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mrpollo/agents
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28857 Commits
Author SHA1 Message Date
Daniel AgarandPX4 BuildBot c1c2858341 Update submodule GPSDrivers to latest Thu Jun 16 12:38:52 UTC 2022 
- GPSDrivers in PX4/Firmware (1069570a2a90fdc7f0e081b6c2c4b418446d65d7): https://github.com/PX4/PX4-GPSDrivers/commit/016c37cd1f18c716427e2465d8daa6aa1054b0f1
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/8c09c5426d23ea4db4e462c1f4e3a1de33d253cc
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/016c37cd1f18c716427e2465d8daa6aa1054b0f1...8c09c5426d23ea4db4e462c1f4e3a1de33d253cc

    8c09c54 2022-06-15 Daniel Agar - sbf trivial whitespace fix

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-06-16 12:21:06 -04:00
Matthias Grob 92b6862485 Commander: replace arm requirements 2022-06-16 10:25:32 -04:00
Matthias Grob 3b3d8b9942 Commander: execute pre arm check with preflight checks 2022-06-16 10:25:32 -04:00
Matthias Grob aa575d6af0 Commander: move first preflight check run to constructor 2022-06-16 10:25:32 -04:00
Matthias Grob 0f41a5e385 ArmStateMachine: simplify how preflight checks are called 2022-06-16 10:25:32 -04:00
Igor Mišić 7c1da8d608 driver/px4io: set default failsafe values 2022-06-16 08:09:00 +02:00
Igor Mišić 04c2d0fe97 drivers/pwm_out: set default failsafe values 2022-06-16 08:09:00 +02:00
Daniel Agar 1980b5c5e8 ekf2: setEkfGlobalOrigin() reset baro and hgt sensor offsets if necessary 
- handle uninitalized _gps_alt_ref
 - add basic lat/lon/alt sanity checks
 2022-06-16 00:59:54 -04:00
Matthias Grob c59809b14a Commander: remove system_sensors_initialized 
and system_hotplug_timeout. They're not in use for over 2 years.
Instead control LED with preflight checks.
 2022-06-15 14:02:00 -04:00
Igor Mišić 0922f003f5 uavcan: don't print an error if there is no UAVCAN device on the CAN bus 2022-06-15 03:29:13 -04:00
bresch 680191cc75 WindEstimator: make wind process noise tuning same as EKF2 2022-06-14 18:44:30 +10:00
bresch b6f1a7aed9 migrate wind process noise parameters 2022-06-14 18:39:10 +10:00
bresch 0d256b8ff6 ekf2 wind: use noise spectral density for process noise tuning 
The noise spectral density, NSD, (square root of power spectral density) is a
continuous-time parameter that makes the tuning independent from the EKF
prediction rate.
NSD corresponds to the rate at which the state uncertainty increases
when no measurements are fused into the filter.
Given that the current prediction rate of EKF2 is 100Hz, the
same tuning is obtained by dividing the std_dev legacy parameter by 10:
nsd = sqrt(std_dev^2 / 100Hz)
 2022-06-14 18:39:10 +10:00
bresch e105869986 wind_estimator: use noise spectral density for process noise tuning 
The noise spectral density, NSD, (square root of power spectral density) is a
continuous-time parameter that makes the tuning independent from the EKF
prediction rate.
NSD corresponds to the rate at which the state uncertainty increases
when no measurements are fused into the filter.
Given that the current prediction rate of the wind estimator is 1Hz, the
same tuning is obtained with the same values as before.
 2022-06-14 18:39:10 +10:00
Junwoo Hwang 377338109c uLog message definition comment improvements 
- Added more comments
- Converted to DOxygen comment format for the comments on struct members
 2022-06-13 10:31:07 +02:00
Junwoo Hwang 1ddd1573be Improve uLog message struct definitions 
1. Rename *_header_s structs to *_s, since the _header postfix is not
helpful
2. Rename the "key" string variables in the message structs to
"key_value_str" as the string actually contains not just the key but the
key and value pair information
3. Add comments on other uLog messages to clarify use (need more
improvement / can be even more simplified)
 2022-06-13 10:31:07 +02:00
fury1895 283aad01fd Airspeed params: change default for ASPD_SCALE_APPLY to 2 2022-06-10 14:02:41 +02:00
PX4 BuildBot e33199c182 Update submodule mavlink to latest Fri Jun 10 00:38:25 UTC 2022 
- mavlink in PX4/Firmware (59630bcc7e7e983db2d9138c8254144c77855adc): https://github.com/mavlink/mavlink/commit/0909631552187b998dd6359f998ee78ee8765728
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/05864e218e204f1ebeee5555988150fcddbd873e
    - Changes: https://github.com/mavlink/mavlink/compare/0909631552187b998dd6359f998ee78ee8765728...05864e218e204f1ebeee5555988150fcddbd873e

    05864e21 2022-06-09 Peter Barker - common.xml: add ignition_voltage to EFI_STATUS (#1854)
adc9c3f5 2022-06-01 olliw42 - update storm32.xml (nfc) (#1851)
49dbdb66 2022-06-01 Randy Mackay - ardupilotmega: add nav_attitude_time command (#1852)
 2022-06-10 01:01:20 -04:00
Thomas Debrunnerromain-chiapMatthias Grob
 		46c9d1e288 SIH in SITL with lockstep (#19028) 
* sih: Move sih out of work queue
This reverts commit bb7dd0cf00.

* sih-sim: Enable sih in sitl, together with lockstep

* sih-sim: new files for sih: quadx and airplane

* sih: Added tailsitter for sih-sitl simulation

* sitl_target: Added seperate target loop for sih

* jmavsim_run: Allow jmavsim to run in UDP mode

* lockstep: Post semaphore on last lockstep component removed

* sih-sim: Added display for effectively achieved speed

* sih: increase stack size

* sih-sim: Improved sleep time computation, fixes bug of running too fast

* sitl_target: place omnicopter in alphabethic order

Co-authored-by: romain-chiap <romain.chiap@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-06-09 09:52:34 +02:00
Thomas Stastny a7e11464c1 fw pos ctrl: update method documentation 2022-06-09 09:23:02 +02:00
Thomas Stastny 594a6d6e80 fw pos ctrl: some incremental clean up of the class 
- documentation of units, params, returns, and descriptions for variables and methods
- rename ambiguous or erroneous state variables
- remove unused or unecessary input arguments to functions
- remove ugly header white space
 2022-06-09 09:23:02 +02:00
Silvan Fuhrer 9863c24b40 navigator_main: DO_REPOSITION: only trigger reposition setpoint update if vehicle is armed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-06-08 21:47:06 +02:00
Thomas Stastny cbf0fe8803 fw pos ctrl: centralize parameter and state resets 2022-06-08 08:44:30 -05:00
Thomas Stastny ccfbbb553a fw pos ctrl: only manipulate heading hold yaw in manual position control mode 2022-06-08 08:44:30 -05:00
Thomas Stastny 67d8dd359d fw pos ctrl: calculate control interval once 
- Use the same time interval for all position control logic (including TECS)
- Sync naming in control methods
- Remove some unused input arguments
 2022-06-08 08:44:30 -05:00
Matthias Grob f5e7b1e6a8 Commander: switch battery bitflied to dedicated datatype 2022-06-08 11:32:26 +02:00
Matthias Grob 9b2166de72 manual_control_params: configure arm gesture doesn't require reboot 
I added wrong documentation here.
 2022-06-08 05:12:05 -04:00
Matthias Grob bd50a52c9c Commander: fix startup sound interrupted by safety button initialization 
The safetyButtonHandler() reports that the safety statatus
changed on the first loop iteration when safety is disabled which makes
sense to inform the system that safety is off but the tune for the user
should not be played because it interrupts the startup tune.
 2022-06-08 05:12:05 -04:00
Matthias Grob 71103e6114 Safety: keep initialized constant flags when safety disabled 2022-06-08 05:12:05 -04:00
Matthias Grob 44c4b8fa85 Style refactoring related to safety button 2022-06-08 05:12:05 -04:00
Daniel Agar ce70b6f4ac sensors/vehicle_angular_velocity: add IMU_GYRO_RATEMAX constraints 2022-06-07 15:45:47 -04:00
Daniel Agar 01f0992f49 sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX 2022-06-07 15:45:47 -04:00
Matthias Grob 5df266cedc MulticopterRateControl: use constructor to copy thrust setpoint array 2022-06-07 11:45:59 -04:00
bresch 4f1091792f ekf2 preflight: only check innovation of active height sources 2022-06-07 11:44:56 -04:00
Daniel Agar cb2738e187 Update submodule GPSDrivers to latest Sat Jun 4 12:38:49 UTC 2022 (#19766) 
- GPSDrivers in PX4/Firmware (6e77a084cd43830c8b13018b7fd5470da9bc4ff5): https://github.com/PX4/PX4-GPSDrivers/commit/181fae1a4b5e33576d786755782adb2f195ecc48
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/016c37cd1f18c716427e2465d8daa6aa1054b0f1
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/181fae1a4b5e33576d786755782adb2f195ecc48...016c37cd1f18c716427e2465d8daa6aa1054b0f1

    016c37c 2022-06-01 Julian Oes - sbf: fix overrun on invalid length
 2022-06-04 15:58:56 -04:00
PX4BuildBot a247b42907 [AUTO COMMIT] update change indication 2022-06-04 15:57:11 -04:00
PX4 BuildBot e86a74321e Update world_magnetic_model to latest Sat Jun 4 11:14:10 UTC 2022 2022-06-04 15:57:11 -04:00
Beat Küng d1142008f6 FailureDetector: check if ESCs have current 
And increase the timeout to 300ms, as some ESCs only update with 10Hz.
 2022-06-04 07:40:29 +02:00
Beat Küng 56faaae959 failure: fix invalid memory access 
failure_units[unit].key was incorrect
 2022-06-04 07:40:29 +02:00
Beat Küng 0ab61aee2e control_allocator: show motor axis for MC (as advanced) 2022-06-04 07:40:29 +02:00
Beat Küng 99a329f937 mc_rate_control: pass through 3D thrust 2022-06-04 07:40:29 +02:00
Beat Küng 82eb71d70b failure_detector: allow disabling attitude failure (as already documented) 2022-06-04 07:40:29 +02:00
bresch e2955bdd61 terrain est: clear innovation/var/test ration when aiding stops 2022-06-03 17:31:14 -04:00
Matthias Grob fad3d46907 Use signNoZero() where possible 2022-06-03 16:08:16 +02:00
BA-ED b9be783b69 dshot: corrected DShot motor spin direction command 
Some ESCs don't store DShot_cmd_spin_direction_reversed persistently
 2022-06-02 13:36:40 +02:00
Mark Sauder c19e74784a attitude_estimator_q: Run() method refactoring (#19526) 
* Refactor attitude_estimator_q_main.cpp Run() method by breaking apart into separate method calls:
    * update_vehicle_local_position()
    * update_motion_capture_odometry()
    * update_visual_odometry()
    * update_magnetometer()
    * update_vehicle_attitude()
    * update_sensors()
 * Rename init_attitude_q()
 * Standardize whitespace formatting
 * Add remaining c++ style initializers.
 2022-06-01 13:41:42 -04:00
Daniel Agar 21b1c933dc ekf2: EKFGSF_yaw delete unnecessary internal state 2022-06-01 13:16:06 -04:00
Daniel Agar 3889b79342 ekf2: yaw estimator add yaw_composite_valid boolean 2022-06-01 13:16:06 -04:00
Igor Mišić a218f4bfaf drivers/px4io: support legacy px4io firmware to enter BL 2022-06-01 13:15:13 -04:00
Igor Mišić 25488da944 px4io: replace safety_off state with safety button event (#19558) 
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
 2022-06-01 13:15:13 -04:00