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Author SHA1 Message Date
Daniel Agar ce70b6f4ac sensors/vehicle_angular_velocity: add IMU_GYRO_RATEMAX constraints 2022-06-07 15:45:47 -04:00
Daniel Agar 01f0992f49 sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX 2022-06-07 15:45:47 -04:00
Daniel Agar cb2738e187 Update submodule GPSDrivers to latest Sat Jun 4 12:38:49 UTC 2022 (#19766) 
- GPSDrivers in PX4/Firmware (6e77a084cd43830c8b13018b7fd5470da9bc4ff5): https://github.com/PX4/PX4-GPSDrivers/commit/181fae1a4b5e33576d786755782adb2f195ecc48
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/016c37cd1f18c716427e2465d8daa6aa1054b0f1
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/181fae1a4b5e33576d786755782adb2f195ecc48...016c37cd1f18c716427e2465d8daa6aa1054b0f1

    016c37c 2022-06-01 Julian Oes - sbf: fix overrun on invalid length
 2022-06-04 15:58:56 -04:00
Daniel Agar 21b1c933dc ekf2: EKFGSF_yaw delete unnecessary internal state 2022-06-01 13:16:06 -04:00
Daniel Agar 3889b79342 ekf2: yaw estimator add yaw_composite_valid boolean 2022-06-01 13:16:06 -04:00
Daniel Agar 002579b3e0 Jenkins: reboot after ostest completes 
- temporary workaround to ostest apparently leaving the system in a bad state
 2022-05-31 01:41:07 -07:00
Daniel Agar 5b6e5a0968 boards: NuttX update all boards to preallocated sem holder list 
- CONFIG_SEM_PREALLOCHOLDERS=32
 - CONFIG_SEM_NNESTPRIO=16 (default)
 2022-05-31 01:41:07 -07:00
Daniel Agar 132a07f53c boards: test boards add NuttX ostest and run on Jenkins test rack 2022-05-29 13:41:16 -04:00
Daniel Agar 0420d697e5 update NuttX and apps to latest with sem holder fixes and updated ostest 2022-05-29 13:41:16 -04:00
Daniel Agar cb8b5ae872 mavlink: MavlinkStatustextHandlerTest ignore Wcast-align 2022-05-29 09:44:48 -04:00
Daniel Agar d97bb168cf lib/motion_planning: VelocitySmoothingTest delete set but not used variable 2022-05-29 09:44:48 -04:00
Daniel Agar 095e0f0604 ekf2: sensor_simulator fix enum shadow 2022-05-29 00:21:08 -04:00
Daniel Agar c27b9f3b1e boards: reduce SPI DMA buffers on older STM32F4 boards 
- on common IMUs like the mpu6000, mpu9250, icm20602, etc each FIFO
sample is only 12 bytes so this is still more than large enough for the
worst case transfer
 2022-05-27 16:27:41 -04:00
Daniel Agar 4561cf2ce6 boards: pixhawk 2 cube skip starting low quality l3gd20 gyro to save memory and cpu 
- free memory is getting tight on these older boards (depending on
configuratoin) and the pixhawk 2 cube still has 2 other superior IMUs, so this is just
dropping dead weight
 2022-05-27 16:27:41 -04:00
Daniel Agar 1ba3610cfc boards: delete omnibus_f4sd_ekf2 due to flash overflow 2022-05-27 09:46:07 -04:00
Daniel Agar 98354ba10a Update submodule GPSDrivers to latest Wed May 25 12:38:58 UTC 2022 
- devices in PX4/Firmware (7cc84e0f9e44697475b0f355df9a29de6ea6b9ff): https://github.com/PX4/PX4-GPSDrivers/commit/58968922b718176be8756f11113d16b2cfbc4022
    - devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/181fae1a4b5e33576d786755782adb2f195ecc48
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/58968922b718176be8756f11113d16b2cfbc4022...181fae1a4b5e33576d786755782adb2f195ecc48

    181fae1 2022-05-23 numan - README: add information for definition.h
 2022-05-25 09:56:40 -04:00
Daniel Agar 58ea6235fe ekf2: estimator aid source status (range height) 2022-05-25 09:25:12 -04:00
Daniel Agar 1e25aee6fa ekf2: estimator aid source status (baro height) 2022-05-25 09:25:12 -04:00
Daniel Agar 376201e64d boards: px4_fmu-v5/v5x init all I2C pins 2022-05-24 11:02:03 -04:00
Daniel Agar 639222dd65 ekf2: estimator aid source status (GPS pos, GPS vel) 2022-05-23 16:21:49 -04:00
Daniel Agar 1ae467e9cd ekf2: estimator aid source status (starting with fake position) 2022-05-23 16:21:49 -04:00
Daniel Agar d25a784a3a icm42688p: only check configured registers periodically (as intended) 2022-05-23 14:58:23 -04:00
Daniel Agar b800600a6c boards: px4_fmu-v2_fixeding disable fw_autotune_attitude_control to save flash 2022-05-22 12:32:24 -04:00
Daniel Agar 61d5a23445 Jenkinsfile: hardware test rack skip runing HITL airframes 2022-05-22 12:31:08 -04:00
Daniel Agar db4545e442 Update world_magnetic_model to latest Sat May 21 11:14:10 UTC 2022 2022-05-21 14:57:55 -04:00
Daniel AgarandMatthias Grob c40631c136 commander: handle RC loss timeout if manual_control_setpoint stops publishing (#19680) 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-05-20 19:37:30 -04:00
Daniel Agar fd4b62032e commander: publish actuator_armed first on any change 2022-05-19 12:47:50 -04:00
Daniel Agar ff16131874 icm42670p run at full speed 2022-05-17 08:14:22 -07:00
Daniel Agar 83daf648ef drivers/imu/invensense/icm42670p: cleanup and small fixes 2022-05-17 08:14:22 -07:00
Daniel Agar fba7c972d1 drivers/rc_input: ensure RC inversion is disabled initially and latch RC_INPUT_PROTO conservatively 
- this allows jumping straight to a non-SBUS RC protocol
 - increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases.
 - only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds
 2022-05-11 14:30:41 -04:00
Daniel Agar c772e5230f commander: remove compile time dependencies on non-commander parameters 
- this allows builds with mavlink fully disabled
 - move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control
 2022-05-11 10:14:23 -04:00
Daniel Agar a71d101869 ROMFS: delete 3037_parrot_disco_mod airframe 2022-05-10 16:23:20 -04:00
Daniel Agar 42d7fb0b66 ROMFS: delete 3035_viper airframe and mixer 2022-05-10 16:23:20 -04:00
Daniel Agar 61c5d11375 ROMFS: delete 3034_fx79 airframe 2022-05-10 16:23:20 -04:00
Daniel Agar f1a1ed4958 ROMFS: delete 3030_io_camflyer airframe 2022-05-10 16:23:20 -04:00
Daniel Agar b00d0720cd ROMFS: delete 13010_claire airframe 2022-05-10 16:23:20 -04:00
Daniel Agar 451cc5058d ROMFS: delete minimal DJI airframes 2022-05-10 16:23:20 -04:00
Daniel Agar fa1891ace2 ROMFS: delete steadidrone airframes 2022-05-10 16:23:20 -04:00
Daniel Agar af5e903b82 .vscode/.gitignore ignore all log files 2022-05-10 11:39:55 -04:00
Daniel Agar b77bb6d88d Makefile: bootloaders_update add all Matek targets 2022-05-10 11:39:54 -04:00
Daniel AgarandPX4 BuildBot 45e3fad3e0 Update submodule GPSDrivers to latest Tue May 10 12:38:49 UTC 2022 
- GPSDrivers in PX4/Firmware (3ac8fdbe29): https://github.com/PX4/PX4-GPSDrivers/commit/6534b050ee1a48af7932c46a9a87277eed1cc997
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/58968922b718176be8756f11113d16b2cfbc4022
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/6534b050ee1a48af7932c46a9a87277eed1cc997...58968922b718176be8756f11113d16b2cfbc4022

    5896892 2022-04-26 Seppe Geuens - sbf: add heading support (#100)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-05-10 11:38:52 -04:00
Daniel Agar 371a551f05 github actions: add all matek targets and sort 2022-05-10 11:33:01 -04:00
Daniel Agar 73f4c3ea87 Jenkins: compile add all matek targets and sort 2022-05-10 11:32:52 -04:00
Daniel Agar 6d390f393c boards: matek_h743-mini_bootloader fix NuttX CONFIG_ARCH_BOARD_CUSTOM_DIR 2022-05-10 11:28:26 -04:00
Daniel Agar 5778553508 boards: matek_h743_bootloader fix NuttX CONFIG_ARCH_BOARD_CUSTOM_DIR 2022-05-10 11:26:15 -04:00
Daniel Agar a80a74af79 Jenkins: compile update uavcanv1 -> cyphal 2022-05-10 11:23:22 -04:00
Daniel Agar 858292209d boards: px4_fmu-v5_uavcanv0periph disable common differential pressure sensors to save flash 2022-05-10 11:17:24 -04:00
Daniel Agar 15296ab453 cmake: NuttX check that CONFIG_ARCH_BOARD_CUSTOM_DIR is in PX4_BOARD_DIR 2022-05-09 15:23:18 -04:00
Daniel Agar 2e1cdc9e75 boards: modalai_fc-v1 enable dshot on all outputs 2022-05-09 11:31:31 -04:00
Daniel AgarandMathieu Bresciani 7f1bb556e9 Update src/modules/mc_pos_control/MulticopterPositionControl.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-05-04 02:22:18 -07:00
Daniel Agar ad6592f669 mc_pos_control: require current trajectory setpoint to run controller 2022-05-04 02:22:18 -07:00
Daniel Agar 7784cd1f40 boards: mro_ctrl-zero-classic updates to sync with ctrl-zero-h7-oem 2022-04-30 09:40:52 -04:00
Daniel Agar 6fc857772d ekf2: remove unnecessary const references 2022-04-29 21:39:02 -04:00
Daniel Agarandchris1seto a15432fac1 drivers/rc_input: RC_INPUT_PROTO parameter minimal implementation (#19539) 
Co-authored-by: chris1seto <chris12892@gmail.com>

Co-authored-by: chris1seto <chris12892@gmail.com>
 2022-04-27 21:06:43 -06:00
Daniel Agar fc7e979d84 boards: px4_fmu-v5_uavcanv0periph disable modules to save flash 2022-04-26 08:39:19 -04:00
Daniel Agar 7ab9b0c6e2 boards: cubepilot_cubeorange_test disable examples/fake_gps to save flash 2022-04-26 08:39:19 -04:00
Daniel Agar f390f52058 drivers/differential_pressure: remove lib/drivers/airspeed dependency and cleanup 
- split ms4525_airspeed into separate ms4515 and ms4525 drivers
 2022-04-26 08:39:19 -04:00
Daniel Agar d1d15a6f6d differential pressure remove filters from drivers and average in sensors/airspeed 2022-04-26 08:39:19 -04:00
Daniel Agar 258f558fea apply differential pressure calibration (SENS_DPRES_OFF) centrally 
- remove drv_airspeed.h and ioctls
 2022-04-26 08:39:19 -04:00
Daniel Agar d6210d1725 boards: px4_fmu-v6x_default disable common barometers to save flash 2022-04-26 01:43:10 -04:00
Daniel Agar 3d7a6b4021 mc_pos_control: silence invalid setpoint warning when disarmed 2022-04-26 01:37:37 -04:00
Daniel Agar b2bcd2631a boards/diatone/mamba-f405-mk2: disable modules to save flash 2022-04-26 01:08:18 -04:00
Daniel Agar c8d2d83e55 boards: px4_fmu-v2 restore systemcmds/ver needed for board init 2022-04-25 22:47:08 -04:00
Daniel Agar 7bb789cb23 boards: update bootloaders to latest 2022-04-25 22:39:25 -04:00
Daniel Agar d8a57e15b0 boards/mro/ctrl-zero-classic: fix code style 2022-04-25 22:07:32 -04:00
Daniel Agar 248f42f9ec boards/diatone/mamba-f405-mk2: fix code style 2022-04-25 22:07:21 -04:00
Daniel Agar 3d590af115 mc_att_control: only apply quat reset if estimate is newer than setpoint 2022-04-25 21:25:29 -04:00
Daniel Agar 23c89429ac systemcmds/param: set-default should mark parameter active to avoid race conditions 2022-04-25 21:24:18 -04:00
Daniel Agar 980f696023 commander: mag calibration tolerate fit failure if sensor disabled 2022-04-25 12:41:20 -04:00
Daniel Agar 89374b2e1d mavlink: delete Mavlink instance if early startup fails 2022-04-25 12:38:28 -04:00
Daniel Agar 6359c8c008 mavlink: shell expand locking (#19308) 
- on some H7 boards (cuav x7pro tested) there's an occasional hard fault when starting the mavlink shell that is no longer reproducible with the slightly expanded locking
 - this is likely just changing the timing (holding the sched lock for longer), but this should be harmless for now until we can identify the root cause
 2022-04-25 11:53:22 -04:00
Daniel Agar 8df3932d6a icm20948: disable debug output (_debug_enabled=true) 2022-04-24 15:45:51 -04:00
Daniel Agar 503f97c8bc logger: add default ground truth logging for HITL/SITL 2022-04-24 12:45:23 -04:00
Daniel Agar 6f87a4546d platforms/nuttx: cdc_acm_check implement mavlink reboot directly 2022-04-22 21:16:07 -04:00
Daniel Agar 9073f3ccdf px4flow allow delayed background startup 2022-04-22 21:11:02 -04:00
Daniel AgarandPX4 BuildBot 435a474dff Update submodule GPSDrivers to latest Thu Apr 21 12:38:20 UTC 2022 
- GPSDrivers in PX4/Firmware (e9c07fac6f): https://github.com/PX4/PX4-GPSDrivers/commit/ddb1825fe33f517853ca8a3ef75ac6f2df76f613
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/6534b050ee1a48af7932c46a9a87277eed1cc997
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/ddb1825fe33f517853ca8a3ef75ac6f2df76f613...6534b050ee1a48af7932c46a9a87277eed1cc997

    6534b05 2022-04-19 Jonas Perolini - ubx: disable gps heading for in RTK float fix type (#104)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-04-21 11:41:24 -04:00
Daniel Agar 5e05d98fe2 output modules simplify locking for mixer reset and load 
- fixes the deadlock in px4io ioctl mixer reset
   - px4io Run() locks (CDev semaphore)
   - mixer load goes through px4io ioctl MIXERIOCRESET which calls MixingOutput::resetMixerThreadSafe()
   - MixingOutput::resetMixerThreadSafe() stores a Command::Type::resetMixer command in an atomic variable, schedules a work queue cycle, then sleep spins until the command is cleared
   - the execution of the cycle eventually calls back into PX4IO::updateOutputs(), which tries to lock (and waits forever)
 2022-04-19 08:52:17 +02:00
Daniel Agar 2e290345d3 boards: px4_fmu-v5_stackcheck disable unused systemcmds to save flash 2022-04-18 10:01:29 -04:00
Daniel Agar 90e2cab3fa boards: px4_fmu-v5/v5x run default & rtps boards through kconfiglib to cleanup 2022-04-18 09:58:36 -04:00
Daniel Agar 3cdeeb8d64 px4iofirmware: convert most files to c++ 2022-04-17 20:44:30 -04:00
Daniel Agar 3211d0ff19 boards: px4_fmu-v2_multicopter disable lightware_laser_serial to save flash 2022-04-17 18:59:56 -04:00
Daniel Agar d06032d7f3 boards: px4_fmu-v5_uacanv0periph disable systecmds/sd_bench to save flash 2022-04-17 16:04:01 -04:00
Daniel Agar cbc37f9fcd boards: px4_fmu-v6x_default disable systemcmds/sd_bench to save flash 2022-04-14 20:07:28 -04:00
Daniel Agar 3f13c70cae px4io cleanup LED and heater handling 
- most px4_io-v2 boards have a blue LED that breathes for status
 - the pixhawk 2.1 (hex) re-used this blue LED for as an IMU heater (active low), but kept the same board id (so we have to detect at runtime)
 - the new cubepilot boards (yellow, orange) inverted the polarity of this heater pin
 - untangle the mess slightly so that things we know statically (eg cubepilot cubeorange LEDs and heater polarity) are handled at build time.
 2022-04-13 18:43:59 -04:00
Daniel Agar 9c381a60b5 Tools/ecl_ekf: fix vibe_metrics usage (moved to vehicle_imu_status instances) 2022-04-13 10:36:45 -04:00
Daniel Agar b4158c1b48 sensors/vehicle_imu: Integrator use 1 microsecond for minimum DT 
- this is a more realistic minimum for the system
 2022-04-13 10:36:45 -04:00
Daniel Agar d2f1349d1a sensors/vehicle_imu: replace coning metric with actual integrator coning correction (averaged) 
- this saves a relatively expensive higih rate cross product and gives
better visibility into what's actually happening internally
 2022-04-13 10:36:45 -04:00
Daniel Agar 0a0987a6e0 ROMFS: move px4flow start to rc.sensors 2022-04-12 21:22:41 -04:00
Daniel Agar 1d66f2cf83 posix: HRT hrt_lock() sem_wait try again if error returned 2022-04-12 12:46:29 -04:00
Daniel AgarandPX4 BuildBot c30475b04b Update submodule GPSDrivers to latest Tue Apr 12 12:38:56 UTC 2022 
- GPSDrivers in PX4/Firmware (c04e66a890c75f57f5588d669eec45c8da8c3ed5): https://github.com/PX4/PX4-GPSDrivers/commit/ad1094aaf16fcc650b270431a1d0bdcf38e8d89a
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/ddb1825fe33f517853ca8a3ef75ac6f2df76f613
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/ad1094aaf16fcc650b270431a1d0bdcf38e8d89a...ddb1825fe33f517853ca8a3ef75ac6f2df76f613

    ddb1825 2022-03-29 Daniel Agar - ubx: print relevent UBX-MON-VER output

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-04-12 10:12:46 -04:00
Daniel Agar 8166a500ac Update world_magnetic_model to latest Mon Apr 11 11:14:11 UTC 2022 (#19475) 2022-04-12 10:11:51 -04:00
Daniel Agar bb2ea574aa ekf2: properly reset IMU biases on calibration change (non-multi-EKF) 
- this was working in the multi-EKF case using vehicle_imu, but missing
in sensor_combined
 2022-04-11 12:23:55 -04:00
Daniel Agar 8f891332f1 boards: px4_fmu-v2_multicopter disable load_mon to save flash 2022-04-11 12:23:35 -04:00
Daniel Agar 04f37222f8 ekf2: fix IMU missed perf count when not using multi-EKF 2022-04-10 11:07:33 -04:00
Daniel Agar 091fca701e px4io: input_rc only publish new successful decodes 
- previously an invalid decode would continue to be transferred to the FMU (at 50 Hz) and published to the rest of the system as successfully decoded new RC data
 - by only publishing new successful decodes we can more effectively discard invalid data in downstream consumers
 2022-04-09 14:28:16 -04:00
Daniel Agar 77a37c26bf rc_update: further tighten timing requirements for valid data 
- any real RC data input will be much faster than 3 Hz, so this is an
easy way to minimize bogus decoded data from propagating
 2022-04-07 14:42:05 -04:00
Daniel Agar 98623f69a3 update mavlink submodule to latest 
- update MAV_TYPE VTOL usage for current mavlink
 2022-04-07 20:35:41 +02:00
Daniel Agar 6e9c673262 boards: omnibus_f4sd_ekf2 disable frsky telemetry to save flash (and fix build) 
- this isn't great, but our options are limited at the moment and this
can be fixed later once the old mixing system is deleted
 2022-04-05 11:10:33 -04:00
Daniel Agar 8c3ba7adb4 commander: silence GPS no longer validity PX4_WARN 2022-04-04 14:43:11 -04:00
Daniel Agar 803cc6814f boards: px4_fmu-v2_fixedwing disable drivers/camera_trigger to save flash 2022-04-01 11:08:03 -04:00