Paul Riseborough
3beb5bcbe0
EKF: Fix momentum drag density altitude scaling and update comments
2021-06-22 18:50:56 +10:00
Paul Riseborough
97b5ae1e96
EKF: Fix derivation comments for drag fusion
2021-06-22 18:50:56 +10:00
Paul Riseborough
58d376e2be
EKF: prevent /0 and use pre-computed inverses
2021-06-22 18:50:56 +10:00
Paul Riseborough
de8625d255
EKF: fix sign error in bluff body drag fusion
2021-06-22 18:50:56 +10:00
Paul Riseborough
73d1e514d0
EKF: Extend drag fusion to include propeller momnetum drag
2021-06-22 18:50:56 +10:00
Matthias Grob
0dee7af81f
ekf2_params: enable baro ground effect compensation by default
2021-06-22 10:32:54 +02:00
BazookaJoe1900
91808f7c9e
Update EKF/common.h
...
Set non-zero default value for airspeed threshold to enable it by default
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2021-06-22 18:30:47 +10:00
Bazooka Joe
9c0a52d52a
delay time: potentially reduce delay time if baro/aux velocity/airspeed is not used
2021-06-22 18:30:47 +10:00
bresch
611ace0ed6
EV_yaw: reset ev_to_ekf to identity when yaw is reset to EV
...
Otherwise, the old rotation matrix is used and not updated anymore
because the EKF is fusing EV yaw data.
2021-06-22 10:25:55 +02:00
bresch
804c3563fb
heading_fusion: fix yaw gyro bias oscillation on ground
...
When the mag is pulled away before takeoff, the EKF can end up learning
a bad yaw gyro bias. This bad gyro bias makes the estimated heading spin
and even if the bias continues to be learned, it can end up being stuck
in limit cycle due to the innovation changing its sign every time the
heading estimate overshoots the measurement.
To prevent this, the Z gyro bias variance is reset when the mag heading
fusion test ratio fails on ground.
2021-06-22 16:45:26 +10:00
Thomas
a264541861
explicitly set param2 to 0 in existing *DO_VTOL_TRANSITION commands. add a guard against NaNs.
2021-06-21 22:39:54 +02:00
TSC21
0c5f2d3b8c
microRTPS: add missing header for PRIu32 and PRIu16 macros
...
Co-authored-by: squizz617 <seulbae@gatech.edu>
2021-06-21 16:36:44 +02:00
TSC21
9fb53d4276
microRTPS: add option to build the microRTPS agent after its generation
2021-06-21 16:36:44 +02:00
TSC21
084a992572
microRTPS: agent: only allow to whitelist the localhost when using FastDDS as the rmw
2021-06-21 16:36:44 +02:00
TSC21
79f7986715
apply ROS2 default memory management and publish mode QoS policies; make sure that SharedMemory is only used with FastDDS as the rmw
2021-06-21 16:36:44 +02:00
Igor Mišić
39909128ec
micrortps_client: increased stack size by 250B
...
Co-authored-by: Nuno Marques <n.marques21@hotmail.com>
2021-06-21 16:36:44 +02:00
TSC21
d3a23cee40
microRTPS: agent: fix double free memory problem on SIGINT
...
It fixes also some minor issues when exiting the agent, including the printed stats
2021-06-21 16:36:44 +02:00
TSC21
6d5f12d2a2
microRTPS: client: add TX rate limiter
2021-06-21 16:36:44 +02:00
TSC21
ac2b38603c
microRTPS: client: add missing "-p" option for the UART poll timeout and use microsecs for the send/rcv thread sleeps
2021-06-21 16:36:44 +02:00
TSC21
0cc79f3e48
microRTPS: client: show diagnostic of current bandwidth usage on the 'status' option
2021-06-21 16:36:44 +02:00
TSC21
d6ee15596d
microRTPS: client: show diagnostic of average bandwidth usage on the 'status' option
2021-06-21 16:36:44 +02:00
TSC21
40462bfc1f
microRTPS: client: reduce name set by pthread_setname_np since Linux requires names (with NUL) to fit in 16 chars, otherwise returns ERANGE (34)
2021-06-21 16:36:44 +02:00
TSC21
145e7387fb
posix: start the microRTPS client in sim every time the module is available
2021-06-21 16:36:44 +02:00
TSC21
773d81f208
microRTPS: client: fix send per allocated topic
2021-06-21 16:36:44 +02:00
TSC21
f2fad6d966
microRTPS: by default, when FastDDS >= 2.0, enable Shared Memory transport for the agent participants when the localhost network is enabled
2021-06-21 16:36:44 +02:00
TSC21
320b414511
microRTPS: client: match the code style from the PX4 Firmware
2021-06-21 16:36:44 +02:00
TSC21
63571b3e3f
microRTPS: agent: match the code style from the PX4 Firmware
2021-06-21 16:36:44 +02:00
TSC21
323ce797f8
microRTPS: allow communications only in the localhost network when ROS_LOCALHOST_ONLY env variable is set
2021-06-21 16:36:44 +02:00
TSC21
578e426e9e
microRTPS: set trajectory_waypoint to be sent only, as this is outgoing data with vehicle_trajectory_waypoint_desired
2021-06-21 16:36:44 +02:00
Pieter-Jan Dewitte
155d3c7d36
FW pos control: fix airspeed input constaining
2021-06-21 10:55:21 +02:00
Claudio Micheli
b1829e5766
Predict and use braking distance when Pausing auto modes (for multicopters) ( #17269 )
2021-06-18 10:45:03 +02:00
Daniel Agar
76a8617529
sensors: fix IMU init race condition
...
- IMU init requires valid published data (device ids, etc)
- orb_group_count will include advertised instances before data is published, so this can't be used to throttle IMU init attempts
2021-06-17 10:38:33 -04:00
Peter van der Perk
b2742658b7
UAVCANv1 port unset fixes and deinitialization
2021-06-17 10:02:17 -04:00
Beat Küng
1c3f30be01
protocol_splitter: tcflush() uart before closing it
2021-06-17 09:40:57 -04:00
Beat Küng
14ec7a0d93
mavlink: tcflush() uart before closing it
...
On NuttX with flow control, if no one was reading from the uart, the
close() call would block indefinitely waiting for data to be sent.
2021-06-17 09:40:57 -04:00
honglang
074ed24d02
nora:fixed syntax error
2021-06-17 09:37:04 -04:00
Daniel Agar
500c45e798
uORB: Subscription check if uORB::Manager instance is valid
...
- this is necessary if uORB::Subscription is used with static storage
duration
2021-06-17 08:07:24 +02:00
David Sidrane
a728431e43
spracing_h7extreme:Track NuttX assert changes
2021-06-16 17:07:47 +02:00
David Sidrane
b399b8d5ea
protocol_splitter:Track NuttX assert changes
2021-06-16 17:07:47 +02:00
David Sidrane
61f80c087a
px4io:Fix Type
2021-06-16 17:07:47 +02:00
David Sidrane
18960f0b82
RoboClaw:Fix Types
2021-06-16 17:07:47 +02:00
David Sidrane
9377b02c58
Track NuttX Timer changes
2021-06-16 17:07:47 +02:00
David Sidrane
05bdef867d
Track NuttX syslog change
2021-06-16 17:07:47 +02:00
David Sidrane
028ae9561d
logger:watchdog Track NuttX file reorg
2021-06-16 17:07:47 +02:00
David Sidrane
eea1477e80
FakeImu:Use inttypes
2021-06-16 17:07:47 +02:00
David Sidrane
37d93320eb
uavcan_v1:Uavcan: Use inttypes
2021-06-16 17:07:47 +02:00
David Sidrane
026d36dee8
microRTPS:Use inttypes
2021-06-16 17:07:47 +02:00
David Sidrane
fd68fd2933
tests:Use inttypes
2021-06-16 17:07:47 +02:00
David Sidrane
f3624c172c
kinetis pinirq:Use inttypes
2021-06-16 17:07:47 +02:00
David Sidrane
93c37e4e0c
syslink:Use inttypes
2021-06-16 17:07:47 +02:00
