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Author SHA1 Message Date
Daniel Agar 763c3b8fda boards: start enabling multi-EKF by default on F7/H7 2021-01-10 17:56:34 +01:00
Jaeyoung-Lim b3257c0bf2 Support relative altitude for offboard global position setpoints 
Previously the coordinate_frame flag for setpoint_target_global_int message was not handled, resulting in the vehicle to not handle altitude correctly. This commit handles the relative altitude correctly.
 2021-01-10 17:54:53 +01:00
Daniel Agar 662f177830 ekf2: multi instance numbering consistent with uORB publication instances 2021-01-09 13:20:26 -05:00
Daniel Agar c3fc96fd42 uORB::PublicationMulti add get_instance() 2021-01-09 13:20:26 -05:00
PX4 BuildBot 0398a936e3 Update submodule ecl to latest Sat Jan 9 16:06:23 UTC 2021 
- ecl in PX4/Firmware (c6af260a41): https://github/commit/c212975abe83bf462bc512288ba30358f9a17865
    - ecl current upstream: https://github/commit/99575d73e10aad06eb7d5b6415ea2db4151c5045
    - Changes: https://github/compare/c212975abe83bf462bc512288ba30358f9a17865...99575d73e10aad06eb7d5b6415ea2db4151c5045

    99575d7 2021-01-09 Paul Riseborough - EKF: Add bad accel bias checking for EV and range finder height use cases
ff3c0a6 2021-01-08 Paul Riseborough - EKF: Fix bug preventing recovery from bad delta velocity bias estimates
c25c97f 2021-01-08 priseborough - [AUTO COMMIT] update change indication
9641810 2021-01-08 Paul Riseborough - test: Allow for larger vel variance growth due to dvel bias variance
1b1c049 2021-01-08 Paul Riseborough - test: Update unit test to match expected behaviour
dd259a2 2021-01-07 Paul Riseborough - EKF: Don't modify accel bias states and variances when inhibited
3e1f2d8 2021-01-07 Paul Riseborough - EKF: Set dvel bias variance to stored value when state is inactive
 2021-01-09 12:57:25 -05:00
Daniel Agar c6af260a41 log_message increase queue depth 2->4 2021-01-09 11:04:32 -05:00
Paul Riseborough 99575d73e1 EKF: Add bad accel bias checking for EV and range finder height use cases 2021-01-09 11:03:31 -05:00
Paul Riseborough ff3c0a6136 EKF: Fix bug preventing recovery from bad delta velocity bias estimates 2021-01-09 11:03:31 -05:00
priseborough c25c97f8b5 [AUTO COMMIT] update change indication 2021-01-09 11:03:31 -05:00
Paul Riseborough 96418101e1 test: Allow for larger vel variance growth due to dvel bias variance 2021-01-09 11:03:31 -05:00
Paul Riseborough 1b1c049e81 test: Update unit test to match expected behaviour 2021-01-09 11:03:31 -05:00
Paul Riseborough dd259a288f EKF: Don't modify accel bias states and variances when inhibited 2021-01-09 11:03:31 -05:00
Paul Riseborough 3e1f2d8674 EKF: Set dvel bias variance to stored value when state is inactive 2021-01-09 11:03:31 -05:00
Jaeyoung-Lim d42e57a066 Update sitl_gazebo to latest 
This PR updates sitl_gazebo to latest
 2021-01-08 21:33:22 -05:00
Daniel Agar b9a721726d sensors/vehicle_magnetometer: respect calibration offset update success 
- the magnetometer calibration offset setter returns false if the new offset change is negligible
 2021-01-08 15:34:48 -05:00
Mohamed Abdelkader Zahana 80dd841cad Update launch files to enable multi-video stream in SITL (#16497) 
* Update launch files to support multi-video stream in SITL

* Pass extra args to jinja_gen.py inside gazebo_sitl_multiple_run.sh to enable multi-video streaming
 2021-01-08 19:29:47 +01:00
Silvan Fuhrer 706f806943 VTOL: standard VTOL and Tiltrotor manual MC throttle during transition 
This sets the throttle of the Multicopter actuators to the throttle stick position
while in Stabilized, Acro or Manual mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-08 10:28:00 +01:00
xdwgood 802c68a62e Do not run transition flight task when not enable altitude control 2021-01-08 10:28:00 +01:00
Daniel Agar bf330a51b2 sensors/vehicle_magnetometer: reduce offset update message length to fit 2021-01-08 01:22:31 -05:00
Thies Lennart Alff eb60479e4c UUV introduce param to skip controller (#15706) 
* added skip_ctrl param to uuv

* fixed formatting
 2021-01-08 06:50:40 +01:00
PX4 BuildBot 064511c2df Update submodule flightgear_bridge to latest Fri Jan 8 00:39:45 UTC 2021 
- flightgear_bridge in PX4/Firmware (168468c12a): https://github.com/PX4/PX4-FlightGear-Bridge/commit/44b51d5b1ccc6679e82090e24177ed73a3d4f5de
    - flightgear_bridge current upstream: https://github.com/PX4/PX4-FlightGear-Bridge/commit/7c2c623da9f5dcb3f01d32830af1a2ed958de363
    - Changes: https://github.com/PX4/PX4-FlightGear-Bridge/compare/44b51d5b1ccc6679e82090e24177ed73a3d4f5de...7c2c623da9f5dcb3f01d32830af1a2ed958de363

    7c2c623 2021-01-06 slimonslimon - Switch Ign-math to Eigen3 (#5)
 2021-01-07 21:21:02 -05:00
PX4 BuildBot 168468c12a Update submodule ecl to latest Thu Jan 7 12:50:52 UTC 2021 
- ecl in PX4/Firmware (c999734463c9b23c6b56670d5242ca4496f9e6ef): https://github/commit/03fed323ab950125114eb34309d3a79119e572ee
    - ecl current upstream: https://github/commit/c212975abe83bf462bc512288ba30358f9a17865
    - Changes: https://github/compare/03fed323ab950125114eb34309d3a79119e572ee...c212975abe83bf462bc512288ba30358f9a17865

    c212975 2021-01-06 bresch - rng height: reset to baro using common logic
 2021-01-07 12:08:21 -05:00
Daniel Agar 88f8da27ef save learned mag bias per sensor (Multi-EKF support) 
- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
 - this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
 - ekf2 reset mag mag bias on any magnetometer or calibration change
 - use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-01-07 09:54:13 -05:00
Matthias Grob 537ee5b19b FlightTaskOrbit: smooth yaw like in missions 2021-01-07 13:31:05 +01:00
Matthias Grob 44606ca872 FlightTaskOrbit: further simplify circling yaw setpoint calculation 
The whole angle adding and pi wrap was just necessary because the
correct atan2 arguments were never completely thought through.
 2021-01-07 13:31:05 +01:00
Matthias Grob f435bea57c state_machine_helper: orbit failsafe just with data link loss 
RC is like the comment says not required.
 2021-01-07 13:31:05 +01:00
Matthias Grob 6b8fa417e1 SlewRate: Add SlewRateYaw handling [-pi,pi] wraps 2021-01-07 13:31:05 +01:00
bresch c212975abe rng height: reset to baro using common logic 
The failsafe from rng height to baro height should occur after a reset
to baro triggered by the controlHeightSensorTimeouts function and not in
the fusion selector.

Until now, the EKF was fusing baro measurements between rng updates if
the range finder ODR was slower than the EKF update rate. This is not
the case anymore as the height reset occurs after 5 seconds.

The unit test has been extended to show this behavior.
 2021-01-07 10:07:57 +01:00
Daniel Agar 6c9072720e invensense/icm42688p: use full 20 bit data, increase ODR, disable all filters 2021-01-06 17:03:39 -05:00
Jaeyoung-Lim d2b0f63e1f Handle offboard mode with acceleration setpoints 
The case when acceleration setpoints were being passed in offboard mode was triggering control_climbrate_mode. This prevented the vehicle from taking off, since it made the vehicle skip the rampup phase of the takeoff
This commit fixes this by handling the case properly
 2021-01-06 20:38:18 +01:00
garfieldG 3fb8f5df62 drivers/lsm303agr: fixed bug incorrectly assembling signed 16 bit integer from bytes 2021-01-05 21:37:08 -05:00
PX4 BuildBot 01e3f0d586 Update submodule matrix to latest Tue Jan 5 12:40:51 UTC 2021 
- matrix in PX4/Firmware (fd97e28019fa9c665d9b3c6995098dd51b4ab022): https://github/commit/15e54ceda176f05e1ae38e71692d15cafb9e3a62
    - matrix current upstream: https://github/commit/054f8b12f4da79767df6e05bb1d2cc8d679b99f3
    - Changes: https://github/compare/15e54ceda176f05e1ae38e71692d15cafb9e3a62...054f8b12f4da79767df6e05bb1d2cc8d679b99f3

    054f8b1 2021-01-04 Julian Kent - Use a single inverse implementation for a single matrix size
 2021-01-05 19:24:42 -05:00
PX4 BuildBot ff82911d86 Update submodule ecl to latest Tue Jan 5 12:40:47 UTC 2021 
- ecl in PX4/Firmware (824f78466ac4e32aecd6bda785e95eb348e1b31e): https://github/commit/78ce46f00777f07d24c31bdc5e2edb203be2c0f4
    - ecl current upstream: https://github/commit/03fed323ab950125114eb34309d3a79119e572ee
    - Changes: https://github/compare/78ce46f00777f07d24c31bdc5e2edb203be2c0f4...03fed323ab950125114eb34309d3a79119e572ee

    03fed32 2021-01-05 Paul Riseborough - EKF: Fix formatting
31fca9c 2021-01-05 Paul Riseborough - EKF: Update GPS loss message
c65cf13 2020-12-15 Paul Riseborough - EKF; Treat combined sideslip and airspeed as a horizontal aiding source
211c84c 2021-01-04 bresch - Rng finder unit test: cover "un-stuck" logic
 2021-01-05 19:23:25 -05:00
Paul Riseborough 64ed96bd95 ekf2: Correct airspeed used by EKF for calibration errors 2021-01-05 19:22:53 -05:00
Daniel Agar b94e346488 Update submodule sitl_gazebo to latest Tue Jan 5 12:40:40 UTC 2021 (#16493) 
- sitl_gazebo in PX4/Firmware (850d0bc588): https://github.com/PX4/PX4-SITL_gazebo/commit/054e0a1be67b715ca1802397082e7814a1427f52
    - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/44de4acc3f9cf9e44db58006f99ea190d217017a
    - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/054e0a1be67b715ca1802397082e7814a1427f52...44de4acc3f9cf9e44db58006f99ea190d217017a

    44de4ac 2021-01-02 Lorenz Meier - Update README.md

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2021-01-05 19:34:11 +01:00
Paul Riseborough 03fed323ab EKF: Fix formatting 2021-01-05 21:08:28 +11:00
Paul Riseborough 31fca9c31d EKF: Update GPS loss message 2021-01-05 21:08:28 +11:00
Paul Riseborough c65cf13bb8 EKF; Treat combined sideslip and airspeed as a horizontal aiding source 2021-01-05 21:08:28 +11:00
bresch 211c84c85b Rng finder unit test: cover "un-stuck" logic 2021-01-05 20:04:17 +11:00
Julian Kent 054f8b12f4 Use a single inverse implementation for a single matrix size 2021-01-05 09:02:09 +01:00
Silvan Fuhrer 850d0bc588 vtol_type: remvoe const from function declaration 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 15:32:00 +01:00
RomanBapst 0871f0f52d vtol: refactor of maximum pwm value settings for main and alternate motors 
- main motors are the ones which are meant to be used as propulsion in fw mode
- alternate motors are the ones usually meant to be switched off in fw mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 15:32:00 +01:00
Daniel Agar bc1e9f72f7 Jenkins hardware temporarily remove px4_fmu-v2 2021-01-04 09:30:47 -05:00
Silvan Fuhrer 92634e7549 RTL: during climb, set NAV_CMD_WAYPOINT for RW modes, NAV_CMD_LOITER_TO_ALT for FW 
Do not use LOITER_TO_ALT for rotary wing mode as it would then always climb to
at least MIS_LTRMIN_ALT, even if current clib altitude is below
(e.g. RTL immediately after take off)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 11:58:16 +01:00
Silvan Fuhrer 0b86c11c66 FW POS: remove setting of curr_sp to LOITER if next wp invalid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 11:58:16 +01:00
Silvan Fuhrer 55a1d090a1 RTL: use NAV_CMD_LOITER_TO_ALT for Climb state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 68f27ba7b7 navigator: deactivate line following after backt-ransition and before landing 
- especially when there are strong winds it's better to just go straight
to the landing point instead of trying to follow the planned path

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst b63f756745 navigator: don't execute land pattern if vtol in rotary wing mode 
- if vtol and in rotary wing mode then don't execute the mission landing
because it's designed to be flow as a fixed wing
- if vtol and in rotary wing mode and mission land is available then fly directly
to landing point and don't go home!

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 6c3f413379 mission: reset work_item_type during mission inactivation 
- this fixes a race condition which happens when an RTL is triggered
during the final approach of a mission landing. In that case the mission inactive
method is never called.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst b63f202b3c various fixed for bugs encountered during testing 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00