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Author SHA1 Message Date
Daniel Agar 0e320ad4a1 mavlink: increase optimization to ${MAX_CUSTOM_OPT_LEVEL} 
- MAX_CUSTOM_OPT_LEVEL is -O2 on boards that aren't flash constrained
 2021-10-29 10:51:30 -04:00
Thomas Debrunner 32be88404a commander: Only run estimator navigation checks when armed 2021-10-28 12:06:31 -04:00
PX4 BuildBot 7006b0aee9 Update submodule jMAVSim to latest Thu Oct 28 12:38:55 UTC 2021 
- jMAVSim in PX4/Firmware (c9b89ee869): https://github.com/PX4/jMAVSim/commit/0a5a8c6d9da05bee5f82faa25430213d97d396b0
    - jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/b23dc53d558e801b214fbcb605a061c9773105e0
    - Changes: https://github.com/PX4/jMAVSim/compare/0a5a8c6d9da05bee5f82faa25430213d97d396b0...b23dc53d558e801b214fbcb605a061c9773105e0

    b23dc53 2021-10-08 Ilya Petrov - Use low resolution texture also on Windows
 2021-10-28 11:41:02 -04:00
Harrison MG c9b89ee869 fixed ulanding_radar autostart command 2021-10-28 00:01:37 -04:00
Daniel Agar be5c5856e7 cmake: px4_add_module always add module to PX4_MODULE_PATHS so that parameters aren't pruned 2021-10-27 23:00:40 -04:00
Peter van der Perk 51abb804ac UAVCANv1 Fix NodeClient header and Kconfig merge logic 2021-10-27 10:07:01 -04:00
Beat Küng 0decdb1c7b github action: run ./Tools/generate_board_targets_json.py in container 
As it requires kconfiglib
 2021-10-27 15:23:23 +02:00
Silvan Fuhrer e715e6c245 Fixed-wing position control: set yaw_sp to yaw_current instead of nav_bearing when not controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 14:35:00 +03:00
Silvan Fuhrer b53808d11b fixed-wing: set yaw_sp to yaw_current instead of 0 when not controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 14:35:00 +03:00
Silvan Fuhrer da4d6dc657 L1: increase the max allowed tangential velocity in the opposite direction to 2m/s 
There is logic in L1 that prevents the vehicle from trying to achieve
an impossible loiter entry (e.g. due to wind). That check makes the
vehicle track the loiter center if the tangential velocity is in the wrong
direction while loitering. After the vehicle flies through the center, it can
then turn the other way around to join the loiter.
This check is though too sensitive if it purely checks for the wrong direction,
and it can end in delayed loiter entry for no reason.
This commit increases the threshold to 2m/s of tangential velocity
in the wrong direction to trigger the check.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 12:32:58 +03:00
RomanBapst eee5f501cd navigator: fix flyaway when altitude change is commanded without a valid 
triplet

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
RomanBapst bf6a47ba6a navigator: cleanup of set_loiter_item 
Unwraps the set_loiter_item() to solve the issue where the altitdue setpoint
in a MC takeoff wasn't correctly used.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
Silvan Fuhrer cb78ba34d7 Mission: for tangential loiter exit, set current position setpoint typ to position 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 11:01:13 +03:00
Silvan Fuhrer 4b21c0c49e Fw Pos C: always reset pos_sp type from LOITER to POSITION if far away 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 11:01:13 +03:00
RomanBapst d678e792cc mission_block: don't require an exiting heading when loitering if the next 
waypoint is within the loiter radius of the current waypoint

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
Michael Schaeuble 5e1f62e9d0 Add option to warn the pilot in case of strong magnetic interference but still allow arming. 
This PR changes the COM_ARM_MAG_STR parameter to accept values. If the parameter is set to 2, the check is performed and a warning is logged but the vehicle can still arm.
 2021-10-27 09:59:18 +02:00
ponomarevda 2b6bd452df fix hardpoint hardfault by checking argc before std::strcmp 2021-10-27 08:11:23 +02:00
Beat Küng de488f0f40 omnibus/f4sd: add topic listener & change timer order 
So it matches the usage in the channel definition order
 2021-10-27 08:03:55 +02:00
Beat Küng 8476875b4d Kconfig: add missing serial ports 2021-10-27 08:03:55 +02:00
Beat Küng 48344c6e2a state_machine_helper: add missing 'break' (no behavior change) 2021-10-27 08:03:55 +02:00
Daniel Agar 6d0c6bb6ce lib/world_magnetic_model: cmake remove helper target BYPRODUCTS 
- otherwise ninja will try to rebuild these
 2021-10-26 18:52:12 -04:00
dagar a2801bab80 [AUTO COMMIT] update change indication 2021-10-26 14:39:58 -04:00
Daniel Agar 88a979cf1d lib/world_magnetic_model: add cmake helpers for updating tables 
- `world_magnetic_model_update` to fetch latest geo_magnetic_tables.hpp
 - `world_magnetic_model_tests_update` to fetch latest test_geo_lookup.cpp
 2021-10-26 14:39:58 -04:00
Peter van der Perk 24ab430466 Tools/generate_board_targets_json.py: fix json board targets regression from #17100 2021-10-26 16:15:39 +02:00
bresch d0f89f7fff ekf2: refactor wind reset functions 2021-10-26 10:18:56 +02:00
bresch 456dfcb4b9 ekf2: update getter for true airspeed 2021-10-26 10:18:56 +02:00
bresch 3927c183de ekf2_test: adjust airspeed unit test 
an airpseed of > 2m/s is required to start the fusion (set by param)
fw mode is also required

Given the larger estimated windspeed after those changes, the change of
static pressure is larger and the height estimate takes more time to
reach the final value
 2021-10-26 10:18:56 +02:00
bresch 6e8f0e92ff ekf2: refactor airspeed fusion control logic 2021-10-26 10:18:56 +02:00
bresch 8873e92c7c ekf: force fallback to baro if GPS is stopped while in GPS height mode 
Otherwise, no height aiding source is used
 2021-10-26 10:05:28 +02:00
bresch 0a140ec59a ekf2_test: add GPS height to baro fallback 2021-10-26 10:05:28 +02:00
bresch f4c21cedd9 ekf2_test: use motion_planning for dynamic yaw emergency test 2021-10-25 18:06:38 -04:00
bresch 340a2caa8e ekf2_test: use motion_planning library 
The VelocitySmoothing class from the motion_planning library is used to
generate trajectories in order to test the EKF convergence during motion
 2021-10-25 18:06:38 -04:00
David Sidrane 38e2e6a01f Use NuttX MPU Reset (#18283) 
* NuttX with MPU reset backports

* Use NuttX MPU reset
 2021-10-25 18:05:31 -04:00
alexklimaj 8088c82b6a Add CANNODE_FLOW_ROT 2021-10-25 16:31:00 -04:00
Jaeyoung-Lim 5dcaadf492 Fix px4vision defaults 2021-10-25 16:29:52 -04:00
Landon Haugh 24cd0c6fa3 Enablement of PX4 SPI driver for UCANS32K146 2021-10-25 08:36:54 -07:00
Daniel Agar a548c94230 boards: holybro_durandal-v1_default disable modules to save flash 2021-10-25 13:41:31 +02:00
bresch 6ec9ab11f2 add fw auto-tune module to board configs 2021-10-25 13:41:31 +02:00
bresch 95e2941b17 fw att: inject system identification signal to controller 2021-10-25 13:41:31 +02:00
bresch 6af0856558 add FF to FW rate controllers 2021-10-25 13:41:31 +02:00
bresch 55f0860c31 fw atune: add fixed-wing auto-tuning module 2021-10-25 13:41:31 +02:00
bresch 8dfdb1e3db compute and publish fixed-wing control power 2021-10-25 13:41:31 +02:00
RomanBapst d84b0296d2 support orbit command in fixed wing mode 
Signed-off-by: RomanBapst <bapstroman@gmail.com>

commander: support orbit mode for fixed wings

Signed-off-by: RomanBapst <bapstroman@gmail.com>

FwPositionControl: publish orbit status

Signed-off-by: RomanBapst <bapstroman@gmail.com>

commander:reject orbit mode while doing a vtol transition

Signed-off-by: RomanBapst <bapstroman@gmail.com>

FixedWingPositionControl: explicitly cast waypoint for Orbit status

FixedwingPositionControl: fill missing orbit_status fields

navigator_main: handle reposition/orbit corner cases

- set orbit rotation direction correctly
- send mavlink message when orbit is rejected

FixedWingPositionControl: correctly report rotation direction in orbit_status

navigator: hack to not break orbit while doing altitude changes

Signed-off-by: RomanBapst <bapstroman@gmail.com>

navigator: set cruise throttle for orbit command

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-25 09:48:27 +02:00
Daniel Agar 93eb0162e5 drivers/uavcan_v1: fix Kconfig trailing whitespace 2021-10-25 08:15:46 +02:00
Silvan Fuhrer f9cfcc5cfa AirspeedSelector: add bitmask to enable checks seperately in ASPD_DO_CHECKS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer 73fe300c00 WindEstimator: remove option to disable scale estimation 
The situation where this would be desired is unclear, plus it's basically
the same as setting ASPD_SC_P_NOISE to a very small value.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer b38bf23d6e WindEstimator: avoid division by 0 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer c0754cf324 AirspeedValidator: pass vI as reference 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer f9682b86d1 AirspeedSelector: some clean up 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer 7537fa36c8 AirspeedValidator: fix airspeed scale validation (feed raw TAS) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00