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Author SHA1 Message Date
Daniel Agar
c7db0942ba sensors: vehicle_imu don't round measured accel and gyro sample rates 2020-12-16 10:12:27 -05:00
Daniel Agar
bf5ee99952 sensors: acceleration always get accel rate from vehicle_imu_status 
- sensor rate is used for control data low pass and notch filters
 2020-12-16 10:12:27 -05:00
Daniel Agar
7038cb8518 sensors: angular_velocity always get gyro rate from vehicle_imu_status 
- sensor rate is used for control data low pass and notch filters
 2020-12-16 10:12:27 -05:00
Daniel Agar
336176b2f0 Mavlink FLIGHT_INFORMATION fix arming time (ms -> us) and add takeoff time 
- fixes https://github.com/PX4/PX4-Autopilot/issues/16393
 2020-12-16 09:38:05 -05:00
bresch
b23d8244f0 ekf2: fix dist bottom constraint 2020-12-16 09:33:38 -05:00
Hamish Willee
acc647c518 remove duplicate this in COM_HLDL_LOSS_T 2020-12-16 08:37:42 +01:00
Hamish Willee
4bc60cca69 remove more occurrences 2020-12-16 08:37:42 +01:00
Hamish Willee
d58ee9400c system_params - remove duplicate text in param 2020-12-16 08:37:42 +01:00
Daniel Agar
8e14e13369
README.md update PX4/Firmware -> PX4/PX4-Autopilot 2020-12-15 20:27:03 -05:00
Mathieu Bresciani
5ccb8b457d
fakePosFusion: reset _last_known_posNE to current state when starting (#943) 
* [AUTO COMMIT] update change indication
 2020-12-15 10:09:01 +01:00
Robin Lilja
aa244a098c
Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339) 
Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups.

Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2020-12-15 09:18:05 +01:00
Mathieu Bresciani
fdd1d6d244
Multicopter rounded turns (#16376) 
* AutoLineSmoothVel: Implement l1-style guidance in turns
 2020-12-14 13:04:01 +01:00
Julian Oes
9b065b4975 Update src/systemcmds/tests/test_dataman.c 
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2020-12-14 09:26:18 +01:00
Julian Oes
5cb1bb7731 systemcmds: fix dataman test 2020-12-14 09:26:18 +01:00
Julian Oes
1719ff9892 simulator: fix after px4_task_spawn_cmd change 
argv[0] now contains the task name, so everything moves by one.
 2020-12-14 09:26:18 +01:00
Julian Oes
dba3c642d2 posix: set task name as argv[0] to match Nuttx 
This changes px4_task_spawn_cmd to match the NuttX task_spawn. It adds
the task name as argv[0]. See example below:

px4_task_spawn_cmd("task_name",
		   SCHED_DEFAULT,
		   SCHED_PRIORITY_DEFAULT,
		   1024,
		   (px4_main_t)&Something::start_helper,
		   (char *const *)argv);

with:

argv[0]: "something"
argv[1]: "start"
argv[2]: nullptr

becomes in Something::start_helper:

argv[0]: "task_name"
argv[1]: "something"
argv[2]: "start"
argv[3]: nullptr
 2020-12-14 09:26:18 +01:00
Julian Oes
862fd1d450 module: remove NuttX only quirk 
The behaviour on NuttX and Posix should now be the same anyway.
 2020-12-14 09:26:18 +01:00
Julian Oes
314b5e721f src: remove NuttX ifdefs around args 
It doesn't look like they are required anymore.
 2020-12-14 09:26:18 +01:00
Julian Oes
5be2066e1a posix: small cleanup 2020-12-14 09:26:18 +01:00
bresch
9d22f140dd gps_alt: constrain var using 1.5 as a typical ratio of vacc/hacc 2020-12-13 14:39:50 +11:00
bresch
b0cf45e2d2 gps_alt: rename getGpsAltVar -> getGpsHeightVariance 2020-12-13 14:39:50 +11:00
bresch
62f2e26c49 gps_alt: reset GPS alt variance usign helper function 2020-12-13 14:39:50 +11:00
bresch
f7bddda3d5 gps_alt: do not scale up reported gps vertical accuracy 
The comment said that the horizontal accuracy needs to be scaled up
using the typical epv/eph ratio but the epv (vacc) is already available,
so no scaling is required.
 2020-12-13 14:39:50 +11:00
bresch
02369cd415 gps_alt: extract measurement variance computation and saturation 2020-12-13 14:39:50 +11:00
Thomas
e51000c5be fix syntax of prev commit 2020-12-11 22:00:56 +01:00
Thomas Stauber
eec64c5c0f More compact if statement 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-11 22:00:56 +01:00
Thomas
d025787334 replace _vehicle_status 2020-12-11 22:00:56 +01:00
Thomas
db58269577 Add support for set_position_target_local_ned message 2020-12-11 22:00:56 +01:00
Thomas
1e6976234f Remove reset_offb_cruising_speed(). Make more explicit that this PR only affects offboard mode. 2020-12-11 22:00:56 +01:00
Thomas
f1524fe27d renaming the new functions 2020-12-11 22:00:56 +01:00
Thomas
9cc9e4f89f Handle MAV_CMD_DO_CHANGE_SPEED command for FW Offboard global position control. 2020-12-11 22:00:56 +01:00
Daniel Agar
0433f4d33c land_detector: decrease default LNDFW_AIRSPD_MAX 8 -> 6 m/s 2020-12-11 21:58:43 +01:00
Daniel Agar
ae2b1a265c commander: POSCTL optical flow aiding continue updating GPOS validity 
- updating the global position validity should happen regardless of
being in manual position control mode with only optical flow
 - condition_global_position_valid needs to be accurate to adjudicate
main state changes (eg going into AUTO MISSION)
 2020-12-11 15:33:50 -05:00
Daniel Agar
6bda8af97c commander: merge duplicated position and velocity validity checks 2020-12-11 15:33:50 -05:00
Daniel Agar
5cd4a9c73f commander: global position validity respect local position xy_valid 2020-12-11 15:33:50 -05:00
Daniel Agar
ef6209ba03
new manual_control_switches msg (split out of manual_control_setpoint) (#16270) 
- split out switches from manual_control_setpoint into new message manual_control_switches
 - manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
 - simple switch debounce in rc_update (2 consecutive identical decodes required)
 - manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
 - manual_control_setpoint publish at minimal rate unless changing
 - commander handle landing gear switch for manual modes
 - processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
     - a future step will be to finally drop mode_switch and accompanying switches entirely

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2020-12-11 12:11:35 -05:00
Daniel Agar
25ef76b3b8 navigator: fix LOITER_TO_ALT 
- this was overzealously removed in https://github.com/PX4/PX4-Autopilot/pull/15677
 2020-12-11 16:28:08 +01:00
Jannik Beyerstedt
c5a6a60903 Also log transponder_report and satellite_info 
* log full data rate transponder_report message by default
* log satellite_info (GPS_STATUS) as part of debug topics
 2020-12-11 12:44:23 +01:00
RomanBapst
fd18ba6496 tiltrotor: allow to finish transition if groundspeed is below cruise speed 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-12-11 09:40:47 +03:00
Roman Bapst
842d98d572 AirspeedValidator: fuse true airspeed before sideslip (#742) 
- the states can be initialised more accurately using an airspeed measurement
and the wind estimator uses the first measurement to initialise

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-12-11 09:37:09 +03:00
Daniel Agar
d44e537084
ekf2: update to new ecl to fix fault status getter 
- estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits
 2020-12-10 12:45:41 -05:00
Daniel Agar
1541e4b414
EKF: update control status and fault status getters 
- the fault status union exceeded 16 bits, but the getter was get_filter_fault_status(uint16_t *val)
 2020-12-10 09:13:12 -05:00
zhaoxiaowei
fbf67bdef9 reset gps height use vacc 2020-12-10 10:07:59 +01:00
Beat Küng
72420dfff3
mavlink_receiver: remove unused _param_com_flight_uuid 2020-12-10 08:47:04 +01:00
PX4 BuildBot
7db555573b Update submodule ecl to latest Wed Dec 9 12:40:07 UTC 2020 
- ecl in PX4/Firmware (ef162f7629ce29be8fd556b81357b96720d8e21f): https://github/commit/da7d41e78aecdc07d226bd7d723c747895d1c615
    - ecl current upstream: https://github/commit/8f3df7a97b348dd7bf06233004f9821fe2ea88d1
    - Changes: https://github/compare/da7d41e78aecdc07d226bd7d723c747895d1c615...8f3df7a97b348dd7bf06233004f9821fe2ea88d1

    8f3df7a 2020-12-09 Mathieu Bresciani - flow: restructure optical flow control logic (#928)
3835800 2020-12-09 kritz - Auto update change indication by github actions
688a054 2020-12-08 Daniel Agar - EKF: controlDragFusion() add parenthesis for readability
944b18c 2020-12-05 Paul Riseborough - EKF: Remove non useful status print
ee94980 2020-12-03 Paul Riseborough - EKF: Clean up wind state activation logic
44ebfb8 2020-12-02 Paul Riseborough - EKF: Don't report local position as valid when in a non-position mode
 2020-12-09 13:12:58 -05:00
flbernier
bca2d3139a Enable dshot driver for fmu-v4pro 2020-12-09 17:56:11 +01:00
Orkun Aşa
f2aa7d3f88 Update ROMFS/px4fmu_common/init.d/rc.sensors 
parameter comparison logic is changed.

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2020-12-09 17:55:38 +01:00
Orkun Aşa
a6b7add2fe SENS_EN_VL53L1X parameter is implemented to enable VL53L1X distance sensor 2020-12-09 17:55:38 +01:00
Igor Campos
9c3b70d517 remove default value for roll angle 2020-12-09 17:54:53 +01:00
Igor Campos
bbad1bdd6e add comment. 2020-12-09 17:54:53 +01:00