fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity
39,891 Commits 852 Branches 161 Tags
Commit Graph

39891 Commits

This Branch
This Branch
All Branches
Author SHA1 Message Date
Daniel Agar
a3d2acad96
ekf2: remove const references 2022-02-01 21:57:57 -05:00
David Sidrane
3358712b92 UAVCAN Node Correct C to Kelvin conversion 2022-02-01 21:49:29 -05:00
David Sidrane
ec441fdba6 gnss-m9n-f4:Add serial_passthru 2022-02-01 21:49:29 -05:00
David Sidrane
3fecf8a23c Added ability to launch passthru on u-center traffic 2022-02-01 21:49:29 -05:00
David Sidrane
48c32f7795 Added serial passthru 
This addes the command serial_passthru which will pass data from one
   device to another. This can be used to use u-center connected to USB
   with a GPS on a serial port.

   Usage: serial_passthru [arguments...]
      -e <val>    External device path
                  values: <file:dev>
      -d <val>    Internal device path
                  values: <file:dev>
      [-b <val>]  Baudrate
                  default: 115200
      [-t]        Track the External devices baudrate on internal device

    With the -t option baudrate changes made on the PC connected to the USB
    will be set to the intrenal device.
 2022-02-01 21:49:29 -05:00
David Sidrane
0c8a5b3da1 matek-gnss-m9n-f4:Enable IO compensation 2022-02-01 21:49:29 -05:00
David Sidrane
2761112466 NuttX with CDCACM/OTGID backports 
disable otg id
   cdcacm:support c_cflag in the termios structure
   and speed
 2022-02-01 21:49:29 -05:00
David Sidrane
cb06f82f0f gnss-m9n-f4:Board support clean up 
SD is on SPI3 - correct pin mapping
   Fix DMA Mapping for all SPI and RX DMA on U[S]ART RX
   Fix Memory MAP SRAM size
   Removed unused GPIO
   Used proper I2C definitions
   Ensure Watchdog is configured for debugging
   Fixed FLASH param definitions
   Removed unedded SPI init

matek_gnss-m9n-f4:Correct Board ID and Size

Build order SJF

Added Support for F40x
 2022-02-01 21:49:29 -05:00
dirksavage88
d92244b664 Initial Matek m9nf4 can node support 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Added uavcan board identity

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Added usb.c, LED rework may be needed

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

PX4 dates added to all files

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Matek M9NF4 CAN Node initial board support

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Changed GPS to ttyS3 in board sensors, led board on/off definitions

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Added app descriptor section to canbootloader linker script

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Changed board naming convention to match vendor

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Changed canbootloader and nsh menuconfig

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Test defconfig changes, IRQ hardfault in bootloader

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Working canbootloader, App firmware stil WIP

Working App firmware: changed romfsroot to 'cannode', TODO: verify GPS & IMU config

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

TODO: Debug GPS no sats/low sats issue, no magnetometer on some boards

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2022-02-01 21:49:29 -05:00
Daniel Agar
f3e2a197ad
move vehicle at rest detection ekf2 -> land_detector 
- move vehicle at reset detection ekf2 -> land_detector
 - ekf_unit: reduce init period
   - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
 - ekf_unit: reduce minimum vel/pos variance required after init
   - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.

Co-authored-by:: bresch <brescianimathieu@gmail.com>
 2022-02-01 17:50:19 -05:00
Daniel Agar
e387f302f9 mavlink: streams/COMMAND_LONG don't send internal vehicle_commands 2022-02-01 09:15:10 -05:00
Jukka Laitinen
f8a090e85e Remove HYGROMETERS from fmu-v5 stackcheck build and rename to COMMON_HYGROMETERS 
The stackcheck build flash space overflows after adding hygrometers.

Also follow the naming convention of other similar config flags, and rename the
config.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-01 08:56:25 -05:00
Beat Küng
a4206ba553 logger: log excluded optional topics 
Can be displayed with:
ulog_info <file> -m excluded_optional_topics
 2022-02-01 08:40:02 +01:00
Roman Dvořák
2b1229786e Multi instance SHT3x driver support 2022-01-31 21:38:26 -05:00
Roman Dvořák
ed475ca324 SHT3x driver 
SHT3x driver, clean code
changes leading to merge TFHT with CUAV hygrometer
Delete humidity_temperature.msg
Update CMakeLists.txt
rename 'atmosphefir_quantities' to 'hygrometers'
fix logging
removed cmake files
fix PR issues
 2022-01-31 21:38:26 -05:00
mcsauder
e554f0174d Format whitespace and group checkall() methods together in geofence class. 2022-01-31 21:01:03 -05:00
Matthias Grob
ae0bb8371d Commander: message planned battery action with warning together 2022-01-31 20:27:06 -05:00
Matthias Grob
973116c7a4 commander_params: clarify failsafe delay procedure description 2022-01-31 20:27:06 -05:00
Matthias Grob
cd560da57c Commander: correct battery failsafe message severity level 2022-01-31 20:27:06 -05:00
Matthias Grob
405852b5c8 Commander: only disallow RC override during battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob
5ec21835a4 Commander: ensure low battery failsafe flying unatended without GPS 2022-01-31 20:27:06 -05:00
Matthias Grob
1911ec0085 Commander: fix user messageing for low battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob
52a9040c62 BatterySimulator: recharge battery upon disarming 2022-01-31 20:27:06 -05:00
Matthias Grob
955aad0dfb Commander: consistent hysteresis initialization 2022-01-31 20:27:06 -05:00
Matthias Grob
d10f9030ad Commander: add delay before executing low battery failsafe action 2022-01-31 20:27:06 -05:00
Matthias Grob
3af315f2c3 Commander: change battery failsafe to return action instead of executing 2022-01-31 20:27:06 -05:00
Matthias Grob
8eed43b515 Commander: put battery warning and failsafe action in separate functions 2022-01-31 20:27:06 -05:00
Matthias Grob
367b6123e1 state_machine_helper: change main state directly also for low battery RTL 2022-01-31 20:27:06 -05:00
Matthias Grob
f49bd9956b state_machine_helper: reuse battery action conditions 2022-01-31 20:27:06 -05:00
Matthias Grob
95b5bc0d84 state_machine_helper: separate low battery warning from action 2022-01-31 20:27:06 -05:00
Jukka Laitinen
70872d94c8 Split px4_layer into kernel and userspace parts for nuttx protected build 
Split the px4_layer into user and kernel space libraries. Add some stubs for
user-space (e.g. version) where an interface to the kernel needs to be added

Use posix-versions for cpuload.cpp and print_load.cpp for userspace; these link to nuttx internals. This functinality could be built on top of posix (e.g. procfs) interfaces

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-31 20:26:08 -05:00
Jukka Laitinen
3a6ebe5fc1 NuttX Cmake changes to build combined kernel+userspace image in nuttx protected build 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-31 20:26:08 -05:00
Jukka Laitinen
1f9ace3901 boards/px4/fmu-v5: Add linker scripts for kernel-userspace split 
These scripts are used in protected build configuration

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-31 20:26:08 -05:00
Daniel Agar
999737ddd5
ekf2: refactor mag control 
- remove class _mag_sample_delayed
 - update mag fusion call graph to use mag sample delayed functionally
 - Ekf::resetMagHeading()
   - use low pass mag directly, but check if valid (magnitude)
   - MAG_FUSE_TYPE_INDOOR treat like auto if heading required
 2022-01-31 11:47:10 -05:00
Daniel Agar
ad447ab223 commander: respect control mode for prearm requirements 
- preflight tolerate ekf2 warnings if not in an attitude/velocity/position mode (eg manual or acro)
 2022-01-31 09:48:37 -05:00
Daniel Agar
90358f078f add odometry reset counter (ekf2, mavlink, etc) 2022-01-31 09:19:36 -05:00
mcsauder
463ac8e8a1 Standardize method name style in navigator_main.cpp and whitespace formatting in navigator.h 2022-01-29 21:36:11 -05:00
PX4 BuildBot
3862a24b8e Update submodule sitl_gazebo to latest Sat Jan 29 00:39:00 UTC 2022 
- sitl_gazebo in PX4/Firmware (3b277667ffaf09036eb8d47c9fe286d1b63271d8): 831aa36fea
    - sitl_gazebo current upstream: 2750fe233c
    - Changes: 831aa36fea...2750fe233c

    2750fe2 2022-01-24 Jaeyoung-Lim - Improve realtime factor for standard_vtol
 2022-01-28 22:56:51 -05:00
murata
3b277667ff tfmini: If the distance is 0xFFFF, a negative value is returned 2022-01-28 17:31:12 -05:00
Daniel Agar
274d0d65c6 lib/cdev/posix: increase max FDs 256->512 2022-01-28 17:30:53 -05:00
Jukka Laitinen
058302ecdb Link px4iofirmware against nuttx_mm 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:30:13 -05:00
Jukka Laitinen
32c53ff2dd Link rc against nuttx_fs in nuttx builds 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:30:13 -05:00
Jukka Laitinen
9e999a39be Revert erroneous linking of drivers__device to px4_work_queue 
This was a mistake in commit 91b812fc4265e6e7d342c0d878de3a4dcaf5137d

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:30:13 -05:00
Jukka Laitinen
a2dc6e63cf Fix sdcard logging when crypto is used but algorithm is set to NONE 
If the board supports encrypting logfiles, but the parameter SDCARD_ALGORITHM is set to NONE,
the log should be written to the sdcard in plaintext format. This fixes a bug which caused
logger to hang in mutex instead.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:29:51 -05:00
Daniel Agar
0104b84289 logger: PX4_SITL log all ekf2 publications at full rate for replay 2022-01-28 07:46:54 +01:00
Daniel Agar
d2ce9a8560 ROMFS: rc.replay fix ulog_params argument 2022-01-28 07:46:54 +01:00
Jukka Laitinen
70704ff9d6 platforms/nuttx/src/px4/common/CMakeLists.txt: Link px4_layer to nuttx_mm for gran allocators 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
4c75f1d505 platforms/nuttx/CMakeLists.txt: fixes to accommodate other linker changes 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
e1f2bff9be Fix parameters building for nuttx protected/kernel builds 
- Don't link to px4_layer
- Don't link to flashparams; flashparams would work only in kernel side
- Add missing link to px4_platform

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
705171eb53 Fix linking for posix targets 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00