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Author SHA1 Message Date
bresch a03cc495ce VelocitySmoothing - Refactor class to use polynomial evaluation instead of numerical integration 
This solves many numerical issues when the trajectory is close to the
primary NE axes (small velocities). It is also more robust when dt is
large and has some jitter.
 2019-09-17 09:27:00 +02:00
Hamish Willee 0c0b261ff2 ubuntu.sh - remove modemmanager 2019-09-17 00:38:14 -04:00
Julian Kent 51d2f9f0dc Remove direct access to internal data 2019-09-16 21:58:32 -04:00
Julian Kent 18218c8f9c Test non-square matrix multiplication (#91) 
* Test non-square matrix multiplication
 2019-09-16 17:40:25 +02:00
Julian Kent b817e8677d Add helpers based on Slice: row(), col(), xy() 2019-09-16 16:11:08 +02:00
Julian Kent 82d565f4d9 Add support for Slice to Matrix, SquareMatrix, Vector 2019-09-16 16:11:08 +02:00
Julian Kent af1378cc55 Add Slice class 2019-09-16 16:11:08 +02:00
Daniel Agar 5507f14bb2 Jenkins HIL disable rgbled 2019-09-15 17:17:09 -04:00
Daniel Agar ed6c7cc806 cmake remove unused/broken _no_optimization_for_target 2019-09-15 17:16:38 -04:00
Daniel Agar 251831f7af cmake px4_add_library remove unused PX4_LIBRARIES property 2019-09-15 17:16:38 -04:00
Daniel Agar dc46b6a749 cmake px4_add_module MAIN is always present (required) 2019-09-15 17:16:38 -04:00
Daniel Agar fb7521eb5e cmake px4_base -> px4_parse_function_args 2019-09-15 14:36:38 -04:00
Daniel Agar d256fb8770 cmake px4_find_python_module move to standalone file 2019-09-15 14:36:38 -04:00
Daniel Agar d27dfcd921 NuttX CMakeLists.txt extract helpers (jlink, upload, etc) 2019-09-15 14:36:38 -04:00
Daniel Agar f2189dd045 CMakeLists.txt extract top level helpers (ccache, doxygen, metadata, etc) 2019-09-15 14:36:38 -04:00
Matthias Grob d4f984fea5 FlightTaskAutoLineSmooth: Fix comment to be style compliant 2019-09-13 18:10:05 +02:00
bresch 47401d1177 AutoLineSmoothVel - Replace min/max absolute constraints with a function named constrainAbs 
This function constrain the absolute value of some value but keeps the original sign.
 2019-09-13 17:46:01 +02:00
bresch 3c5b24037a AutoLineSmoothVel - Improve virtual pilot logic that provides velocity setpoints to the trajectory generator. 
Constrain the generated velocities in the NE inertial frame rather than
just constraining the norm.
 2019-09-13 17:46:01 +02:00
bresch 59f54a7fd8 mathlib - Add FLT_EPSILON deadzone in sign computation 2019-09-13 17:46:01 +02:00
mcsauder 410dd85289 Comment out the ll40ls (LidarLite) driver from the fmu-v2 build. 2019-09-13 11:03:13 -04:00
Nico van Duijn a26865c279 drivers: set CM8JL65 signal_quality invalid beyond bounds 2019-09-13 10:42:10 -04:00
Martina Rivizzigno 78279f6587 Unit tests for Obstacle Avoidance interface (#12816) 
* FlighTask: remove legacy definition of empty_trajectory_wapoint

* add unit tests for the ObstacleAvoidance interface
 2019-09-12 14:37:31 +02:00
Nico van Duijn 267195a11b EKF: remove check for faulty flag in fake rng 
This removes the check for _rng_hgt_faulty in the decision of publishing
a fake range measurement. The reason for this is that some distance sensors
don't populate the quality flag, even if they are saturated. Hence, if we
are on the ground and not moving, it is safe to publish a fake measurement
of the distance sensor and overwrite the actual sensor data.
 2019-09-12 17:45:37 +10:00
Nico van Duijn 933189eac0 EKF: fix rng_faulty flag when sensor is stuck 2019-09-12 17:45:37 +10:00
Nico van Duijn 640e41cba7 EKF: change rangeSample quality to int8_t 2019-09-12 17:45:37 +10:00
Nico van Duijn a12186c285 terrain_estimator: introduce quality metric in rng 
This commit introduces a quality measure in the range data. It is
used to properly decide whether to initialize the HAGL estimate on
 sensor data or MIN_HGT parameter, as well as in the decision of
whether a 'fake' measurement should be published on the ground to
allow for optical flow take-offs.
 2019-09-12 17:45:37 +10:00
Paul Riseborough 3e05fd552e EKF: Compensate for bad range finder data when on ground 2019-09-12 17:45:37 +10:00
Julian Kent 39451b811a Do syscall for time once, outside of loop 2019-09-11 12:34:59 -04:00
Julian Kent b27d6a958a Account for the time since range data arrived 2019-09-11 12:34:59 -04:00
Hamish Willee 94ef585f76 Link to missing params docs 2019-09-11 09:17:00 -04:00
Hamish Willee fd10220a34 Ubuntu.sh: check for requirements.txt 2019-09-11 09:15:44 -04:00
Daniel Agar 6277710fac Github actions simple cpp build 2019-09-10 17:07:51 -04:00
Daniel Agar df01eda550 systemcmds/tests: delete obsolete test_sensors 2019-09-10 16:37:33 -04:00
Silvan Fuhrer 702c6f6df4 FW pos C: fix altitude control for VTOL/FW by also publishing attitude sp if in altitude, not only if position or velocity controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-10 13:20:07 -04:00
Silvan Fuhrer 92b824e218 VTOL attitude controller: run update_vtol_state only if mc or fw att sp changed, such that pusher support in hover works again 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-10 13:52:33 +02:00
Silvan Fuhrer 1b2403a87f VTOL land detector: trigger land detector in fixed-wing mode if disarmed. 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-10 13:46:43 +02:00
Julian Kent a8fbe6bba2 Remove references to pow(x,0.5), use sqrt instead (#12928) 
* Remove references to pow(x,0.5), use sqrt instead

* Update matrix library
 2019-09-10 13:29:39 +02:00
Julian Kent 15865b741c Help compiler with name resolution to avoid overload mixups 2019-09-09 11:18:57 -07:00
Patrick Servello 47e668eb86 simulator and dumpfile fix minor resource leaks 
* Certain conditional branches returned before closing the file handler.
 2019-09-09 13:24:07 -04:00
Daniel Agar a5e6c880fe Update submodule mavlink v2.0 to latest Mon Sep 9 12:38:36 UTC 2019 
- mavlink v2.0 in PX4/Firmware (65db4b70fd76afe122c1aed404de60e978ead294): https://github.com/mavlink/c_library_v2/commit/d5d131cf710ceaa93d26884ea12de8de95804985
    - mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/ac40c0329e88b70ae5db4c1467ed5853d305af54
    - Changes: https://github.com/mavlink/c_library_v2/compare/d5d131cf710ceaa93d26884ea12de8de95804985...ac40c0329e88b70ae5db4c1467ed5853d305af54
 2019-09-09 12:29:42 -04:00
Julian Kent 03ffd696a6 Replace pow with sqrt 2019-09-09 02:18:10 -07:00
mcsauder e4509486e8 Correct a typo and create a #define for the LeddarOne FOV. 2019-09-06 11:59:29 +02:00
mcsauder aea139bc1b Correct the LeddarOne FOV and deprecate the unneeded _distance_sensor_topic after migrating to PX4RangeFinder. 2019-09-06 11:59:29 +02:00
mcsauder ddd9a97d42 Modify the LeddarOne driver class to utilize the PX4RangeFinder library. 2019-09-06 11:59:29 +02:00
mcsauder 94d39e4466 Return from LeddarOne::collect() via LeddarOne::measure() and alphabetize #includes. 2019-09-06 11:59:29 +02:00
mcsauder f31ac44289 Const correctness and fix leddar_one::test(). 2019-09-06 11:59:29 +02:00
mcsauder c0e8b37d96 Add collect() validation to the LeddarOne::init() method, format whitespace and console output. 
Reduce measure/collect timing logic complexity to use ScheduleOnInterval() rather than SchuleDelayed().
 2019-09-06 11:59:29 +02:00
mcsauder 04073f2c71 Deprecate the LeddarOne request() and publish() methods to match other distance sensor driver classes and fix perf counter errata. 2019-09-06 11:59:29 +02:00
Tanja Baumann f3c5ca6015 Collision Prevention: support multiple sensors and frames (#12883) 
* build internal sensor map

* Extend testing coverage

* Update matrix library
 2019-09-06 08:38:56 +02:00
Hamish Willee eb81f4bce2 ubuntu.sh: Add note to reboot computer 2019-09-06 08:02:02 +02:00