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Author SHA1 Message Date
Paul Riseborough 1592db8f34 EKF: Convert optical flow fusion to use SymPy generated equations 2020-08-16 08:44:17 +10:00
Paul Riseborough 1f386c1bb8 EKF: Add yaw estimate SymPy generated code files 2020-08-16 08:43:29 +10:00
Paul Riseborough 510d93858f EKF: move yaw estimator derivation into main filter derivation 
Enables use of common components
 2020-08-16 08:43:29 +10:00
Daniel Agar d3a1225c98 Tools: Ubuntu setup remove "set -e" to prevent grep early exit 
- the gcc version grep was causing the script to exit early
 2020-08-15 23:40:20 +02:00
Daniel Agar fe06eaf8d9 Tools: Ubuntu setup update arm-none-eabi-gcc to 9-2020-q2-update 2020-08-15 23:40:20 +02:00
Paul Riseborough f89c52e840 EKF: use ecl::powf for integer exponents 2020-08-15 08:40:59 +10:00
David Sidrane 22a7bf6ec7 px4_fmu-v6x Fix BOARD_TYPE 2020-08-14 11:23:16 -04:00
David Sidrane 157aa36c1e NuttX based bootloader:Track QGC change in sequnsing 
It appear that QGC is now resyncing between operation.
   This was causing the bl_state to be reset to STATE_PROTO_GET_SYNC
   and loosing the state of (STATE_PROTO_GET_SYNC|STATE_PROTO_GET_DEVICE)
 2020-08-14 10:58:23 -04:00
David Sidrane 13246bdb2c common/shutdown:All FMU's not stying in bootloader 
Fixes bug, wehre reboot -b would not stay in bootloader.
   Call was passing bit mask (=4) not integer value of 1.
 2020-08-14 14:11:45 +02:00
Daniel Agar 877c19704a rm3100: cleanup device interface on destruction 2020-08-14 09:25:47 +02:00
Daniel Agar f1e5b1d284 qmc5883: cleanup device interface on destruction 2020-08-14 09:25:47 +02:00
Daniel Agar 8252fea95b lis3mdl: cleanup device interface on destruction 2020-08-14 09:25:47 +02:00
Daniel Agar 03efea9d73 lis2mdl: cleanup device interface on destruction 2020-08-14 09:25:47 +02:00
Daniel Agar f8241f144c hmc5883: cleanup device interface on destruction 2020-08-14 09:25:47 +02:00
Daniel Agar 0c91a29c3f wq:attitude_ctrl increase stack 2020-08-13 13:32:07 -04:00
Beat Küng ba5d7773f8 mavlink_timesync: print sender comp id for 'RTT too high for timesync' msg (#15539) 
helps with debugging
 2020-08-13 10:58:25 +02:00
Paul Riseboroughandkamilritz 0aa2f17562 EKF: Convert GPS yaw observation method to use SymPy generated code (#880) 
* EKF: add test comparison program for GPS yaw fusion equations

* EKF: convert GPS yaw fusion method to use SymPy generated equations

* Replace if/else with simple if

* EKF: fix formatting of GPS yaw fusion auto-code comparison test

* EKF: Use  SparseVector type for GPS yaw fusion Jacobians

* EKF: Fix bug in GPS yaw derivation comparison check

* Add gps_yaw auto generated code file

Co-authored-by: kamilritz <kritz@ethz.ch>
 2020-08-13 13:23:57 +10:00
Daniel Agar 0bb5f2c2af uavcan: libuavcan submodule remove redundant libuavcan_drivers 2020-08-12 15:34:10 -04:00
Daniel Agar 04377cc270 PX4 branch remove redundant confusing libuavcan_drivers 2020-08-12 14:32:34 -04:00
Thies Lennart Alff d7d8aa9b64 uuv_att_control: removed redundant code, switched to new uORB API 2020-08-12 13:16:28 -04:00
Daniel Agar 6937dbc5fd boards: add CUAV Nora support 2020-08-12 13:02:16 -04:00
Daniel Agar 942eb83184 sensors: keep legacy params active (BAT_V_DIV/BAT_A_PER_V) for QGC SITL 
- fixes https://github.com/PX4/Firmware/issues/15505
 2020-08-12 11:57:34 -04:00
Daniel Agar f19a20dc43 commander: preflight power check ignore module count if USB connected 
- this check isn't relevent during bench testing
 2020-08-12 11:48:38 -04:00
RomanBapst 355e3ea986 vtol_type: use correct pwm device path in init function 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
v1.11.0-rc2 		2020-08-12 08:55:23 +02:00
RomanBapst 01535a726a vtol_type: reset quadchute filter states if TECS is not running 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-08-12 08:55:23 +02:00
Daniel Agar faeaa411d0 Update submodule mavlink v2.0 to latest Wed Aug 12 00:39:35 UTC 2020 
- mavlink v2.0 in PX4/Firmware (49e83b6ae4): https://github.com/mavlink/c_library_v2/commit/cdcea1c68565e435d18f88c12a4d5db20b070df1
    - mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/cc7ed13f41931335c1902da445bbdf12f4d66e63
    - Changes: https://github.com/mavlink/c_library_v2/compare/cdcea1c68565e435d18f88c12a4d5db20b070df1...cc7ed13f41931335c1902da445bbdf12f4d66e63
 2020-08-11 23:47:35 -04:00
SalimTerryLi 49e83b6ae4 load_mon: add linux support 2020-08-11 18:33:44 -04:00
David Sidrane 329ed6e273 px4_fmu-v5/v5x: Re-enable TXDMA 2020-08-11 12:27:28 -04:00
David Sidrane c46d5e8535 Nuttx with TX DMA fix 2020-08-11 12:27:28 -04:00
Paul Riseboroughandkamilritz 21cc46edd7 EKF: Convert magnetic field observation methods to use SymPy generated code (#879) 
* EKF: Add comparison test for mag field fusion generated code

* EKF: convert mag field fusion to use SymPy generated code

* EKF: Add test comparison program for yaw fusion equations

* Stop setting 0 to 0

* Reduce if/else statement to only if

* EKF: more accurate implementation for sequential fusion of magnetometer data

* test: update change indicator

* Use matrix::SparseVector<float, 24, ...> for observation jacobian

* Adapt the auto code generation to allow for different bracket styles

* Add auto generated code for mag fusion

* Add generic computation of KHP

* Apply generic computation of KHP to mag fusion

* tests: update change indicator

* tests: update change indicator

Co-authored-by: kamilritz <kritz@ethz.ch>
 2020-08-11 18:57:22 +10:00
kritz 9d962cdfbc Pr update matrix (#15520) 
* Update submodule Matrix

* replace deprecated matrix functions

* update submodule ECL

* Update Matrix submodule

* Use absolute value of loiter radius

* Update ECL submodule
 2020-08-11 10:08:41 +02:00
Claudio Micheli 75ab105605 cm8jl65: avoid flooding console with errors if errno is EAGAIN 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-08-11 08:14:47 +02:00
Jahir Argote bc98a41d54 Comment typo 2020-08-10 17:39:40 -04:00
kamilritz ec93490890 geo test change to arc length 2020-08-10 22:15:43 +02:00
kamilritz 98dec6afa6 add tests for waypoint_from_line_and_distance() 2020-08-10 22:15:43 +02:00
kamilritz 60388a8b6d Geo: Fix double correcting for negative distance 2020-08-10 22:15:43 +02:00
Daniel AgarandMathieu Bresciani b7f9ff6747 mc_att_control: don't use auto for primitive types 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2020-08-10 14:07:42 -04:00
Daniel Agar 0781fdd813 mc_att_control: don't store vehicle_status copy 2020-08-10 14:07:42 -04:00
Daniel Agar 8c42c38650 mc_att_control: don't store full vehicle_land_detected copy 2020-08-10 14:07:42 -04:00
Daniel Agar 41a1675c53 AttitudeControl: only normalize attitude setpoint once on update 2020-08-10 14:07:42 -04:00
Daniel Agar 1c42d12491 mc_att_control: don't keep att copy and avoid unnecessary Quatf construction and copies 2020-08-10 14:07:42 -04:00
Daniel Agar 5e739f66d6 mc_att_control: inline control attitude call and rate publication 
- this makes it clear that we didn't need to keep local copies of the rate setpoint
 2020-08-10 14:07:42 -04:00
Daniel Agar 14f734ac15 mc_pos_control: use local position timestamp for dt 2020-08-10 10:51:52 -04:00
Daniel Agar c5eb084236 mc_rate_control: use angular velocity timestamp for dt 2020-08-10 10:51:52 -04:00
Daniel Agar 45ee16d236 mc_att_control: use attitude timestamp for dt 2020-08-10 10:51:52 -04:00
Daniel Agar 9992bd05db fw_att_control: pass time through from run 2020-08-10 10:51:52 -04:00
Daniel Agar 560c22e612 fw_pos_control_l1: pass time through from run 2020-08-10 10:51:52 -04:00
Katrin Moritz 258e5ca5c9 Rename of the DF Robot Rover Airframe 2020-08-10 09:46:36 -04:00
Daniel Agar 97fc1db768 vehicle_local_position: rename yaw -> heading and add reset logic 
- vehicle_global_position yaw removed (redundant)
 2020-08-10 11:42:03 +02:00
bresch 33fb9d0c62 Commander: update home position yaw in case of EKF yaw reset 
This makes sure the drone lands in the correct orientation
during RTL even if the initial yaw at takeoff was wrong.
 2020-08-10 11:42:03 +02:00