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Author SHA1 Message Date
kamilritz
673b309c45 Fix bug: pos gain used instead of vel gain 2020-07-02 15:55:24 +02:00
kamilritz
2af2696b63 Revert if-else condition to get rid of unnecessary indentation 2020-07-02 15:55:24 +02:00
kamilritz
fce4958d4f Random cleanup 2020-07-02 15:55:24 +02:00
JaeyoungLim
692cb717b7
Add windy world target (#14737) 2020-07-02 15:49:09 +02:00
kritz
9eea44f4ab
Return type of resets (#859) 
* Reset position/velocity return type is void

* Delete not needed comments
 2020-07-02 14:53:59 +02:00
bresch
97e54df123 Gps control: add missing consts and reduce variable scope 2020-07-02 13:35:13 +02:00
bresch
b0f79caf34 GPS yaw: Extract and refactor GPS yaw control logic 
- Rename GPS yaw fusion functions:
resetGpsAntYaw -> resetYawToGps
fuseGpsAntYaw -> fuseGpsYaw

- Move last fusion time in reset function
 2020-07-02 13:35:13 +02:00
bresch
7f4fedde6a GPS Yaw: fix heading initialisation and add unit tests 
When the antennas are not parallel to the x body axis, the GPS message
contains the angular offset but the data is already corrected in the
driver. EKF2 should then not add this offset during the initialisation.
 2020-07-02 13:35:13 +02:00
kamilritz
97225fcb74 Use matrix lib inside getState 2020-07-02 09:02:24 +02:00
kamilritz
16a00eae0b Make Kfusion a Vector24f 2020-07-02 09:02:24 +02:00
kamilritz
356b2f6ffe Stop setting zero to zero 2020-07-02 09:02:24 +02:00
kamilritz
552bf824ea Add typedef for Matrix 24 types 2020-07-02 09:02:24 +02:00
Claudio Micheli
743898d574 Commander: failure detector, automatically disarm on a ESC failure 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-07-01 08:55:54 +02:00
Claudio Micheli
a7f2f2908b Commander: make optional tilt-check after takeoff (failure detector). 
- Introduced COM_LKDOWN_TKO parameter
    - Introduced auto disarm for lockdown state
    - Do not trigger flight termiantion if system is in lockdown

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-07-01 08:55:54 +02:00
Claudio Micheli
6358dd400a failure detector: added esc failures detection 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-07-01 08:55:54 +02:00
Daniel Agar
7398d174d2
Update submodule sitl_gazebo to latest Tue Jun 30 14:39:57 UTC 2020 (#15248) 
- sitl_gazebo in PX4/Firmware (38588f0c37f4512ab4c5f32d2ce4efc838dede46): 309f7b0ace
    - sitl_gazebo current upstream: 1af7e29dbb
    - Changes: 309f7b0ace...1af7e29dbb

    1af7e29 2020-06-25 JaeyoungLim - Do not validate r1_rover
5e8ddfb 2020-06-25 Benjamin Perseghetti - fixes for R1 SDF https://github.com/PX4/sitl_gazebo/issues/533 (#534)
726c066 2020-06-23 Supakorn Suttiruang - Remove the incorrect force generated by moment (#532)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2020-06-30 15:44:38 -04:00
Daniel Agar
ff002f1fd7
Update submodule mavlink v2.0 to latest Tue Jun 30 14:40:02 UTC 2020 
- mavlink v2.0 in PX4/Firmware (2be1588438e198b465ff5d320720d1fba3406588): 413964fb05
    - mavlink v2.0 current upstream: bd80020a6c
    - Changes: 413964fb05...bd80020a6c

    bd80020a 2020-06-29 PX4BuildBot - autogenerated headers for rev 527abe53c4

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2020-06-30 15:44:27 -04:00
PX4 BuildBot
19d2de0726 Update submodule matrix to latest Tue Jun 30 14:40:13 UTC 2020 
- matrix in PX4/Firmware (a1043f6ce068cc4d039d6808ef98fd8c3f379582): f529358e9a
    - matrix current upstream: 9a30828a0a
    - Changes: f529358e9a...9a30828a0a

    9a30828 2020-06-30 Julian Kent - Add explicit matrix + scalar test
f3cf615 2020-06-30 Julian Kent - Do += -= and scalar *= /= in place
 2020-06-30 11:11:45 -04:00
Daniel Agar
e3eeb150b1 Jenkins: limit metadata generation to master 2020-06-30 11:05:22 -04:00
PX4 BuildBot
38588f0c37 Update submodule ecl to latest Tue Jun 30 00:38:47 UTC 2020 
- ecl in PX4/Firmware (bd4d3f2b9929271b2616d2e1d6952059a7e8bc72): e4b44f704b
    - ecl current upstream: 5356077a32
    - Changes: e4b44f704b...5356077a32

    5356077 2020-06-21 kamilritz - Make flow_innov/-var a matrix Vector2f
c2801eb 2020-06-21 kamilritz - Add const modifier and increase matrix library usage
d9afc2f 2020-06-21 kamilritz - Remove repeated division by same value
d16b43a 2020-06-21 kamilritz - Get rid of non functional piece of code
c3653e6 2020-06-21 kamilritz - Add const modifier
48f0eb1 2020-06-21 kamilritz - Remove uninformative comments
4a69b41 2020-06-21 kamilritz - Increase matrix library usage even more
630be60 2020-06-21 kamilritz - Increase matrix library usage
22274b1 2020-06-21 kamilritz - Add const modifier
61c139e 2020-06-21 kamilritz - Remove unused variable
afd4f3f 2020-06-21 kamilritz - Fix typo
a3706fd 2020-06-21 kamilritz - Make relative wind computation more compact
b8f9376 2020-06-21 kamilritz - Make mag_innov/-var a Matrix::Vector3f
0ea7cd8 2020-06-25 Kamil Ritz - Attempt to fix CI firmware build test
2927132 2020-06-25 Daniel Agar - clang-format set BreakBeforeBraces to Linux style
b96c62e 2020-06-25 sevenbill - Optionalized build dependency on git
794e6ec 2020-06-25 Bill Morris - Enforce tabs via editorcofig
 2020-06-29 21:50:55 -04:00
Matthias Grob
547bd4c667 ubuntu.sh: add fix for gazebo's OpenGL problem in VMs 
That makes gazebo crash in VMWare 3D graphics accelration.
 2020-06-29 19:21:56 -04:00
Matthias Grob
9fed9f534e ubuntu.sh: style, 20.04 comment and message wording 2020-06-29 19:21:56 -04:00
Matthias Grob
c9b82ad184 ubuntu.sh: source .profile before checking for ARM GCC 
to avoid downloading and installing ARM GCC again if the script is
reran immediately after e.g. because it failed the first time.
 2020-06-29 19:21:56 -04:00
Matthias Grob
c8d7027546 ubuntu.sh: don't upgrade pip outside of system package manager 
This can lead to inconsistency with the installed package.
E.g. also if the package is remove the upgraded pip stays
but the symbolic links are gone.
 2020-06-29 19:21:56 -04:00
Matthias Grob
47de2419a3 setup: don't require exact matplotlib version 
Because this older version fails to install on Ubuntu 20.04
and makes the entire setup script fail.
 2020-06-29 19:21:56 -04:00
TSC21
dc69d99764 add support to FastRTPS 2.0.0 (Fast-DDS) 2020-06-29 22:56:00 +02:00
dominiknatter
d8831c5133
ekf2: Ignore optical flow samples with too large integration time spans. Fixes #14165 
Within ekf2, optical flow messages (amongst others) are fused to the state estimates. It might occur that optical flow sensors report unreliable and unrealistic spikes. In that case, the state estimator went crazy so far and just ignored optical flow values from that moment on.

The common thread for all these spikes seems to be a too high integration time span. Therefore, this fix adds a simple logic that ignores unrealistically high integration time spans. As a threshold, 1 second was chosen.

Reported-by: Dominik Natter <dominik.natter@gmail.com>
 2020-06-29 12:00:29 -04:00
Daniel Agar
d360919789 Jenkins: hardware mRo Control Zero skip tests for now 
- not quite ready for this one
 2020-06-29 11:14:22 -04:00
Jari van Ewijk
fe7fcb101f NXP FMUK66 - Fix VDD_3V3_SENSORS_EN polarity 2020-06-29 07:45:47 -07:00
Beat Küng
0c4fd2bfa0 param: also show unused params for 'param show -c' 
I find this generally useful for debugging.
 2020-06-29 09:49:56 -04:00
Beat Küng
d22bbde7c5 logger: fix hardfault for invalid SDLOG_PROFILE setting 
If some bits are set but no topic was added, _subscriptions was null but
later accessed.

During normal use this only happens when switching between different
firmware versions with different SDLOG_PROFILE definition (with custom
config).
 2020-06-29 09:49:56 -04:00
Daniel Agar
1ea416f6de
Github Actions MacOS skip SITL tests for now 
- there's an intermittent crash when running these tests on Github Actions MacOS infrastructure (10.15)
 - see https://github.com/PX4/Firmware/issues/15225 for more detail
 2020-06-28 20:52:50 -04:00
PX4 BuildBot
b463a2f0d5 Update submodule matrix to latest Sun Jun 28 12:38:27 UTC 2020 
- matrix in PX4/Firmware (2337b7e2f7b4eecddbb9103ab7672fac2c741fc5): 674bd99f3b
    - matrix current upstream: f529358e9a
    - Changes: 674bd99f3b...f529358e9a

    f529358 2020-06-27 kamilritz - Add missing const modifier
 2020-06-28 19:55:06 -04:00
Daniel Agar
e67fdb401c
Update submodule mavlink v2.0 to latest Sun Jun 28 12:38:13 UTC 2020 
- mavlink v2.0 in PX4/Firmware (51eaedeb72403a6915c64cce5bb824aaf6ffa13b): be9923365f
    - mavlink v2.0 current upstream: 413964fb05
    - Changes: be9923365f...413964fb05

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2020-06-28 19:54:40 -04:00
bresch
1761ef3952 FlightTaskAuto: Update prev and next waypoint depending on validity 
This fixes the corner case where a NAV_DELAY command changes the
validity of the next WP but not the rest of the triplet. The logic in
FlightTask was ignoring this change because the check was only based on
WP position change.
 2020-06-26 09:48:22 -04:00
kamilritz
5356077a32 Make flow_innov/-var a matrix Vector2f 2020-06-26 08:26:26 +02:00
kamilritz
c2801eb488 Add const modifier and increase matrix library usage 2020-06-26 08:26:26 +02:00
kamilritz
d9afc2f1e8 Remove repeated division by same value 2020-06-26 08:26:26 +02:00
kamilritz
d16b43a2da Get rid of non functional piece of code 2020-06-26 08:26:26 +02:00
kamilritz
c3653e68ca Add const modifier 2020-06-26 08:26:26 +02:00
kamilritz
48f0eb16da Remove uninformative comments 2020-06-26 08:26:26 +02:00
kamilritz
4a69b41015 Increase matrix library usage even more 2020-06-26 08:26:26 +02:00
kamilritz
630be60930 Increase matrix library usage 2020-06-26 08:26:26 +02:00
kamilritz
22274b1d30 Add const modifier 2020-06-26 08:26:26 +02:00
kamilritz
61c139ea95 Remove unused variable 2020-06-26 08:26:26 +02:00
kamilritz
afd4f3f86b Fix typo 2020-06-26 08:26:26 +02:00
kamilritz
a3706fdcef Make relative wind computation more compact 2020-06-26 08:26:26 +02:00
kamilritz
b8f937666a Make mag_innov/-var a Matrix::Vector3f 2020-06-26 08:26:26 +02:00
Kamil Ritz
0ea7cd8360 Attempt to fix CI firmware build test 2020-06-26 07:38:25 +02:00
Daniel Agar
2927132954 clang-format set BreakBeforeBraces to Linux style 
- this keeps things consistent with PX4/Firmware astyle
 2020-06-25 13:23:52 -04:00