fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-14 05:27:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
41,739 Commits 852 Branches 161 Tags
pr-drivers_rc_input_split
Commit Graph

25622 Commits

Author SHA1 Message Date
Beat Küng 666b84027d GyroFFT: disable 4096 for IMU_GYRO_FFT_LEN 
saves around 10.5KB flash on px4-fmu-v5
 2022-08-25 22:02:15 -04:00
Beat Küng 060738cae1 src: avoid use of double precision pow & exp 
saves around 5KB flash on px4-fmu-v5
 2022-08-25 22:02:15 -04:00
Beat Küng 983a9815eb libevents: update submodule 2022-08-25 22:02:15 -04:00
Beat Küng 4c41934bb4 commander: inline HealthComponentIndex::HealthComponentIndex 
Saves around 1KB flash
 2022-08-25 22:02:15 -04:00
Beat Küng 1c89b0c9c8 commander: use actuator_function for ESC reporting 2022-08-25 22:02:15 -04:00
Beat Küng 13c93db11a commander: use circuit breaker params directly in arming checks 2022-08-25 22:02:15 -04:00
Beat Küng 4230eee24f commander: print 'ready for takeoff' to console for sitl after startup 2022-08-25 22:02:15 -04:00
Beat Küng 2fccb576ad commander: remove unused includes and variables 2022-08-25 22:02:15 -04:00
Beat Küng dbb814ff24 HealthAndArmingChecks: CONSOLE_PRINT_ARMING_CHECK_EVENT & reduce flash usage 
- print list of events whenever they change if
  CONSOLE_PRINT_ARMING_CHECK_EVENT is set, instead of on each update call
- reduce flash usage by moving out templated code into non-template method
 2022-08-25 22:02:15 -04:00
Beat Küng b2cb164c12 commander: replace health flags with health_report from arming checks 2022-08-25 22:02:15 -04:00
Beat Küng 6d1fb92eb7 commander: rework arming checks to use the events interface 2022-08-25 22:02:15 -04:00
Beat Küng b3fe0eeae8 mavlink_events: send reset sequence out immediately on startup 2022-08-25 22:02:15 -04:00
Beat Küng c7b64e3c01 commander: check for ack when calling 'commander takeoff' 2022-08-25 22:02:15 -04:00
Beat Küng 406b0bbc86 commander: handle VEHICLE_CMD_RUN_PREARM_CHECKS 2022-08-25 22:02:15 -04:00
Beat Küng 8f9be0541f HealthAndArmingChecks: add support for legacy mavlink_log reporting 2022-08-25 22:02:15 -04:00
Beat Küng f23363f88c HealthAndArmingChecks: add unit tests for Report 2022-08-25 22:02:15 -04:00
Beat Küng fcadc69e52 mavlink_receiver: set timestamp to gps_inject_data_topic 2022-08-25 22:02:15 -04:00
Beat Küng b7a6de05df arming checks: add health topic 2022-08-25 22:02:15 -04:00
Beat Küng 07afcf4586 commander preflight checks: new structure using events interface 
- Reporter class that keeps track of results (list of events + whether
  arming is possible + health).
  And only reports when one or more checks change.
 2022-08-25 22:02:15 -04:00
Beat Küng 04f7df3848 SubscriptionMultiArray: use Subscription instead of SubscriptionInterval 
Saves ~3KB RAM on fmu-v5.
 2022-08-25 22:02:15 -04:00
Daniel Agar 9b0b0d1168 ekf2: update test change indication csv 2022-08-25 15:55:45 -04:00
Daniel Agar 4040e4cdf2 simulation organization and cleanup 
- new modules/simulation directory to collect all simulators and related modules
 - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc
 - simulation module renamed to simulator_mavlink
 - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator)
 - ignition_simulator renamed to simulator_ignition_bridge
 - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules
 - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world)
 - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
 2022-08-25 09:10:03 -04:00
Jukka Laitinen f8f1213841 board_adc: Small fix for printf formatter 
Print sizeof type with %zu to be compatible with 64 bit targets, where it is unsigned long

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-08-25 07:50:23 +02:00
bresch 0061ef8b89 [AUTO COMMIT] update change indication 2022-08-24 09:16:11 -04:00
bresch 090d03eea2 ekf2: publish GNSS, rng and EV height biases 2022-08-24 09:16:11 -04:00
bresch a2a29ba0dd ekf2: verify parameter configuration for height sources 2022-08-24 09:16:11 -04:00
bresch 8dd5d0d1a3 ekf2: don't reset height when in conditional range aiding 2022-08-24 09:16:11 -04:00
bresch 20cd599bb7 ekf2: fix param migration 2022-08-24 09:16:11 -04:00
bresch 2d39097f60 ekf2: move rng height to file 2022-08-24 09:16:11 -04:00
bresch 28b4cd0579 ekf2: move GNSS hgt control to file 2022-08-24 09:16:11 -04:00
bresch b6f76b5eaa ekf2: move ev control to file 2022-08-24 09:16:11 -04:00
bresch f555281c94 ekf2: move height control-related function to file 2022-08-24 09:16:11 -04:00
bresch d87feee5b0 ekf2: move baro control logic to file 2022-08-24 09:16:11 -04:00
bresch 12e25eba62 ekf2: add common height fusion timeout parameter 2022-08-24 09:16:11 -04:00
bresch 52f726c5b7 ekf2: in bias estimator, use psd instead of var for prediction 
PSD is independent from the sampling time while variance isn't
 2022-08-24 09:16:11 -04:00
bresch b04d61c411 ekf2: param migration for rng aid, aid mask (gps) and hgt mode 2022-08-24 09:16:11 -04:00
bresch 3fb218600a ekf2_test: add multi height source unit tests 2022-08-24 09:16:11 -04:00
bresch aba2eac0df ekf2: publish GNSS, rng and EV height biases 2022-08-24 09:16:11 -04:00
bresch 8962cf2d25 ekf2: GPS, baro and range finder control parameters 
Also remove the legacy "range aid" than can be achieved by setting the
height reference to range finder and the range finder control parameter
to "conditional".

Conditional range aiding cal also be set when the height reference isn't
the range finder. This prevents the ratchetting effect due to switching
between references.
 2022-08-24 09:16:11 -04:00
bresch 578e1339ca ekf2: re-implement range aid 
range aid simply forces the range finder to be the height reference when
starting
 2022-08-24 09:16:11 -04:00
bresch 88ac5ea210 ekf2_test: add test case for accel clipping handling 2022-08-24 09:16:11 -04:00
bresch 375753eba8 ekf2_test: add inertial nav falling detection tests 2022-08-24 09:16:11 -04:00
bresch 66ce1a002b ekf2_test: rename VisionHeight -> ExternalVisionHeight 2022-08-24 09:16:11 -04:00
bresch 82ec7a495a ekf2: refactor inertial nav falling check 2022-08-24 09:16:11 -04:00
bresch f9188b2a14 ekf2: refactor vertical acceleration check for multiple height sources 2022-08-24 09:16:11 -04:00
bresch 8fd79688c0 ekf2: enable multiple height sources fusion 
Instead of having a single height source fused into the EKF and the
other ones "waiting" for a failure or the primary sensor, fuse all
sources in EKF2 at the same time. To prevent the sources from fighting against each
other, the "primary" source is set as reference and the other ones are
running a bias estimator in order to make all the secondary height
sources converge to the primary one.

If the reference isn't available, another one is automatically selected
from a priority list. This secondary reference keeps its current bias
estimate but stops updating it in order to be the new reference as close
as possible to the primary one.
 2022-08-24 09:16:11 -04:00
bresch f5f31006a0 Ekf2: create HeightBiasEstimator class 
Contains some logic common to all height bias estimators
 2022-08-24 09:16:11 -04:00
JacobCrabill 57125a4c8f cyphal: Fix FMUv5 config; throw error if no CAN driver exists 2022-08-23 21:24:24 -04:00
huiyulhy c81efd0174 Fix velocity smoothing functional test 2022-08-23 21:11:35 -04:00
Beat Küng bae275898b rc/sbus: restart parser after sucessful decoding & increase time limit 
Instead of directly passing the next packet to the parser after successful
parsing, switch the state to SBUS2_DECODE_STATE_SBUS_START and search for
the start byte again.

The timeout is increased as the IO main loop also takes a bit of time
(max ~0.7ms).

Tested on v5x with Futaba R7008SB (60Hz update rate) and FrSky X8R (111Hz
update rate).

Background:
When using the Futaba R7008SB, I noticed there's additional bytes added in
between packets. Often it's a null byte, but sometimes more. There's some
consistency but I did not find any documentation for it.
Sample data:
a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05 ec
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 c0 8b
00 0f 04 ec 1f a8 fb 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00
14 00 0f 04 ec 1f a8 fb 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80
00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10
80 00 34 00 0f 05 ec 1f 30 60 bf 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 34 00 0f 07 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 04 00 03 c0 31 00 0f 05 fc 1f a8 fb 07 16 5b 81 05 d4
a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 05 fc 1f a8 fb 07 16 5b 81 05
d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 04 ec 1f a8 fd 07 16 5b 81
05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 04 ec 1f a8 fd 07 16 5b
81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03 c4 00 00 0f 04 ec 1f
a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 04 ec
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 04
ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f
05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00
03 c0 31 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02
10 80 00 14 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00
02 10 80 00 24 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40
00 02 10 80 00 34 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80
00 04 00 03 c0 31 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00
01 08 40 00 02 10 80 00 34 00 0f 05 f4 1f a8 fb 07 16 5b 81 05 d4 a0 06 20
00 01 08 40 00 02 10 80 00 04 00 03 c4 00 00 b0 60 7f 1c bd 07 16 5b 81 05
d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81
05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b
81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05 ec 1f a8 fb 07 16
5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03 c0 31 00 b0 60 bf
1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 04 f4
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 30 70
7f 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05
f4 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03
c4 00 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10
80 00 14 00 0f 05 ec 1f b0 60 bf 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00

This was causing the parser to skip entire packets resulting in an update
rate of ~31Hz on the FMU side.
With this patch the update rate increases to 42-48Hz.

The investigation was triggered by an RC glitch with a packet containing
random channel data. It's likely, although not completely verified that
the frequent desync randomly happend to pass the CRC check with garbage
data.
 2022-08-23 21:07:18 -04:00