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Author SHA1 Message Date
Paul Riseborough
c91c78dcf6 EKF: Allow reset of yaw to EKF-GSF later in flight 2020-05-22 13:05:10 +03:00
Daniel Agar
951969ba00
drivers/imu/invensense: new ICM20948 driver on SPI with AK09916 mag 2020-05-22 00:09:30 -04:00
Silvan Fuhrer
504794eddc
VTOL: reject transition command in certain flight modes 2020-05-20 15:54:31 -04:00
PX4 BuildBot
a4c77056f6 Update submodule ecl to latest Wed May 20 16:46:07 UTC 2020 
- ecl in PX4/Firmware (73de85e258590461b6fe14668df8de1fc9c54cb7): 24f2e60b7e
    - ecl current upstream: 600240d95f
    - Changes: 24f2e60b7e...600240d95f

    600240d 2020-05-20 Daniel Agar - EKF: resetGpsAntYaw() fix double promotion
39c09b8 2020-05-19 kamilritz - add basic gps yaw fusion test
21f49c2 2020-05-16 Kamil Ritz - Use resetQuatStateYaw during gps yaw reset
7f21364 2020-05-20 Carl Olsson - EKF: use initial wind uncertainty with no airspeed sensor (#823)
bf78044 2020-05-20 kritz - EKF: fix initialization of local position validity 2 (#820)
716caa5 2020-05-19 kritz - Refactor position resets (#822)
37d9cef 2020-05-19 Mathieu Bresciani - ekf: disable xy accel bias learning before takeoff (#818)
9788c3b 2020-05-15 Mathieu Bresciani - ekf: split accel bias learning in independant xyz components (#817)
19bbea7 2020-05-14 Paul Riseborough - Fix GPS altitude not fused if GPS checks fail and GPS is primary height source (#813)
 2020-05-20 15:48:27 -04:00
Matthias Grob
27586db93e rc_update: remove obsolete RC filtering 2020-05-20 19:30:19 +02:00
Matthias Grob
17d4fd064f FlightTaskManualAltitude: add an optional stick tilt input filter 2020-05-20 19:30:19 +02:00
Matthias Grob
1a3c692e4e mc_att_control: add an optional stick tilt input filter 2020-05-20 19:30:19 +02:00
Daniel Agar
600240d95f EKF: resetGpsAntYaw() fix double promotion 2020-05-20 12:44:18 -04:00
Beat Küng
6c16a29d26 mavlink: remove unneeded TIMESYNC stream from MAVLINK_MODE_EXTVISION 
set in MAVLINK_MODE_EXTVISIONMIN by fallthrough
 2020-05-20 09:12:50 +02:00
Beat Küng
9c6f42a867 v5x defconfig: increase TELEM2 UART TX buffer size to 3000 
Required for very high-rate log streaming @3MBit baudrate.
 2020-05-20 09:12:50 +02:00
Beat Küng
107ab16e96 mavlink: reorder streams to optimize latency 
In particular this together with the previous commit reduces timesync
round-trip time spikes by more than 10ms, and makes it generally more
stable.

Other streams are reordered according to onboard priority.
 2020-05-20 09:12:50 +02:00
Beat Küng
fa8def903d mavlink: move ulog handling after stream updates 
reduces latency for the mavlink streams
 2020-05-20 09:12:50 +02:00
Beat Küng
d0ad308eda serial_test: fix build for linux 2020-05-20 09:12:50 +02:00
David Jablonski
e409ec0038 install bc for all simulations 2020-05-20 09:04:41 +02:00
Beat Küng
982d2a3180 ubuntu.sh: minor simplifications 2020-05-20 08:57:37 +02:00
kamilritz
39c09b8092 add basic gps yaw fusion test 2020-05-20 08:52:52 +02:00
Kamil Ritz
21f49c22dc Use resetQuatStateYaw during gps yaw reset 2020-05-20 08:52:52 +02:00
Carl Olsson
7f21364844
EKF: use initial wind uncertainty with no airspeed sensor (#823) 2020-05-20 08:38:58 +02:00
kritz
bf78044bcd
EKF: fix initialization of local position validity 2 (#820) 
The `_deadreckon_time_exceeded` flag is used in
`local_position_is_valid()`. This means that
`_params.valid_timeout_max` after startup, in my observed case 5
seconds, the local position switche from valid to invalid and then after
a while back to valid again.

With this fix, the local position is flagged invalid from boot and gets validated after the first aiding event.

Co-authored-by: Julian Oes <julian@oes.ch>
 2020-05-20 08:24:23 +02:00
kritz
716caa5168
Refactor position resets (#822) 2020-05-19 21:53:46 +02:00
Julian Oes
f2e2ac5def gps: workaround spurious GCC 10.1 warning 
This is a workaround for a warning in GCC 10.1:
src/drivers/gps/devices/src/ubx.cpp:520:8: error: writing 4 bytes into a
region of size 0 [-Werror=stringop-overflow=]

Also see:
https://gcc.gnu.org/bugzilla/show_bug.cgi?id=91707
 2020-05-19 10:10:19 -04:00
Julian Oes
44be9d5568 controllib: fix implicit cast warn with clang 10 2020-05-19 09:58:43 -04:00
Michal Stasiak
4f82f028e7 airspeed_calibration: Fix FD leak 2020-05-19 13:48:43 +02:00
Mathieu Bresciani
37d9cef262
ekf: disable xy accel bias learning before takeoff (#818) 
* ekf: disable xy accel bias learning before takeoff

As those biases are usually poorly observable before takeoff because
they are almost perpendicular to the gravity vector, learning is often
driven by noise and numerical issues. This results in incorrect bias
learning before takeoff when the drone is static on ground for a long
period of time.

* ekf: update unit test and change indicator
 2020-05-19 18:02:40 +10:00
Julian Oes
793eb82153 navigator: allow mission items with same position 
This reverts the addition of a check against mission items that have the
same position. This breaks existing MAVSDK implementations where a
LOITER_TIME item is set right after a WAYPOINT with the same
coordinates. It is an interim hack to allow the vehicle to hold still
during a photo is captured.

This leaves the check in place for gates where we need to be able to
calculate the direction between gate and waypoint.
 2020-05-19 08:51:21 +02:00
Matthias Grob
a605444462 board_comnmon: indent BOARDBRICK_VALID_LIST to correct level 
to avoid other people getting confused as well.
 2020-05-18 10:52:26 -04:00
Julian Oes
d4de0e1219 Tools: fix ubuntu setup script 
This fixes the error:
line 149: [: missing `]'
 2020-05-18 11:53:26 +02:00
Silvan Fuhrer
b5cc3c4ef5
mavlink_messages: send EAS instead of IAS (#14858) 
Send equivalent_airspeed_m_s instead of indicated_airspeed_m_s for HUD on groundstation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-05-18 10:34:39 +02:00
JaeyoungLim
e670d5f1e2
Fix interactive shell with roslaunch (#14919) 
Fixes the interactive shell that was not working previously when starting px4 sitl with roslaunch
 2020-05-17 23:39:02 +02:00
JacobCrabill
328477f0be UavcanNode: Add sensor_type to range_sensor pub. 2020-05-15 16:45:52 +01:00
Mathieu Bresciani
9788c3bdf2
ekf: split accel bias learning in independant xyz components (#817) 
This is a non-functional change required to select accel bias estimation
per axis selection. The intent is then to disable the learning before
takeoff of the components that are poorly observable.
 2020-05-15 09:20:27 +02:00
Paul Riseborough
19bbea75c0
Fix GPS altitude not fused if GPS checks fail and GPS is primary height source (#813) 
* EKF: Fix failure to select a height sensor

* EKF: Remove unnecessary check and improve documentation
 2020-05-14 19:26:16 +10:00
bresch
76de299302 Offboard temp cal: add support for 3rd baro 2020-05-14 09:16:37 +02:00
bresch
a103c4305b Offboard temp cal: check topic instance 
Not checking the id can lead to sensor ordering swap
 2020-05-14 09:16:37 +02:00
Matthias Grob
22cdf80293 i2c_spi_buses.h: work around astyle version inconsistency 2020-05-14 08:32:07 +02:00
Matthias Grob
03bafd5581 powerCheck: make 5V warning threshold 0.1V lower 
Because of warnings on every flight on setups without
any need for concern. Some even high quality supply voltage regulators
that are rated for 5V can with tolerances and load get lower than 4.9V.
 2020-05-13 11:37:20 -04:00
ealdaz
c96b5246ff Improved Hold behaviour 
Added local position as a valid source of position
 2020-05-13 13:08:41 +02:00
kritz
3897030c6f
Support odometry velocity in body and local frame (#14703) 
* Update submodule ECL

* increase lower bound on EVV param
 2020-05-13 12:43:02 +02:00
kritz
24f2e60b7e
Reduce stored strings, to save flash space (#815) 2020-05-13 08:09:26 +02:00
kritz
98801ad17b
Support vision velocity expressed in body frame too (#708) 
* Support vision velocity expressed in body frame

* Use switch statement for vision velocity frame

* Robustify vision velocity frame test

* Increase lower bound on vision velocity noise to 0.05 m/s
 2020-05-12 16:03:35 +02:00
Hamish Willee
8804dae480 Ubuntu.sh - report Ubuntu 20.04 in setup 2020-05-12 13:13:36 +02:00
Daniel Agar
05886e053f mavlink_log_info: always print to console and merge with mavlink_and_console_log_info 2020-05-12 08:53:51 +02:00
kritz
c3de452e8e
Remove duplicate code during vision yaw reset (#810) 2020-05-12 08:44:39 +02:00
Kamil Ritz
b40adf3dec Refactor velocity resets 2020-05-12 08:05:32 +02:00
PX4 BuildBot
b933557f56 Update submodule ecl to latest Tue May 12 00:39:54 UTC 2020 
- ecl in PX4/Firmware (286bf4f0b911fcc040788117ea79c432f6a95a83): 97b437233e
    - ecl current upstream: 03191847f9
    - Changes: 97b437233e...03191847f9

    0319184 2020-05-11 kritz - Fix ev_pos_obs_var(1) entry (#809)
440383f 2020-05-09 Kamil Ritz - Increase matrix library usage and remove white line
 2020-05-11 22:11:19 -04:00
斯东Stone
c07b687753 Set Power Monitor to a Neutral Position for PX4 Vision 
Reference manual in box, and Holybro's website.
 2020-05-11 14:27:03 -04:00
Daniel Agar
b461066ac5 bmi055/bmi088: remove TIMER_REDUCTION, sample at Nyquist rate 2020-05-11 12:59:34 -04:00
Daniel Agar
19b2d7fe9a bmi088: fix accel schedule interval 2020-05-11 12:59:34 -04:00
Daniel Agar
08d65280f1 bmi055: fix accel schedule interval 2020-05-11 12:59:34 -04:00
Daniel Agar
56211864b8 bmi088: accel & gyro don't publish duplicated reads 2020-05-11 12:59:34 -04:00