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16111 Commits

Author SHA1 Message Date
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 Debrunner 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
PX4BuildBot a247b42907 [AUTO COMMIT] update change indication 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 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
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 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
Matthias Grob a9cdfff7a3 FlightModeManager: only execute flight task commands when multicopter 2022-06-01 15:14:07 +02:00
Matthias Grob 96b0304049 PreFlightCheck: disallow arming in land mode 
after the automatic switch to Hold mode was introduced.
 2022-06-01 12:08:32 +12:00
Matthias Grob 83c15fca9f Commander: switch back to Hold mode after autonomous landing 2022-06-01 12:08:32 +12:00
Matthias Grob 33df8b24f2 Commander: differentiate clearly between to arm and to disarm transition 2022-06-01 12:08:32 +12:00
Matthias Grob 400e1f8214 Commander: only initialize to tablet mode and don't switch back on RC loss 2022-06-01 12:08:32 +12:00
Beat Küng 0074894637 control_allocator: disable backup schedule with lockstep 
The backup schedule triggers updates too early and leads to simulator errors:
ERROR [simulator] poll timeout 0, 22
 2022-05-31 07:17:30 +02:00
Daniel Agar cb8b5ae872 mavlink: MavlinkStatustextHandlerTest ignore Wcast-align 2022-05-29 09:44:48 -04:00
Daniel Agar 095e0f0604 ekf2: sensor_simulator fix enum shadow 2022-05-29 00:21:08 -04:00
PX4 BuildBot 63155b5b01 Update submodule mavlink to latest Sat May 28 00:38:55 UTC 2022 
- mavlink in PX4/Firmware (56106be4805cb2f70d22ad31b87fbd9774f0d0f3): https://github.com/mavlink/mavlink/commit/99e82cad70494903a23a67de08ff9cbb5918d8f3
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/0909631552187b998dd6359f998ee78ee8765728
    - Changes: https://github.com/mavlink/mavlink/compare/99e82cad70494903a23a67de08ff9cbb5918d8f3...0909631552187b998dd6359f998ee78ee8765728

    09096315 2022-05-26 Hamish Willee - Clarify and cross reference home position everywhere (#1836)
38c1a99f 2022-05-25 Julian Oes - WIND_COV: clarify description and unknown value (#1845)
 2022-05-28 00:06:05 -04:00
Igor Misic 554283655c Revert "px4io: replace safety_off state with safety button event (#19558)" 
This reverts commit 12a81979a8.
 2022-05-26 10:06:32 -04:00
Igor Misic 6aefcbb6cf Revert "px4iofirmware: fix for bug introduced with #19558" 
This reverts commit 79a34b5aed.
 2022-05-26 10:06:32 -04:00
Matthias Grob c03f5b9481 Commander: fix overlooked rebase naming error 2022-05-25 21:10:19 +02:00
alessandro 29c4119e24 Match commander uORB var names to message names (#19707) 
* match vehicle_status

* match home_position

* match vehicle_command_ack

* match actuator_armed

* match vehicle_control_mode

* match commander_state
 2022-05-25 17:08:48 +02:00
Daniel Agar 58ea6235fe ekf2: estimator aid source status (range height) 2022-05-25 09:25:12 -04:00
Daniel Agar 1e25aee6fa ekf2: estimator aid source status (baro height) 2022-05-25 09:25:12 -04:00
Silvan Fuhrer 4dbe6f0a1c simulator_mavlink: fix MAV_TYPE_VTOL_TAILSITTER case 
This type (23) doesn't specify a motor number, so it can't be properly handled.
There are duo (19) and quad (20) tailsitter types that still work in simulation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-24 17:58:44 -04:00
Beat Küng 016b8aeb35 MulticopterRateControl: fix thrust sign for acro 
Regression from fbc109436f
 2022-05-24 15:03:17 +02:00
Matthias Grob 44be415e0e mission_block: make "Delay until" item work while landed 
To enable landing, waiting and taking off again e.g. for delivery.
 2022-05-24 13:42:03 +02:00
Matthias Grob 0be474430c Commander: don't disarm on landing amid a mission 2022-05-24 13:42:03 +02:00
Daniel Agar 639222dd65 ekf2: estimator aid source status (GPS pos, GPS vel) 2022-05-23 16:21:49 -04:00