibration offsets can be adjusted post-flight the stored temperature can be misleading
 - deleting to save a little bit of flash (and storing the temperature wasn't useful)
 2022-03-12 11:38:49 -05:00
wangwwno1
aa64789792
sensors/vehicle_imu: Fix Integration Rate greater than Gyro Rate (#19318) 2022-03-12 11:29:23 -05:00
RomanBapst
58a4c38519 rtl: don't fly mission landing if we trigger rtl in hover 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-11 15:23:31 +03:00
Silvan Fuhrer
f4c300af25 FlightTaskAuto: Nudging: only set yawrate_sp if WV is disabled or stick out of dead-zone 
Otherwise the setpoint from weather vane is constantly overwritten by it,
even if the yaw stick is not moved.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-11 09:18:31 +01:00
Alex Klimaj
71850eeda6
mavlink: Add flow control parameters (#19254) 2022-03-10 08:22:00 -08:00
Daniel Agar
b66dd5ffa6 adis16470: fix gyro scaling 2022-03-09 23:00:54 -05:00
Roman Bapst
69560bd4f4
Compensate VTOL transition time for air density (#19293) 
* vtol: compensate front transition minimum time and front transiton openloop time
for air density

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-09 08:41:30 -05:00
bresch
182980526f commander: allow rearming grace period for arming switch only 2022-03-09 08:42:21 +01:00
wangwwno1
cd5a1e510a
ekf2: typo Fix: pub.advertised() -> pub.advertise() (#19302) 2022-03-09 08:39:08 +01:00
Jacob Dahl
3e21efb721
ina228: fix sign error on CURRENT reading (#19296) 2022-03-08 19:47:11 -05:00
Daniel Agar
b7e0f17c6a ekf2: minor position/velocity reset cleanup 
- try to use avoid resetVelocity() call where possible
 - reset timeouts centrally
 2022-03-08 11:16:35 -05:00
Daniel Agar
c10ea97967 ekf2: fusion helpers return success/fail and set pos/vel update timestamps centrally (if healthy) 2022-03-08 11:16:35 -05:00
Matthias Grob
c4bc062714 helper_functions: generalize unwrapping function 2022-03-08 10:56:32 +01:00
Matthias Grob
c86c2db07f helper_functions: simplify unwrap function 2022-03-08 10:56:32 +01:00
Thomas Stastny
5a3aba9c21 matrix: add angle unwrapping method 2022-03-08 10:56:32 +01:00
Matthias Grob
68a0414622 Quaternion: rename function to rotate vectors 2022-03-07 20:03:54 -05:00
Daniel Agar
5affa693f2 uavcan: increase ESC max rate 200->400 Hz 
- this should run synchronized with the rate controller and can be
limited by IMU_GYRO_RATEMAX
 2022-03-07 10:28:51 -05:00
Beat Küng
591c95ce2f mixer_module: print actual failsafe value 2022-03-04 08:02:11 -05:00
Matthias Grob
666cf2326d
mission_block: handle SET_ROI_LOCATION with absolute altitude correctly (#19258) 2022-03-03 13:25:00 +01:00
Daniel Agar
49df00c319
lib/mixer_module: check thrust factor range valid and minor optimization (#19272) 2022-03-03 08:10:09 +01:00
Daniel Agar
6224e11463
Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022 (#19262) 
* Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022
* [AUTO COMMIT] update change indication

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-02-26 15:39:37 -05:00
Daniel Agar
44f0278d97
Update submodule GPSDrivers to latest Sat Feb 26 16:47:30 UTC 2022 (#19264) 
- GPSDrivers in PX4/Firmware (be9dbf6a077309c4c6bcf8d2de91b82502bf5d01): d6940d9c8c
    - GPSDrivers current upstream: fa275c3993
    - Changes: d6940d9c8c...fa275c3993

    fa275c3 2022-02-17 chalkytoast - ubx: ensure payloadRxDone does not return -1

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-02-26 15:38:43 -05:00
PX4 BuildBot
d94ad5bd6d Update submodule mavlink to latest Sat Feb 26 16:47:38 UTC 2022 
- mavlink in PX4/Firmware (95358ae501e92687b00d2786bc8eadf28ff93930): 4ee1eebbd1
    - mavlink current upstream: b568a60fca
    - Changes: 4ee1eebbd1...b568a60fca

    b568a60f 2022-02-24 Hamish Willee - Update pymavlink to latest (#1805)
b86834e0 2022-02-23 Hamish Willee - Component info - tidy descriptiosn (#1803)
79e9545a 2022-02-23 Hamish Willee - Remove external dialect doc and improve dialect pages (#1802)
fd7ccfbe 2022-02-23 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION - improve linking to command (#1774)
2b7de26c 2022-02-23 Hamish Willee - [Discuss.] MAV_PROTOCOL_CAPABILITY_FTP - supports FTP protocol not specific message (#1772)
a7541658 2022-02-18 Alessandro Ros - fix common.xml include in AVSSUAS (#1800)
5b4482fe 2022-02-17 Hamish Willee - RFC 0016 - Mavlink Standard Modes - Add to development.xml
 2022-02-26 15:07:42 -05:00
ShiauweiZhao
8549fadb6c add icm42670p driver kconfig 2022-02-25 12:21:06 -05:00
Jukka Laitinen
77f71e61d2 Add a generic hrt driver userspace interface 
This adds a nuttx userspace interface for hrt driver, communicating with
the actual px4 hrt driver via BOARDCTL IOCTLs

This is be used when running PX4 in NuttX protected or kernel builds

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-25 13:35:14 +01:00
Jukka Laitinen
9f049b4dca Inline ts_to_abstime and abstime_to_ts 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-25 13:35:14 +01:00
Beat Küng
ddad4c31c9 control_allocator: compute thrust scaling individually per axis 
Before, adding the pusher to the same matrix as the upwards motors affected
the scaling for the upwards motors, resulting in values not equal to -1
anymore.
 2022-02-25 08:30:58 +01:00
Beat Küng
76d8d8cae6 control_allocator: generic motor configuration for standard vtols 
This adds the pusher/puller to the standard motors and makes the axis
configurable.
 2022-02-25 08:30:58 +01:00
Beat Küng
b2dc9ee710 control_allocator: add title & help url to geometry UI 2022-02-25 08:30:58 +01:00
Beat Küng
cbcae260e4 mavlink: update submodule 2022-02-25 08:30:58 +01:00
Beat Küng
9b629a9e95 hitl,sitl,sih: use separate actuator_outputs_sim for SYS_CTRL_ALLOC==1 
- removes the need to do type-specific rescaling of pwm to normalized values
- allows to run physical output drivers alongside HIL/SIH
 2022-02-25 08:30:58 +01:00
Charles Cross
1e32398217 Adds scheduling call to ControlAllocator initialization 2022-02-25 08:16:08 +01:00
Charles Cross
aecfbef128 Enables 20Hz backup scheduling for ControlAllocator 2022-02-25 08:16:08 +01:00
Charles Cross
b0352135bb Restores Dshot trigger condition and adds dynamic mixing condition 2022-02-25 08:16:08 +01:00
Charles Cross
51c055832f Changes ControlAllocator to always publish actuator controls and status 2022-02-25 08:16:08 +01:00
Charles Cross
59f9a40584 Changes Dshot commands to always trigger from updateOutputs(), unless outputs are completely off 2022-02-25 08:16:08 +01:00
Charles Cross
46f8de3a17 Changes actuator_test syscmd value arg to be a float from -1 to 1 2022-02-25 08:16:08 +01:00
Daniel Agar
8de2c80b34 mavlink: SCALED_IMU streams add temperature 
- preference for accel or gyro temperature before mag
 2022-02-23 14:05:31 -05:00
Daniel Agar
11f617ca9b ekf2: default to in air and not at rest 
- this is a more conservative default if a vehicle isn't set (no land detector running)
 - handled horizontal preflight failures in commander when disarmed
rather than overloading xy_valid and v_xy_valid flags
 - ekf2 no longer depend on arming or standby status
 2022-02-22 16:59:10 -05:00
Daniel Agar
d6d529539d ekf2: consolidate and simplify gnd effect logic 2022-02-22 16:59:10 -05:00