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Author SHA1 Message Date
Daniel Agar
0618f048f2
commander: use control mode flags and cleanup arm_disarm 
- keep `vehicle_control_mode` last state in commander and use appropriate flags in place of various main_state and nav_state checks
 - consolidate scattered arming requirements in `arm_disarm()`
   - there were a number of different requirements from arming via RC vs Mavlink that don't make any sense
        - if geofence enabled require valid home before arming
        - throttle requirements for manual modes
 - remove unnecessary mavlink feedback that differs between arming interfaces (mavlink vs RC)
      - let the preflight/prearm checks respond directly in most cases 

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-02-15 12:03:21 -05:00
Jari Nippula
37f78537c3 protocol-splitter: Additional protocol layer added 2021-02-15 14:00:39 +01:00
Daniel Agar
40a452dcd2 ekf2: selector improve timeout handling and reporting 
- relax estimator_status timeout unless attitude hasn't published recently
 2021-02-14 21:08:56 -05:00
Lorenz Meier
4c5d2363d4 Rover control: Use roll sticks 
It is more intuitive to use the roll stick as lateral control input given that drones defined this category, plus this is how consumer car / rover radio controls have been working already.
 2021-02-14 11:17:28 +01:00
Lorenz Meier
4c9b2c65b5 Support v5X build variants 
This adds support for the different implementation variants of the v5X standard.
 2021-02-14 11:17:28 +01:00
Lorenz Meier
2be482c5ae Sensors: New parameter for baro priority 
This allows to give external barometers priority if they are present.
 2021-02-14 11:17:28 +01:00
Jaeyoung-Lim
fdd9b3ea51 Add support for stabilized flight mode for rovers 
This commit adds support for stabilized flight mode for rovers, which enables the rover tracking a fixed heading that is set with a manual input
 2021-02-14 11:17:28 +01:00
Jaeyoung-Lim
3c12573e93 Use uORB::Subscription for rover_pos_control 
Modernize rover position control
 2021-02-14 11:17:28 +01:00
Lorenz Meier
8d78b8a01d Change wording in GPS failure handling 
This matches better the different platforms that are using this functionality.
 2021-02-14 11:17:28 +01:00
Lorenz Meier
cc11fb2818 Multicopter rate controller: Protect for full throttle scaling 
PX4 supports -1 to 1 as input and this module was not protected against the input range.
 2021-02-14 11:17:28 +01:00
Lorenz Meier
66d86aae2e Flight mode manager: Protect for full throttle scaling 
PX4 supports -1 to 1 as input and this module was not protected against the input range.
 2021-02-14 11:17:28 +01:00
Lorenz Meier
ec2cf70276 Rover position controller: Modernize implementation 
This commit moves the steering output from yaw to the roll channel to better reflect the lateral control input / reaction mapping. It also removes old unused parameters and modernizes the mainloop to remove unnecessary polling.
 2021-02-14 11:17:28 +01:00
Lorenz Meier
bb0b4db028 ROMFS: Better defaults for rover 2021-02-14 11:17:28 +01:00
Lorenz Meier
3135e4d31a SITL: Set correct L1 period 2021-02-14 11:17:28 +01:00
Lorenz Meier
15219fbfe5 MC att control: Robustify for throttle scaling 
PX4 can support negative (reverse) throttle and the multicopter controller is not expecting this input range. This hardens it against it.
 2021-02-14 11:17:28 +01:00
Lorenz Meier
548e070b91 FW pos control: Robustify for throttle scaling 
PX4 can support negative (reverse) throttle and the fixed wing controller is not expecting this input range. This hardens it against it.
 2021-02-14 11:17:28 +01:00
Lorenz Meier
6d489a4b4d FW att control: Robustify for throttle scaling 
PX4 can support negative (reverse) throttle and the fixed wing controller is not expecting this input range. This hardens it against it.
 2021-02-14 11:17:28 +01:00
Lorenz Meier
0d3676e5b0 Safety switch: Default to safety off 
90% of all real-world vehicle configs default to this and it is something that users stumble over if they configure a new system. There are valid cases where this would not be desired - for these it can be still switched off.
 2021-02-14 11:17:28 +01:00
Lorenz Meier
8a448718b9 RC update: Do not constrain throttle 
If the user calibrated to negative throttle, enable them to use it.
 2021-02-14 11:17:28 +01:00
Lorenz Meier
9d20dea3b8 Rover: remove unused parameter 2021-02-14 11:17:28 +01:00
Daniel Agar
fb2a199621 delete unmaintaned mkblctrl driver 2021-02-14 10:38:15 +01:00
Lorenz Meier
c04d23645c IO: Fix reverse mapping 
The reverse mapping was off-by-one in the IO driver.
 2021-02-13 15:21:10 -05:00
Ryan Johnston
5a58f25d6a
boards: MRO Control Zero F7 OEM Support 2021-02-13 11:16:55 -05:00
Daniel Agar
ce552a3364 navigator: RTL don't get invalid params 2021-02-13 00:34:56 +01:00
Daniel Agar
1981519aad L1 position controller: use double precision floating point for all lat/lon 2021-02-12 21:59:56 +01:00
Silvan Fuhrer
31a6edff07 Fixed-wing: remove roll offset param (FW_RSP_OFF) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Silvan Fuhrer
a70cf950f4 fw_pos_control_l1: apply pitch setpoint offset centrally 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Daniel Agar
f61d8539cb fw_pos_control_l1: add takeoff minimum pitch parameter 
- remove mavlink mechanism for setting minimum pitch
 2021-02-12 13:57:15 -05:00
PX4 BuildBot
89f19fd657 Update submodule v2.0 to latest Fri Feb 12 12:42:14 UTC 2021 
- v2.0 in PX4/Firmware (c76477963097ac72b7bd2f165a845a493ffb724e): 43f2f3180a
    - v2.0 current upstream: 4e25dfa47b
    - Changes: 43f2f3180a...4e25dfa47b

    4e25dfa4 2021-02-12 PX4BuildBot - autogenerated headers for rev e4269aaf68
82dcec27 2021-02-12 PX4BuildBot - autogenerated headers for rev 08e57d08ad
 2021-02-12 16:31:28 +01:00
Daniel Agar
15e76ad993 PWM12 mode for pwm_out and dshot 2021-02-12 09:19:18 -05:00
Daniel Agar
0614789db3 tests: add simple parameter custom default testing 2021-02-12 08:27:47 -05:00
Daniel Agar
e6bc6438e8 ROMFS: airframes use new param default mechanism 2021-02-12 08:27:47 -05:00
Daniel Agar
b67aa77d29 ROMFS: use new param default mechanism 2021-02-12 08:27:47 -05:00
Daniel Agar
a257120e8d boards: use new param default mechanism 2021-02-12 08:27:47 -05:00
Daniel Agar
ce64951578 parameter_update.msg: add basic status info 2021-02-12 08:27:47 -05:00
Daniel Agar
b8b13bb882 parameters runtime defaults 2021-02-12 08:27:47 -05:00
Daniel Agar
da1a38b44e parameters: merge generated files ito single static constexpr header 
- store parameter type and if volatile separately (saves kilobytes of flash)
 - use Bitset for tracking active and changed parameters
 - use atomic for autosave_enabled flag
 - compile at ${MAX_CUSTOM_OPT_LEVEL} (-O2 on non flash constrained boards)
 2021-02-12 08:27:47 -05:00
PX4 BuildBot
71c7c69c9d Update submodule ecl to latest Fri Feb 12 12:42:24 UTC 2021 
- ecl in PX4/Firmware (2292cf3ed4f8c4391131870936881331bc870260): 602e65146c
    - ecl current upstream: ffab483504
    - Changes: 602e65146c...ffab483504

    ffab483 2021-02-11 Loic Dubois - Waiting for the filter to be initialized to set global origin
 2021-02-12 08:26:10 -05:00
Daniel Agar
c3172a91d9 ekf2: try reselecting distance_sensor on timeout 2021-02-12 08:25:27 -05:00
Matthias Grob
a002a07ed5 sdcardCheck: minor refactor 
I was late for the review.
 2021-02-12 00:17:43 -05:00
Daniel Agar
5db906314a
uavcan: stm32h7 driver silence debug output 2021-02-11 23:08:17 -05:00
Daniel Agar
dcb35e9a8c
Update submodule mavlink v2.0 to latest Fri Feb 12 00:38:48 UTC 2021 2021-02-11 23:06:40 -05:00
Daniel Agar
8a0bf15b9e boards: CUAV X7Pro fix BMI088 orientation 2021-02-11 23:05:48 -05:00
Daniel Agar
7f76666fe9
Jenkins: hardware avoid unnecessary checkout 2021-02-11 23:04:26 -05:00
Daniel Agar
c63107bb57
uORB: tests increase priorities to minimize failures with stackcheck/debug enabled 
- also relax the maximum mean by 50%
 2021-02-11 22:58:57 -05:00
Daniel Agar
cb7aabf932 fw_pos_control_l1: cleanup body velocity and acceleration usage 
- minimize storing unnecessary state (msg copies)
 2021-02-12 00:41:39 +01:00
Jaeyoung-Lim
9ebf783214 Use smaller loiter radius for rovers 2021-02-11 23:24:34 +01:00
Julian Oes
aca1e85da4 mavsdk_tests: don't forget to check for rootfs dir 2021-02-11 22:25:07 +01:00
Julian Oes
4184c204c4 autopilot_tester: don't poll mission progress 
Instead use subscription here as well in order not to miss an update.
 2021-02-11 22:25:07 +01:00
Julian Oes
2971ce8664 mavsdk_tests: don't clear logs 2021-02-11 22:25:07 +01:00