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24183 Commits

Author SHA1 Message Date
Beat Küng 3fef401e81 uorb callbacks: fix unregister ordering to avoid race conditions 
The order should be: first unregister, then remove the item from the
runnable queue.
 2020-03-09 08:06:00 -04:00
Julian Kent 36c307a39e Provide a dummy avoidance for flash constrained boards 
Part of this: move ObstacleAvoidance to a library
 2020-03-09 09:51:49 +01:00
Julian Kent 5169cfcc45 Add bezier trajectory tracking in obstacle avoidance 2020-03-09 09:51:49 +01:00
Julian Kent d2507e831e Add mavlink parsing for bezier message 2020-03-09 09:51:49 +01:00
Julian Kent 5b8aa20c2f Bezier trajectory functions to get position, velocity, accel on trajectory 2020-03-09 09:51:49 +01:00
Matej Frančeškin b8970673c6 Fixed Mavlink FTP tests 2020-03-08 21:43:54 +01:00
Matej Frančeškin ef865a091f Added FileNotFound error code according to new Mavlink FTP specification 2020-03-08 21:43:54 +01:00
bazooka joe 887d846f7a remove one space from string sent with the logger filename 
now the full file name is sent, and not missing the last seconds digit
 2020-03-08 12:07:51 +01:00
Dusan Zivkovic d7a9b123e6 logger: fix thread deadlock 2020-03-06 13:37:34 +01:00
Daniel Agar 4698a09b98 delete unmaintained outback challenge (OBC) bottle drop example 2020-03-05 14:09:31 -05:00
Silvan Fuhrer b9fab04adb tiltrotor: improve comments and renaming of one variable 
This is to point out that also rear motor can be used in FW flight and not only the front motors

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-03-05 11:49:42 +03:00
bresch 2d009e2e7a ecl: update submodule 
- reduce CPU load
- fix earth rate gyro compensation
- make test with clang
- use switch statements in controlHeightFusion

Diff:
https://github.com/PX4/ecl/compare/3fa5f501ae7edc4a793f0973e156706afcc8b419..230c865fa9c02b07b0371df050b339bc37ce0c29
 2020-03-04 23:59:24 +01:00
CarlOlsson 8de1f5229b EKF2: use fixed time constant for GPS blending 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-03-04 16:46:20 +01:00
CarlOlsson 357700aa8d EKF2 GPS blending: fall out of blending if one module lose 3D fix 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-03-04 16:46:20 +01:00
CarlOlsson a10a228092 EKF2 GPS blending: reset relative position offsets if blending not feasible 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-03-04 16:46:20 +01:00
Julian Oes 2b087a92c2 commander: increment is 1 for int params 2020-03-04 09:35:14 +01:00
Julian Oes 874c6f385b commander: unify offboard timeouts 
The implementation before this change had two timeouts, a hard-coded
timeout of 0.5 seconds as well as a by param configurable timeout with
certain failsafe actions set.

This change aims to fix two problems:
1. The hard-coded offboard timeout can be triggered easily with sped up
   lockstep simulation. Since i t is hard-coded it can't be adapted to
   the speed factor.
2. The offboard signal can time out but no action will be taken just
   yet. This means we end up in an in-between stage where no warning or
   failsafe action has happened yet, even though certain flags are set
   to a timeout state.

This patch aims to fix this by unifying the two timeouts to the existing
configurable param. The convoluted double timeout logic is replaced by a
simple hysteresis.

For anyone that has previously not changed the default timeout param (0),
the param will now be changed to 0.5 seconds which reflects the
previously hardcoded time. For anyone with a specific timeout
configured, the behaviour should remain the same.

Also, going forward, timeouts lower than 0.5 seconds should be possible.
 2020-03-04 09:35:14 +01:00
Julian Oes 581b92dd3f attitude_estimator_q: enable lockstep without LPE 
When lockstep is enabled and LPE is not running, the
attitude_estimator_q needs to publish ekf2_timestamps in order to signal
to the simulator module that it has fully run.

This essentially fixes flying in lockstep when SYS_MC_EST_GROUP is 3.
 2020-03-03 09:31:52 +01:00
David Jablonski ff4ec31d29 templated creation of stream list items 
and constexpr for get_id_static and get_name_static in mavlink streams
 2020-03-02 19:56:16 -05:00
David Jablonski f57c5ef4a7 Mavlink: implemented SCALED_PRESSURE streams 2020-03-02 19:56:16 -05:00
PX4 BuildBot 862cb2052c Update submodule ecl to latest Mon Mar 2 12:39:50 UTC 2020 
- ecl in PX4/Firmware (43aab81fdebc5c70d8ddb9285ee1e5005f4ee8a1): https://github.com/PX4/ecl/commit/05d391c7852c3591b606af9ae78301eff933eacc
    - ecl current upstream: https://github.com/PX4/ecl/commit/3fa5f501ae7edc4a793f0973e156706afcc8b419
    - Changes: https://github.com/PX4/ecl/compare/05d391c7852c3591b606af9ae78301eff933eacc...3fa5f501ae7edc4a793f0973e156706afcc8b419

    3fa5f50 2020-02-27 Carl Olsson - EKF: dont check gps_check_fail_status in velocity reset (#761)
71d4d22 2020-02-21 Daniel Agar - EKF: covariances() helper return const reference and fix code style
8b91856 2020-02-21 bresch - ekf: fix angle wrapping in realignYawGPS
00872fc 2020-02-18 Daniel Agar - EKF: ImuDownSampler pass imuSample as const reference
81c6d66 2020-02-13 bresch - ekf: clean uncorrelateQuatStates function
c6d5a74 2020-02-12 Julian Kent - Update change indicator
 2020-03-02 14:03:21 -05:00
Julian Kent e173df80a1 Improve readibility of ternary 2020-03-02 18:10:52 +01:00
Martina Rivizzigno 678e32caf7 CollisionPrevention remove mavlink_log outputs 2020-03-02 16:49:56 +01:00
Martina Rivizzigno a9491dfaf7 run avoidance also in Loiter 2020-03-02 16:49:56 +01:00
Martina Rivizzigno aee1e70642 check avoidance status in commander and set sys status 
remove mavlink log
 2020-03-02 16:49:56 +01:00
Martina Rivizzigno 48b7cd926e mavlink_messages: add frame field to obstacle distance and correct typo 2020-03-02 16:49:56 +01:00
Martina 9d06bd1383 mavlink_main: add osbstacle_distance stream to extvisionmin mode 2020-03-02 16:49:56 +01:00
Martina a4acb6b92a CollisionPrevention: set frame for obstacle_distance_fused topic 2020-03-02 16:49:56 +01:00
baumanta 7801ed129f Add safety measure and test for missing sensor data 2020-03-02 16:49:56 +01:00
baumanta 67d0f5c5d1 CollisionPrevention: No movement if FOV is zero 2020-03-02 16:49:56 +01:00
Silvan Fuhrer 9edb1179d0 VTOL: run vtol state update not only when mc or fw sp are updated, but always 
This change is necessary to give the pilot the ability to switch VTOL state
even if for some reason no attitude sp are published anymore.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-03-02 14:10:58 +03:00
David Sidrane 64cf310c8a Uavcan:Fix null pointer defrefenence 2020-02-29 11:26:35 +01:00
TSC21 f5000a9691 px4_platform_common: add bitmask.h for templated type safe bitmask operations 2020-02-28 10:59:50 +00:00
TSC21 d1cefe9e65 simulator: move enum declaration out of preprocessor condition 2020-02-28 10:59:50 +00:00
TSC21 bcb6056a12 simulator: make sensor update rate dependent of the HIL_SENSOR bitmask 2020-02-28 10:59:50 +00:00
Florian Achermann be35f5555c Add comment to explain iridium exception in the mavlink module 2020-02-28 07:54:25 +01:00
Florian Achermann eb215358fc Fix crashing for the mavlink in the iridium mode 
Special handling in the mavlink_open_uart function if mavlink is in the iridium mode.
 2020-02-28 07:54:25 +01:00
Daniel Agar d7e502ec72 uORB_tests increase stack 2020-02-27 21:12:49 +01:00
Matthias Grob f90d3671c0 vehicle_attitude_setpoint: get rid of unused q_d_valid flag 2020-02-27 09:17:52 +01:00
Julian Oes b53bd2b77f LPE: make compatible with lockstep simulation 
This fixes SITL with lockstep when using LPE and q estimator.

The required changes are:
- Publish ekf2_timestamps because simulator_mavlink expects them.
- Run LPE at 250 Hz instead of 80 Hz in order to keep everything in
  lockstep running at 250 Hz.
 2020-02-26 15:46:58 +01:00
Julian Oes 3be8b3d177 logger: style fix 2020-02-26 14:52:39 +01:00
Julian Kent 18754225c9 Update matrix library 2020-02-26 10:27:32 +01:00
Matthias Grob 46f76cb621 Commander: enable RC override in takeoff 
and remaining auto modes which are used more rarely.
 2020-02-26 10:22:33 +01:00
Paul Riseborough d9ae242760 logger: fix unused variable build error 2020-02-26 18:44:20 +11:00
Daniel Agar 2a0fe169e6 logger: disable logger_status publiation in replay builds 
- this is disabled in replay builds to ensure all data in ekf2 replay logs only contains the same time range, otherwise the plots can be unreadable using common tools
 - fixes #14230
 2020-02-26 18:44:20 +11:00
CarlOlsson 7e00dcd382 EKF2: Fix GPS blending time jitter 2020-02-26 07:39:47 +01:00
Martina Rivizzigno abe33af5b3 map mavlink orientation enum to uorb distance_sensor orientation 2020-02-26 07:27:09 +01:00
Beat Küng d386591d0c logger: reduce rate_ctrl_status rate to 50 Hz for high-rate logging 
The integral does not need to be logged at full rate
 2020-02-25 09:59:52 +01:00
Julian Oes f3fefd7d93 mavlink: support mission transfer cancellation (#14139) 
This adds support for MAV_MISSION_OPERATION_CANCELLED which can be used
to cancel an ongoing upload or download of mission/geofence/rally items.
 2020-02-24 07:47:08 +01:00
Silvan Fuhrer 6c8f39c5d8 MC rate controller: limit K and P values of PID controller to in pitch and roll (#14210) 2020-02-23 11:45:07 +01:00