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24140 Commits

Author SHA1 Message Date
Daniel Agar
9824c6b4ae
[WIP] sliding DFT 2022-01-12 20:45:16 -05:00
Daniel Agar
bb1177d504 sensor_calibration: refactor and centralize calibration slot logic 
- centralize logic for selecting a preferred calibration slot
   - automatically use existing calibration slot if it exists, otherwise
find first available slot, with a preference for a requested index
 - existing commander calibration methods rewrite all calibration slots
to match current sensor ordering
 2022-01-12 16:16:26 -05:00
alexklimaj
d1304e1ceb Add CANNODE_GPS_RTCM 2022-01-12 15:30:38 -05:00
Silvan Fuhrer
3cd1e0ce19 MCLandDetector: clean up logic for ground effect 
Before: in_ground_effect was always true with the default settings (LNDMC_ALT_GND =-1)
 and when a distance sensor was present with valid data.
Now: default of LNDMC_ALT_GND is set to 2m by default, and if set to a negative value
then in_ground_effect is never set to true

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-12 18:41:16 +01:00
Matthias Grob
443406ea2b FlightTaskAuto: use longerThan() when possible in vector calculations 2022-01-12 15:12:24 +01:00
bresch
4fc7348582 mpc: leave room for altitude error control during descent and descent 
Since the same parameter is used to generate the trajectory and to
saturate the controller, there is no additional space for the output of
the position controller once it is filled with the feedforward, letting
the altitude grow uncontrolled.
 2022-01-12 13:33:48 +01:00
bresch
ea7d2334c9 mpc: add parameter for ascent/descent speed in auto modes 2022-01-12 13:33:48 +01:00
Daniel Agar
2eec7842ae sensors/vehicle_imu: fix SENS_IMU_AUTOCAL saving logic 
- on cycles that don't check for updated calibraton (estimated bias) we
check if there's anything valid to save (when disarmed)
 2022-01-11 11:47:02 -05:00
romain-chiap
4e06b40e2b
sih: add tailsitter support, disable UAVCAN 2022-01-11 08:29:19 +01:00
Julian Oes
b3d830dd11 Mantis: move power off tune to commander 
This way we don't allocate inside the interrupt context.
 2022-01-10 23:04:10 -05:00
Julian Oes
73044c51f9 vmount: only send CONFIGURE cmd if type changes 
We don't always have to send MOUNT_CONFIGURE but really only when the
control data type actually changes.
 2022-01-10 23:04:10 -05:00
Julian Oes
22180a2639 mavlink: make range params optional 
If there is no range sensor compiled in, these two params do not seem to
be available. Hence, we need to make them optional.
 2022-01-10 23:04:10 -05:00
Julian Oes
b44f5b49ca Mantis: add tap_esc to Kconfig 2022-01-10 23:04:10 -05:00
Julian Oes
ca1fabf80a logger: add rate factor to slow logging down 
This is required for the Mantis to reduce the log streaming rate.
 2022-01-10 23:04:10 -05:00
Julian Oes
c2e0e09b2d commander: reduce PWM max again 
This is no longer required now.
 2022-01-10 23:04:10 -05:00
Julian Oes
e4763f15f6 Mantis: add RC hacks 
This changes the way RC is handled for the Mantis:
- The RC values are re-written when arriving over MAVLink. They are
  rescaled from 0..4095 to 1000..2000 and the channel bits added to
  separate channels. This makes the downstream handling easier.
- Gimbal pitch is moved from Aux1 to Aux2 as that should be the default.
- Aux3 and Aux4 are used for the photo and video trigger.
- The speed button is used as the FLTMODE channel and set to switch
  between POSCTL and ALTCTL.
 2022-01-10 23:04:10 -05:00
Julian Oes
9fe7a40673 manual_control: enable sending camera commands 2022-01-10 23:04:10 -05:00
Julian Oes
1754e25920 vmount: add param to use RC input for angular rate 
Until now RC input was translated to angles only. I added the param
MNT_RC_IN_MODE which allows the RC input to be used for angular rate.
 2022-01-10 23:04:10 -05:00
Julian Oes
cb15728536 Mantis: save mission in RAM 
This is using a reduced number of mission items of 1000 instead of 2000
in order to fit in RAM.
 2022-01-10 23:04:10 -05:00
Julian Oes
880292f5d7 commander: relax RC min/max 2022-01-10 23:04:10 -05:00
Julian Oes
aa007dadee commander: fix emergency power off 
From what I can see the CONFIG_BOARDCTL_POWEROFF is not really used
anywhere, however, the BOARD_HAS_POWER_CONTROL is something that is set,
e.g. for the Mantis, to allow power off.
 2022-01-10 23:04:10 -05:00
Julian Oes
6301fa35c1 commander: add command to power off 2022-01-10 23:04:10 -05:00
Julian Oes
860b23dd17 tunes: add tune to power off 
This is used by the ATL Mantis EDU to help the user realize when the
drone is powered off.
 2022-01-10 23:04:10 -05:00
Julian Oes
a21fefda48 tune_control: prevent segfault 2022-01-10 23:04:10 -05:00
Julian Oes
76920171c7 tap_esc: fix tunes 
This removes the redundant _play_tone flag and instead just polls the
next_note() interface to check if there is something to play.
 2022-01-10 23:04:10 -05:00
Julian Oes
dd00e43ca3 mavlink: set signal_quality (and sane variance) 
Otherwise this distance data is actually not used at all.
 2022-01-10 23:04:10 -05:00
Julian Oes
aefbd80b53 mavlink: use optical flow limits from params 
This makes more sense than hard-coding arbitrary values.
 2022-01-10 23:04:10 -05:00
Julian Oes
f48c3a2cc6 mavlink: don't handle RC_CHANNELS 
This is a status/output but should not be an input for the autopilot.
Instead RC_CHANNELS_OVERRIDE should be used.
 2022-01-10 23:04:10 -05:00
Daniel Agar
cc1fee525a lib/sensor_calibration: handle calibration slot change on parameter update 2022-01-10 17:16:50 -05:00
Daniel Agar
ab547bb982 sensors/vehicle_angular_velocity: RPM notch don't fully disable if first harmonic frequency drops below minimum frequency 
- keep higher frequency harmonics enabled per ESC
 - cleanup timestamp handling (timeouts, etc)
 2022-01-10 14:51:29 -05:00
Daniel Agar
b58922a5d7 sensors/vehicle_angular_velocity: notch filters automatically reset on sufficient parameter change 2022-01-10 14:51:29 -05:00
Daniel Agar
7d632254be NotchFilter push initialization/reset into filter 
- this simplifies the reset by allowing a notch filter to reset as
needed
 - improves cascade initialization, on reset each filter will reset
properly from the previous
 2022-01-10 14:51:29 -05:00
Daniel Agar
2e2ac36cab
drivers/uavcan: make firmware server available on both CAN1/CAN2 always (if enabled) 
- uavcan firmware server no longer shuts down when arming (nodes might restart in flight)
 - always handle UAVCAN parameters with or without the FW server active
 - remove legacy ESC enumeration in FW server
 2022-01-10 11:13:02 -05:00
Daniel Agar
d9e7315420 sensors: automatically set initial accel/gyro calibration if stable bias available 2022-01-10 10:46:37 -05:00
Daniel Agar
e731fcdbc0
sensors (accel/gyro/mag) determine if external with device id 2022-01-10 10:31:07 -05:00
Daniel Agar
45040be669 ekf2: accel/gyro/mag sensor cal minor cleanup 
- cleanup obsolete comments
 - remove debug helpers
 - add additional variance requirements to mag bias stable (matching accel & gyro)
 2022-01-10 09:55:59 -05:00
Daniel Agar
c3ca40a98f drivers/px4io: delete monitor command 
- the px4io console isn't even connected on most flight controllers
 2022-01-10 09:51:11 -05:00
Daniel Agar
e5d49f6fff drivers/px4io: delete unused detect 2022-01-10 09:51:11 -05:00
Daniel Agar
d077ca15fb delete PWM_SERVO_SET, PWM_SERVO_SET_MODE, systemcmds/motor_ramp, and pwm_out test 2022-01-10 09:51:11 -05:00
Daniel Agar
df44df2df6 delete systemcmds/esc_calib 
- this is redundant with commander esc_calibration
 2022-01-10 09:51:11 -05:00
Daniel Agar
03bdc460d8 drivers/px4io: PWM_SERVO_GET_FAILSAFE_PWM don't get registers directly 2022-01-10 09:51:11 -05:00
Daniel Agar
d3301ba826 delete PWM_SERVO_GET_TRIM_PWM 2022-01-10 09:51:11 -05:00
Daniel Agar
8de59dad32 delete PWM_SERVO_SET_TERMINATION_FAILSAFE 2022-01-10 09:51:11 -05:00
Daniel Agar
1739ecc981 delete PWM_SERVO_SET_FORCE_FAILSAFE 2022-01-10 09:51:11 -05:00
Daniel Agar
649d3e3f55 delete PWM_SERVO_SET_DISABLE_LOCKDOWN/PWM_SERVO_GET_DISABLE_LOCKDOWN 2022-01-10 09:51:11 -05:00
Daniel Agar
b7ed4fd3e0 delete PWM_SERVO_SET_DISARMED_PWM 2022-01-10 09:51:11 -05:00
Daniel Agar
551a31ce2f delete PWM_SERVO_SET_FAILSAFE_PWM 2022-01-10 09:51:11 -05:00
Daniel Agar
daa925137c boards: move default battery calibration defines to parameter defaults 2022-01-10 09:49:36 -05:00
Daniel Agar
78b3d22471 lib/mixer_module: consume output_limit library 2022-01-10 11:59:55 +01:00
Daniel Agar
71d8b15b73 commander: fix COM_HOME_EN missing case 
- VEHICLE_CMD_COMPONENT_ARM_DISARM is yet another path that calls set_home_position()
 2022-01-09 20:52:07 -05:00