fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-12 13:37:35 +08:00
Code Issues Packages Projects Releases Wiki Activity
40,104 Commits 852 Branches 161 Tags
dev/h7-socketcan
Commit Graph

24394 Commits

Author SHA1 Message Date
Daniel Agar 47afab62e7 gyro_fft: limit noise floor to configured range (IMU_GYRO_FFT_MIN/MAX) 2021-11-08 19:14:32 -05:00
Daniel Agar dd3e0b723a gyro_fft: add IMU_GYRO_FFT_SNR parameter 2021-11-08 19:14:32 -05:00
Silvan Fuhrer b216cddf49 state_machine_helper: add place holder in array nav_state_names for removed LANDGPSFAIL mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-08 13:42:55 +01:00
JaeyoungLim 031f7f831b Fixedwing Pos Control: Handle vehicle transition waypoints outside controllers (#18503) 
* Handle VTOL transition waypoints outside FW auto control modes
 2021-11-08 11:21:08 +01:00
Jaeyoung-Lim 6a2ebfc0cc Handle setpoint types properly for fixedwing position control 
Handle setpoint types properly for fixedwing position control
 2021-11-07 19:21:00 -05:00
Silvan Fuhrer dbd9b88bea FW position controller: only allow switching to AUTO_ALTITDUE or AUTO_CLIMBRATE if pos_sp_curr_valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-07 23:31:21 +01:00
Daniel Agar 2f8cb5a1c2 mavlink: initial support for MAG_CAL_REPORT stream 2021-11-07 16:03:34 -05:00
JaeyoungLim cda7c6ceaa Enable offboard actuator setpoints 2021-11-07 15:38:42 -05:00
Daniel Agar 68026eadeb save significant IMU bias changes learned by the EKF 
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-11-07 15:34:27 -05:00
Jacob Crabill 5969508fa7 mavlink: cmake generate mavlink headers at build time 
- mavlink/mavlink is now directly included as a submodule instead of the generated mavlink/c_library_v2
 - this also switches to mavlink development.xml by default
 2021-11-05 23:01:38 -04:00
Julian Oes 88489ae8bd mavlink: Check target for mavlink shell 
The SERIAL_CONTROL MAVLink message now contains a target_system and
target_component field that we should check.

Without this we might be answering to a command on the network that is
meant for another system.
 2021-11-05 23:48:44 +01:00
RomanBapst 56cf77a74c addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst e36e527488 fixed wrong path 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
Roman Bapst d58d13b2e8 APX4-1617: Fix manual climb rate in TECS (#1463) 
* tecs: workaround for the fact that vel smoothing lib uses a DOWN coordinate system

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst 7cb99f521c moved ManualVelocitySmoothing to motion_planning lib 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst 924298e9c3 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst 0ac3077bdc tecs: use trajectory generation library to compute height rate setpoint 
- added ability to specify maximum acceleration constraint for height rate setpoint
- added support for locking altitude setpoint when in height rate control
mode and height rate input is zero

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst 6e75b7cffd FixedWingPositionControl: push altitude setpoint locking into TECS 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
Beat Küng 296db60a58 camera_capture: use output functions for pin configuration if SYS_CTRL_ALLOC==1 2021-11-05 12:36:04 -04:00
Beat Küng 6d993a9301 camera_trigger: use output functions for pin configuration if SYS_CTRL_ALLOC==1 2021-11-05 12:36:04 -04:00
Silvan Fuhrer f492fa9d3a fix typo 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
RomanBapst 514cf12c57 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer 3bd114bf9f RTL: if vehicle is a VTOL in hover, always consider all safe landing points 
Unless there is already a mission landing in progress,
in that case stay on the mission landing if RTL_TYPE
isn't set to closest.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer 1163a52c17 Navigator: remove unnecessary (duplicated) info messages for RTL 
There is already (a more precise) info message on RTL activation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer f4f9b8ebf2 RTL: replace deny_mission_landing logic by getDestinationTypeMissionLanding() 
The rtl instance decides on destination of RTL, and Navigator then switches to
mission mode if required.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer ab08bbdb58 RTL: improve RTL info message 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer 775a1eb4b6 RTL: remove unused function and non-informative comments 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer dd987c08a5 RTL: rename enum names for RTLType 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer a012f01dbc Navigator: clean up get_rtl_type() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer 8dc6d5f208 RTL: set destination type to mission landing also in MC 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Daniel Agar 9c15be22d6 mc_autotune_attitude_control: add new MC_AT_EN parameter to enable 
- only enabled by default on boards that aren't memory constrained
 2021-11-05 09:52:07 -04:00
bresch 1e94512719 FD: use flags union instead of bitmask 2021-11-05 09:45:52 -04:00
bresch 3f1025fb1e FD: add dedicated topic to log more internal states 
log imbalanced propeller check metric

add failure_detector_status message
 2021-11-05 09:45:52 -04:00
bresch b8ed457371 Commander: trigger failsafe action if imbalanced propeller detected 2021-11-05 09:45:52 -04:00
bresch 5dfb8e594a FD: add imbalanced propeller check 2021-11-05 09:45:52 -04:00
bresch bf2fb70d67 vehicleIMU: compute and log accel variance 2021-11-05 09:45:52 -04:00
Silvan Fuhrer f02786d112 Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL 
- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 12:09:39 +03:00
Silvan Fuhrer b77487d69c Fixed-wing Position controller: add modes for auto altitude and auto descend 
- bit of clean up
- add GPS failsafe mode auto_altitude, that will keep current altitude with a fixed-bank angle
for some time, then switches to auto_descend that will descend with constant sink rate
of 0.5m/s
- params controlling GPS failsafe are not FW params: NAV_GPSF_R --> FW_GPSF_R and
NAV_GPSF_LT --> FW_GPSF_LT

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 12:09:39 +03:00
Daniel Agar c73a1b4c68 update UAVCAN-v0 dsdl to DroneCAN 2021-11-04 21:36:13 -04:00
Daniel Agar 67437396f1 mpu6000: add USER_CTRL I2C_MST_EN bit to checked registers 2021-11-04 21:22:14 -04:00
Daniel Agar 8fbb241c2e mpu6000: add gyro/accel self test bits to checked registers 2021-11-04 21:22:14 -04:00
Matthias Grob f55590ce78 FlightTaskOrbit: remove duplicate newlines 2021-11-03 17:37:52 +01:00
Matthias Grob 6cea707330 FlightTaskOrbit: increase acceptance radius from 1 to 2m 
to avoid reaproaching when tracking is not perfect while
acc/deccelerating by stick.
 2021-11-03 17:37:52 +01:00
Matthias Grob eda9dce033 FlightTaskOrbit: fix direction change via MAVLink command 2021-11-03 17:37:52 +01:00
Thomas Debrunner d450afead6 FlightTaskOrbit: Direct orbit approach with slowdown at intersection point 2021-11-03 17:37:52 +01:00
Thomas Debrunner 0d0b87e193 Update src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2021-11-03 17:37:52 +01:00
Thomas Debrunner 9bd46be124 Orbit: Switch to PositionSmoothing library. 
This also fixes the bug with altitude not follows and smoothes orbit approach trajectory
 2021-11-03 17:37:52 +01:00
Vatsal Asitkumar Joshi ea1ae73526 Support for Raspberry PI RP2040 MCU (#18083) 2021-11-03 12:14:30 -04:00
Daniel Agar 8f6fd5f37b sensors/vehicle_angular_velocity: gyro RPM dynamic notch filter handle negative RPM 
- some UAVCAN ESCs report negative RPM for reverse rotation
 - lower hard coded safety limit RPM limit to 10 Hz (600 RPM)
 - avoid disabling notch filters that weren't configured
 2021-11-02 09:36:02 -04:00
Daniel Agar fec0d6c5ed ekf2: change indication further reduce data precision 2021-11-02 10:21:54 +01:00