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24394 Commits

Author SHA1 Message Date
Matthias Grob
d73d8f390b FlightTaskOrbit: Fix vertical speed limit 2022-01-25 11:45:31 +01:00
Matthias Grob
38de07186d FlightTaskOrbit: include acceleration and jerk in approach setpoint publishing 
I think they were forgotten and it leads to side effects:
- The acceleration feed-forward does not get executed
- The acceleration setpoint is NAN when initializing the altitude
  smoothing when arriving at the circle
 2022-01-25 11:45:31 +01:00
Matthias Grob
b9fb8490ba FlightTaskOrbit: initialize position smoothing with previous setpoints instead of current state 2022-01-25 11:45:31 +01:00
Matthias Grob
e0337a484b FlightTaskOrbit: remove unnecessary _sanitizeParams() in activation 
the parameters are anyways sanitized on every update so even if activate()
sets unfeasible one's they get adjusted on the first update.
 2022-01-25 11:45:31 +01:00
Matthias Grob
661496ab24 FlightTaskOrbit: improved naming in applyCommandParameters() 2022-01-25 11:45:31 +01:00
Matthias Grob
8525a8e520 FlightTaskAuto: fix typo pos(i)tion 2022-01-25 11:45:31 +01:00
Thomas Debrunner
4671a741dc FlightTaskOrbit: Do not switch out of circle orbit control logic on radius change. 2022-01-25 11:45:31 +01:00
Daniel Agar
8d03e71c16 drivers/magnetometer/bosch/bmm150: init and self test improvements 
- if self test fails consistently proceed with startup, but report failure
 2022-01-24 16:16:03 -05:00
Daniel Agar
8217e0f335 drivers/magnetometer/bosch/bmm150: add self test fail perf counter to status 2022-01-24 13:06:32 -05:00
Daniel Agar
5ded1aedcb sensors/vehicle_angular_velocity: add IMU_GYRO_DNF_HMC to configure number of ESC RPM notch filter harmonics 2022-01-24 09:23:03 -05:00
Daniel Agar
07e6c274d5 uavcan/uavcannode: bridge LogMessage and PX4 ORB_ID(log_message_s) 2022-01-23 20:21:39 -05:00
PX4 BuildBot
6203ad25c7 Update submodule mavlink to latest Sat Jan 22 00:39:17 UTC 2022 
- mavlink in PX4/Firmware (a16a8dceb1b2d234ae963c74621c147f521abce9): 3d8092006e
    - mavlink current upstream: 51abf3c82b
    - Changes: 3d8092006e...51abf3c82b

    51abf3c8 2022-01-21 Julian Oes - Component information: add note (#1785)
f5694b29 2022-01-19 Julian Oes - component_info: re-use protocol capabilities (#1786)
 2022-01-21 23:10:05 -05:00
Daniel Agar
4de9c598fa bmm150: retry probe up to 3 times 2022-01-21 15:51:43 -05:00
Daniel Agar
7cb8ed3a1f sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats 2022-01-21 09:18:49 -05:00
JaeyoungLim
0607982b23
Publish orbit status also when the waypoint is a loiter waypoint (#19048) 
* Publish orbit status also when the waypoint is a loiter waypoint

* Remove redundant orbit status publishing
 2022-01-21 09:13:03 +01:00
bresch
a2260e53da ekf2: replace yaw failure detection criteria 
The existing logic using the angle between velocity vectors failed to
determine a yaw failure in practice because the state velocity is often
too small compared to its uncertainty to be used. In all the failures
reported, the yaw emergency estimator converged properly and yaw reset
would have fixed the issue.
A much simpler check using the yaw difference between the main EKF
and the emergency estimator is now used to tell if the vel/pos update
failure is most likely caused by a wrong heading.
 2022-01-20 11:54:24 +01:00
Jaeyoung Lim
0dea56f88b Use current_sp for publishing orbit status 2022-01-19 12:00:03 -05:00
Jaeyoung-Lim
dec5e7e9c8 Publish orbit status whenever the vehicle is in loiter 
This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint
 2022-01-19 12:00:03 -05:00
Thomas Stastny
19c98b8841 npfg: fix typo in Vector2f indexing 2022-01-19 11:17:44 -05:00
bresch
e89e3c1b0c ekf2: extract logic to test yaw emergency estimate quality 2022-01-19 09:05:41 -05:00
bresch
ea80c5027e ekf2: split yaw estimator state getter into several functions 2022-01-19 09:05:41 -05:00
dagar
476c1e5c09 [AUTO COMMIT] update change indication 2022-01-19 09:04:53 -05:00
bresch
ffebd8e771 ekf2: initialize cos tilt variable assuming no tilt 2022-01-19 09:04:53 -05:00
Daniel Agar
92a5bbe97f ekf2: improve ring buffer sizing and dynamically allocate 2022-01-19 09:04:53 -05:00
Daniel Agar
36605bfff6 sensors: lower SENS_MAG_RATE default 
- reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4)
 2022-01-19 08:51:57 -05:00
Matthias Grob
c9f7c20d46 MulticoperPositionController: time failsafe messages together 
The following output instead of printing the
action "stop and wait" just once:

WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
 2022-01-19 14:31:19 +01:00
Matthias Grob
d4e356a1ac PosititionControl: fix integrator windup with invalid setpoint 2022-01-19 14:31:19 +01:00
Matthias Grob
8811482f1d PositionControlTest: add integrator windup with invalid setpoint combination unit test 
This bug was by chance found during simulation testing and debugging.
The unit test is to easily reproduce and cover this case.
 2022-01-19 14:31:19 +01:00
Silvan Fuhrer
632dfa55e6 FW Pos C: add option to disable airspeed setpoint via stick input 
-rename FW_POSCTL_INV_ST to FW_POS_STK_CONF and make bitmask out of it:
  - bit 0: alternative mapping (height rate on throttle stick, airspeed on pitch)
  - bit 1: enable/disable airspeed setpoints via stick

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 10:13:07 +01:00
Silvan Fuhrer
cbb8c90245 ControlAllocation: fix calculation of roll/pitch normalization scale 
Take into account the actual number of roll and pitch acutators,
instead of assuming that all actuators have a roll/pitch component.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 08:22:12 +01:00
Silvan Fuhrer
0950bb81ab ControlAllocation: update normalization scale only if matrix updated is forced 
The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 08:22:12 +01:00
CUAVmengxiao
258a563dd5 barometer: Add ICP10100 and ICP1011 2022-01-18 19:14:40 -05:00
Daniel Agar
dd6b7fa98f sensors: switch status PX4_INFO -> PX4_INFO_RAW 2022-01-18 15:00:18 -05:00
Daniel Agar
b1d2a0cc4e sensors: simplify timestamp data validator handling 2022-01-18 14:57:18 -05:00
bresch
953c90d3a6 failure detector: change imbalanced propeller metric 
Use standard deviations instead of variances to get a linear metric
 2022-01-18 12:24:35 -05:00
bresch
408cf011b2 failure detector: fix dt computation 2022-01-18 12:24:35 -05:00
Daniel Agar
548b7d5ece sensors/vehicle_imu: on calibration change don't resume in flight calibration learning immediately 2022-01-18 11:22:41 -05:00
Daniel Agar
ece09064c4 parameters: perform verification pass twice 
- on NuttX with MTD storage this is to ensure we are verifying what's
actually stored on ramtron or eeprom, not just what's cached by bchlib
 2022-01-18 09:47:28 -05:00
alexklimaj
cdb6a437a0 Fix UAVCAN beep not started 2022-01-17 21:49:53 -05:00
PX4 BuildBot
0bb9cce1ce Update submodule mavlink to latest Tue Jan 18 00:39:07 UTC 2022 
- mavlink in PX4/Firmware (37e04f56da3916dcb518eeba66b0888db1cd8c32): 75204adad2
    - mavlink current upstream: 3d8092006e
    - Changes: 75204adad2...3d8092006e

    3d809200 2022-01-14 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION - mark as reserved capability (#1775)
68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
 2022-01-17 21:36:02 -05:00
Daniel Agar
2fb82789fe lib/wind_estimator: pass q_att as const reference 2022-01-17 16:59:28 -05:00
Silvan Fuhrer
0ce44cebb7 WindEstimator: use vehicle heading instead of ground course for initialisation 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 17:42:01 -05:00
Silvan Fuhrer
1a4b2b37bb AirspeedValidator: remove unused variable _tas_gate 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 17:42:01 -05:00
Thomas Stastny
13c36155ce fw_pos_ctrl: allow npfg to operate without wind estimate, dont switch controllers 2022-01-14 22:05:53 +01:00
Thomas Stastny
082e320191 integrate optional NPFG library for wind-aware fixed-wing guidance 2022-01-14 22:05:53 +01:00
Beat Küng
66cbbf9f2e control_allocator: use 'bidirectional' to clarify reversible motors 2022-01-14 12:18:29 -05:00
Beat Küng
9ca58f5e97 actuator outputs: always add reverse range param 
and remove the possibility to set min > max to reverse.

Initially the idea was to add the checkbox on the UI side, to avoid adding
another param, but I don't think I'll go through the extra effort on the
QGC side.
 2022-01-14 12:18:29 -05:00
Daniel Agar
98a9748bb8 drivers/dshot: use uORB::PublicationMulti for ORB_ID(esc_status) 
- there can be multiple different outupt modules publishing esc_status (eg dshot & uavcan)
 2022-01-14 12:17:49 -05:00
Daniel Agar
81ecd130fc uavcan: ESC publish esc_status in callback instead of timer 
- this ensures every ESC status gets published with minimal latency
 - also prevents publishing ORB_ID(esc_status) when there's no actual
data (bug)
 2022-01-14 12:17:49 -05:00
Roman Bapst
dc6067ed12 Update src/modules/fw_att_control/fw_att_control_params.c 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 16:34:44 +03:00