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Author SHA1 Message Date
Julian Oes
afafc541d8 mavlink: use send() instead of using reset flag 
I think we can just directly use send() and don't need to use the
workaround of resetting the send flag to trigger one send.

Also, we don't need to override it if we don't need to check any params.
 2020-06-03 17:57:12 +02:00
Julian Oes
b54c44bd37 mavlink: don't send streams with interval 0 
We only need to send them immediately if the interval is < 0 meaning
unlimited.
 2020-06-03 17:57:12 +02:00
Julian Oes
3815e608f4 mavlink: create stream if needed and trigger once 
Instead of creating the stream and deleting it again, we now create it
with a rate of 0 and trigger it once.

This should avoid heap fragmentation by continous allocations.
 2020-06-03 17:57:12 +02:00
Julian Oes
acdc15e2cd mavlink: create stream even if rate is 0 
This allows to send a message exactly once if requested.
 2020-06-03 17:57:12 +02:00
Julian Oes
bb032a9c46 mavlink: remove incorrect outdated comment 
Default is -2, so the comments seems wrong.
 2020-06-03 17:57:12 +02:00
Julian Oes
80f91b0f6a mavlink: add support for legacy requests back in 2020-06-03 17:57:12 +02:00
Julian Oes
b4cbd93b7c mavlink: new args to request message, omit param1 
We can omit param1 because it is already used for the message_id, so
it's basically duplicate information and won't get used anywhere.
 2020-06-03 17:57:12 +02:00
Julian Oes
27b6c209e0 mavlink: Move request message logic to function 2020-06-03 17:57:12 +02:00
David Jablonski
62bf0a6cf8 added streams to mavlink messages 2020-06-03 17:57:12 +02:00
David Jablonski
edbe7e3ef0 added FLIGHT_INFORMATION stream 2020-06-03 17:57:12 +02:00
David Jablonski
e1f4a70c0e added AUTOPILOT_VERSION and PROTOCOL_VERSION streams 2020-06-03 17:57:12 +02:00
David Jablonski
aef2a5755e moving storage_information stream to separate file 2020-06-03 17:57:12 +02:00
David Jablonski
9ce9fe38de use storage_id 1 2020-06-03 17:57:12 +02:00
David Jablonski
fd09198c7e implemented MAV_CMD_REQUEST_MESSAGE for STORAGE_INFORMATION 2020-06-03 17:57:12 +02:00
bresch
62e15cbacf sensor_simulator: set IMU rate to 200Hz as this is the new value 
used in the Firmware
 2020-06-03 17:09:20 +02:00
bresch
6126c190b2 sensor_simulator: update EKF at IMU rate 
This is how it is also done in ekf2_main. Otherwise, this leads to
multiple integration of the same IMU data due to asynchronous sensor
updates triggering a prediction step between IMU updates.

Fix unit tests that broke because of this fix
 2020-06-03 17:09:20 +02:00
Julian Oes
25bfcf0497 README: remove experimental/legacy boards 2020-06-03 10:13:43 -04:00
Julian Oes
08e1532bd0 README: fix 404 link 2020-06-03 10:13:43 -04:00
Daniel Agar
6c96748e54 boards: pixhawk mini add unused MPU9250 CS & DRDY pins 2020-06-03 04:03:27 -07:00
Daniel Agar
9e509a4bec navigator: RTL minor whitespace and style fixes 2020-06-02 22:08:55 -04:00
Daniel Agar
aca6be8b5c navigator: RTL destination throttle dataman access 2020-06-02 22:08:55 -04:00
David Sidrane
7aac0c5ac3 platforms/nuttx/NuttX/nuttx back ports for H7 2020-06-02 13:02:51 -04:00
David Sidrane
73bb18a053 px4_fmu-v6x: Limit Slew rate So IMU works with DMA 
The defualt in NuttX is OSPEED of 50Mhz. This is realy a slew
   rate control. At the default high slew rate the overshoot was
   .7 Volts. On a ICM20649 this was causing the device to output
   garbage. All 0s

   N.B. A passive scope or Logic analyser's probes load will mask
   the failure. Useed a FET probe to verify the issue.
 2020-06-02 13:02:51 -04:00
David Sidrane
5d90c31632 Added PX4 FmuV6X 2020-06-02 13:02:51 -04:00
David Sidrane
9beca65600 stm32_common:board_mcu_version expand to include STM32H7[4|5] 
Todate I have not fould a way to differentiate a 74 from a 75.
   as all parts map to Device ID 0x450: STM32H742, STM32H743/753
   and STM32H750.

   One the CPU is fully differentiate in Nuttx, this can be a
   #ifdef.
 2020-06-02 13:02:51 -04:00
David Sidrane
19cf2f47ac stm32h7:adc read & clear EOC on init 2020-06-02 13:02:51 -04:00
David Sidrane
bd1f69fb76 stm32_common:board_hw_rev_ver Support 16 Bit ADC 2020-06-02 13:02:51 -04:00
David Sidrane
2c9a522f71 stm32_common:adc read & clear EOC on init 2020-06-02 13:02:51 -04:00
David Sidrane
37c1837ceb PX4:stm32_common/ToneAlarmInterfacePWM.cpp Extend for STM32H7 2020-06-02 13:02:51 -04:00
Daniel Agar
11585dfb67 ekf2: decrease default GPS horizontal velocity noise 2020-06-02 08:18:12 -04:00
Julian Oes
8d47b36f1e Makefile: fix j for clang-tidy calls 2020-06-02 13:17:37 +02:00
Julian Oes
6afdc2c376 build: use ninja default for -jN unless set 
It makes sense to trust ninja on selecting the number of cores. This is
also sensible in order not to change existing setups.
 2020-06-02 13:17:37 +02:00
Julian Oes
0ec9287457 build: actually pass number of cores to ninja 
Without this ninja supposedely builds with the default of the system
which is 10 for my 4 core, 8 thread CPU. With this argument, you can now
actually set it.

This has the benefit that the Gazebo plugins can be built with less
cores in order to avoid running out of RAM.
 2020-06-02 13:17:37 +02:00
Julian Oes
340e651d97 Build: properly read -j argument 
The previous check for the -j argument was not actually working.
Therefore, the build always used 4 cores, unless when building with
ninja when presumably the ninja default was used.
 2020-06-02 13:17:37 +02:00
Dusan Zivkovic
08fdc90175 mission: keep current heading if close to ROI while heading sp is invalid 2020-06-02 12:04:23 +02:00
Paul Riseborough
59183f70ba
EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors (#831) 
* EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors

* Update EKF/ekf_helper.cpp

* EKF: Fix comment typo

Co-authored-by: Roman Bapst <bapstroman@gmail.com>

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
 2020-06-02 17:42:54 +10:00
Daniel Agar
a9dacae57e sensors/vehicle_angular_velocity: limit scheduling to IMU_GYRO_RATEMAX 2020-06-01 15:08:50 -04:00
Daniel Agar
96f043cd62 sensors/vehicle_acceleration: limit scheduling to IMU_INTEG_RATE 2020-06-01 15:08:50 -04:00
Daniel Agar
b36845330e
ms5611: prevent starting as ms5607 type on ms5611 hardware 
- an ms5611 using the ms5607 calculations will return impossibly high barometric pressure (~2000 mbar)
 2020-06-01 11:31:55 -04:00
Daniel Agar
b139f48fef
sensors: throttle mavlink emergency log messages 
- in rare situations sending these messages multiple times in close succession can actually cause a loop of additional sensor timeouts
 2020-06-01 11:25:12 -04:00
Daniel Agar
51a36f0b61 sensors/vehicle_imu: improve initial sensor interval monitoring 
- add perf counters for monitoring
 2020-05-31 21:41:37 -04:00
Daniel Agar
e34bdb4be9
move IMU integration out of drivers to sensors hub to handle accel/gyro sync 
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu 
 - sensors: voted_sensors_update now consumes vehicle_imu
 - delete sensor_accel_integrated, sensor_gyro_integrated
 - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
 - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
 2020-05-30 11:07:54 -04:00
Mirko Denecke
86cd1d0802 Hex CubeOrange: fix comment for TONE_ALARM_CHANNEL pin 2020-05-29 23:44:17 +01:00
Mirko Denecke
b5ff82bccc Hex CubeOrange: remove CAN Silence Silent mode pins 2020-05-29 23:44:17 +01:00
Mirko Denecke
fd600d7eed Hex CubeOrange: remove LSM303D 2020-05-29 23:44:17 +01:00
Matthias Grob
d0ddda8917 tecs: fix typo init(i)alized 2020-05-29 20:03:22 +03:00
Beat Küng
43279f18ba bmp388: fix variable shadowing warning 2020-05-29 09:54:18 -04:00
Julian Oes
9b2527549b mavsdk_tests: relax timeout for offboard goto 
This probably makes sense because we ask for more accuracy, so it will
take longer to reach a position.
 2020-05-29 11:46:14 +02:00
Julian Oes
bc1960ef2b mavsdk_tests: make offboard tests more accurate 
By making the acceptance radius smaller we should potentially also be
more accurate while landing and fail less.
 2020-05-29 11:46:14 +02:00
Julian Oes
dd95498379 mavsdk_tests: at normal speed RTL can take a while 2020-05-29 11:46:14 +02:00