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24183 Commits

Author SHA1 Message Date
Beat Küng
282d35bbf0 esc_calibration: handle SYS_CTRL_ALLOC==1 2021-11-23 12:40:22 -05:00
Beat Küng
490a2cd7ae dshot: handle VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng
21699935e8 vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng
6fdcc43ea8 mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg 2021-11-23 12:40:22 -05:00
Beat Küng
36d9635518 output_functions.yaml: allow single-instance entry with 'start' but no 'count' 
for other additional data
 2021-11-23 12:40:22 -05:00
Beat Küng
5d6e785a4b mixer_module: remove unneeded test_motor_s force init 2021-11-23 12:40:22 -05:00
Beat Küng
f99c2617ad control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults 2021-11-23 12:40:22 -05:00
Beat Küng
2ff6baa250 actuator params: use module_name as prefix to channel label 2021-11-23 12:40:22 -05:00
Matthias Grob
0153c870d2 Commander: make sure yaw airmode is not possible while arm gesture is enabled 
It's unsafe to arm with the gesture when yaw airmode is enabled
because e.g. in Stabilized mode that results in a high yawrate setpoint
that the drone tries to follow even with zero thrust
because of the airmode.

It was handled before by checking the arm switch parameter because that
used to disable the stick arm gesture.
See 24dc316973a049e50d3e6760eddbf7250cb55d2e
 2021-11-23 16:03:46 +01:00
Matthias Grob
572890f8c0 ManualControl: add parameter to disable arm/disarm stick gesture 2021-11-23 16:03:46 +01:00
Matthias Grob
468022abba ManualControl: correct arm hysteresis parameter name 2021-11-23 16:03:46 +01:00
Matthias Grob
c84b1c6566 ManualControl: ignore unassigned mode slots 
They were resulting in a message
"Switching to Unkown is currently not available".
 2021-11-23 16:03:46 +01:00
Silvan Fuhrer
e596607e2e minor comments update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-23 14:48:51 +01:00
Daniel Agar
7ff72304b4
sensors/vehicle_imu: improve disabled sensor handling 
- remove regular callback scheduling when sensor is disabled, register if re-enabled
 2021-11-22 21:10:35 -05:00
Daniel Agar
1c6b1f7554 pwm_out: parameter failure error messages 2021-11-22 11:27:45 -05:00
Daniel Agar
577d926639 commander: improve angular velocity validity and message 2021-11-22 11:27:45 -05:00
PX4 BuildBot
88d9ade4d7 Update submodule mavlink to latest Mon Nov 22 12:39:21 UTC 2021 
- mavlink in PX4/Firmware (0e4e8162407a12dc09c8d17635c60d4036b81bc7): c3a4b52eb1
    - mavlink current upstream: 5309ba449a
    - Changes: c3a4b52eb1...5309ba449a

    5309ba44 2021-11-18 Hamish Willee - Remove backticks - these do not render as a style so not helpful (#1745)
9cac0e5a 2021-11-17 David Jablonski - docs: catch more hyperlinks (#1744)
ea9349b5 2021-11-16 David Jablonski - common: add SET_FOCUS_TYPE_AUTO (#1741)
 2021-11-22 09:08:50 -05:00
Daniel Agar
8fc3b05491 mavlink: param_get proper type to silence errors 2021-11-22 09:08:38 -05:00
Daniel Agar
cbb743c64d parameters: param type checking use PX4_ERR and enable in PX4_SITL 2021-11-22 09:08:25 -05:00
Igor Mišić
c73028bb1b iridiumsbd: discard all pending data for flow control enabled 2021-11-22 11:46:15 +01:00
wangwwno1
7a1a4ea7a6 Format fix & Remove redundant lines 2021-11-20 16:13:46 +01:00
wangwwno1
51ce8306ee Remove redundant code out of hil_lpos 2021-11-20 16:13:46 +01:00
wangwwno1
b2c5919d29 Update src/modules/simulator/simulator_mavlink.cpp 
Co-authored-by: JaeyoungLim <jalim@ethz.ch>
 2021-11-20 16:13:46 +01:00
wangwwno1
160fec5f25 Update simulator_mavlink.cpp 2021-11-20 16:13:46 +01:00
wangwwno1
6e2060ddb6 Add accel to vehicle_local_position_groundtruth 
Related Issue: #18527 
According to [this doc](92b1a43468/common/mavlink_msg_hil_state_quaternion.h (L102)), the *acc value are mili-Gee, so multiply the value with `CONSTANT_ONE_G/1000.0f` would get the acceleration in `m/s`.
 2021-11-20 16:13:46 +01:00
Daniel Agar
505f963dd0 mavlink: receiver fix SENS_FLOW_ROT type 2021-11-19 21:08:04 -05:00
Matthias Grob
f912ee2c8b Commander: send out parachute MAVLink command when kill switch engaged 2021-11-19 17:15:04 +01:00
Matthias Grob
3193b554ca Add optional preflight check for healthy MAVLink parachute system 2021-11-19 17:15:04 +01:00
Matthias Grob
43c529f294 Add MAVLink parachute system heartbeat detection 2021-11-19 17:15:04 +01:00
Thomas Debrunner
fb54324f56 gyro-fft: Disable asm-operand-widths warning on apple silicon. The warning is caused by unused functions only. As with compiling for x86, the functions containing assembly never get used, but since the apple silicon is also an ARM target, they trigger a warning. 2021-11-19 09:14:11 -05:00
Matthias Grob
4c6621f6cf Commander: Allow arming a rover with the throttle stick in the middle 2021-11-19 10:10:32 +01:00
Matthias Grob
35d4986ea7 FlightTasks: remove updateFinalize() concept because it got obsolete 2021-11-18 19:12:44 -05:00
Matthias Grob
9eac0edbc0 FlightTaskAuto: remove generateSetpoints function, replace by implementation 2021-11-18 19:12:44 -05:00
Matthias Grob
ece8fdddec FlightTaskAuto: simplify early setpoint preparation based on triplet type 2021-11-18 19:12:44 -05:00
dagar
9646b49b60 [AUTO COMMIT] update change indication 2021-11-18 13:58:53 -05:00
Daniel Agar
bffd88ad81 ekf2: don't inhibit accel bias when not in air 2021-11-18 13:58:53 -05:00
Daniel Agar
f3472385da sensors/vehicle_imu: fix accel/gyro learned bias calibration updates 
- fix confusion between estimated bias and calibration offset when
saving after each flight
 - when the stable bias estiamte is retrieved during flight it's
immediately converted to a sensor offset and saved
 - fixes https://github.com/PX4/PX4-Autopilot/issues/18658
 2021-11-18 10:00:26 -05:00
bresch
fc155bc57e Ekf2Selector: declare filter unhealthy when high test ratio 
Request a switch to another instance when the combined test ratio is too high.
 2021-11-18 13:29:01 +01:00
bresch
43fb076828 AngularAcceleration: explicitly disable filter when cutoff <= 0 2021-11-18 09:25:47 +01:00
bresch
4a14a8bc7f AutoLineSV: Always publish a valid yaw setpoint 
In MPC_YAW_MODE 3 (along trajectory), the flight task is asked to
produce a yaw setpoint. If the previous yaw value was NAN (e.g.: during
early takeoff), the setpoint should then be reset to the current
estimate.
 2021-11-16 18:09:37 -05:00
bresch
f751dd2242 FlightTask: set yaw_setpoint to NAN when yaw should not be controlled 2021-11-16 18:09:37 -05:00
bresch
2213343240 ft altitude: use longerThan to save a sqrt operation 2021-11-16 18:09:37 -05:00
bresch
394fa953b8 EKF: get status on yaw alignement in flight 
1s after the in air mag reset is performed, the final yaw alignment is
complete and the yaw estimate can be used for yaw control.
 2021-11-16 18:09:37 -05:00
Matthias Grob
2a5751233a FlightTasks: remove unused StraightLine library 
It was meant as an example for an easy to use interface of a
motion primitive with a minimal implementation. But the implementation
is much worse than the jerk optimized trajectory. We rather
work on making it easier to use. #18390 was a first step towards that.
 2021-11-16 18:08:27 -05:00
Daniel Agar
e062f4fcf0 mavlink: ORBIT_EXECUTION_STATUS stream limit to 2 instances 2021-11-16 17:10:13 -05:00
Alessandro Simovic
7090e634cc mission_block: always accept yaw in MC takeoff 2021-11-16 12:35:16 -05:00
Beat Küng
0622cb8857 mavlink_ftp: disallow writes outside of /fs/microsd under NuttX 
As these files are kept in RAM, it could just fill up the RAM.
 2021-11-16 12:34:16 -05:00
Daniel Agar
4e8c234a55 ekf2: only save mag declination if changed 2021-11-16 12:33:48 -05:00
Daniel Agar
96bf3aa5d0
matrix: apply PX4 astyle 2021-11-16 12:30:51 -05:00
Daniel Agar
ab07f5300b
lib/matrix: delete unused and add testing to PX4 2021-11-16 12:27:14 -05:00