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Author SHA1 Message Date
Matthias Grob
8525a8e520 FlightTaskAuto: fix typo pos(i)tion 2022-01-25 11:45:31 +01:00
Thomas Debrunner
4671a741dc FlightTaskOrbit: Do not switch out of circle orbit control logic on radius change. 2022-01-25 11:45:31 +01:00
Beat Küng
bbc2b703c3 mavsdk_tests: update catch2 to 2.13.8 
Fixes this issue on Fedora: https://github.com/catchorg/Catch2/issues/2178
 2022-01-24 16:16:29 -05:00
Daniel Agar
8d03e71c16 drivers/magnetometer/bosch/bmm150: init and self test improvements 
- if self test fails consistently proceed with startup, but report failure
 2022-01-24 16:16:03 -05:00
Daniel Agar
8217e0f335 drivers/magnetometer/bosch/bmm150: add self test fail perf counter to status 2022-01-24 13:06:32 -05:00
Daniel Agar
5ded1aedcb sensors/vehicle_angular_velocity: add IMU_GYRO_DNF_HMC to configure number of ESC RPM notch filter harmonics 2022-01-24 09:23:03 -05:00
SungTae Moon
4c6e746360
uorb graph: fix the link problem for multi topics (#19062) 2022-01-24 09:18:21 +01:00
Jaeyoung-Lim
ee98a3336d Spawn at different height for multivehicle simulation 
This commit fixes the spawn location of the multivehicle gazebo sitl script
 2022-01-23 17:59:42 -08:00
Daniel Agar
07e6c274d5 uavcan/uavcannode: bridge LogMessage and PX4 ORB_ID(log_message_s) 2022-01-23 20:21:39 -05:00
PX4 BuildBot
ed28b216c7 Update submodule sitl_gazebo to latest Sat Jan 22 12:38:57 UTC 2022 
- sitl_gazebo in PX4/Firmware (6203ad25c70f197cfe6a4614e3f02fb927725239): 27298574ce
    - sitl_gazebo current upstream: 831aa36fea
    - Changes: 27298574ce...831aa36fea

    831aa36 2021-10-09 Shaochang Tan - fix imu noise model.
 2022-01-22 12:24:49 -05:00
PX4 BuildBot
6203ad25c7 Update submodule mavlink to latest Sat Jan 22 00:39:17 UTC 2022 
- mavlink in PX4/Firmware (a16a8dceb1b2d234ae963c74621c147f521abce9): 3d8092006e
    - mavlink current upstream: 51abf3c82b
    - Changes: 3d8092006e...51abf3c82b

    51abf3c8 2022-01-21 Julian Oes - Component information: add note (#1785)
f5694b29 2022-01-19 Julian Oes - component_info: re-use protocol capabilities (#1786)
 2022-01-21 23:10:05 -05:00
Beat Küng
92769bd2b2 dshot: remove BOARD_DSHOT_MOTOR_ASSIGNMENT & handle timer channel gaps 2022-01-21 20:41:15 -05:00
Daniel Agar
4de9c598fa bmm150: retry probe up to 3 times 2022-01-21 15:51:43 -05:00
David Sidrane
a11fe60135 imxrt:ADC extend timeout 2022-01-21 13:07:44 -05:00
Daniel Agar
7cb8ed3a1f sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats 2022-01-21 09:18:49 -05:00
JaeyoungLim
0607982b23
Publish orbit status also when the waypoint is a loiter waypoint (#19048) 
* Publish orbit status also when the waypoint is a loiter waypoint

* Remove redundant orbit status publishing
 2022-01-21 09:13:03 +01:00
Beat Küng
bcd057ac3e uORB: fix copy-paste mistake in orb_print_message_internal 
Could have led to invalid memory access.
 2022-01-20 12:58:20 -05:00
bresch
a2260e53da ekf2: replace yaw failure detection criteria 
The existing logic using the angle between velocity vectors failed to
determine a yaw failure in practice because the state velocity is often
too small compared to its uncertainty to be used. In all the failures
reported, the yaw emergency estimator converged properly and yaw reset
would have fixed the issue.
A much simpler check using the yaw difference between the main EKF
and the emergency estimator is now used to tell if the vel/pos update
failure is most likely caused by a wrong heading.
 2022-01-20 11:54:24 +01:00
Daniel Agar
446729566d platforms/nuttx: px4io_serial always cleanup DMA before next bus exchange 
- this really shouldn't be necessary, but worst case it's harmless and
much better than potentially falling out of the sky
 2022-01-19 18:00:18 -05:00
Jaeyoung Lim
0dea56f88b Use current_sp for publishing orbit status 2022-01-19 12:00:03 -05:00
Jaeyoung-Lim
dec5e7e9c8 Publish orbit status whenever the vehicle is in loiter 
This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint
 2022-01-19 12:00:03 -05:00
Thomas Stastny
19c98b8841 npfg: fix typo in Vector2f indexing 2022-01-19 11:17:44 -05:00
bresch
e89e3c1b0c ekf2: extract logic to test yaw emergency estimate quality 2022-01-19 09:05:41 -05:00
bresch
ea80c5027e ekf2: split yaw estimator state getter into several functions 2022-01-19 09:05:41 -05:00
dagar
476c1e5c09 [AUTO COMMIT] update change indication 2022-01-19 09:04:53 -05:00
bresch
ffebd8e771 ekf2: initialize cos tilt variable assuming no tilt 2022-01-19 09:04:53 -05:00
Daniel Agar
92a5bbe97f ekf2: improve ring buffer sizing and dynamically allocate 2022-01-19 09:04:53 -05:00
Daniel Agar
36605bfff6 sensors: lower SENS_MAG_RATE default 
- reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4)
 2022-01-19 08:51:57 -05:00
Matthias Grob
c9f7c20d46 MulticoperPositionController: time failsafe messages together 
The following output instead of printing the
action "stop and wait" just once:

WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
 2022-01-19 14:31:19 +01:00
Matthias Grob
d4e356a1ac PosititionControl: fix integrator windup with invalid setpoint 2022-01-19 14:31:19 +01:00
Matthias Grob
8811482f1d PositionControlTest: add integrator windup with invalid setpoint combination unit test 
This bug was by chance found during simulation testing and debugging.
The unit test is to easily reproduce and cover this case.
 2022-01-19 14:31:19 +01:00
Silvan Fuhrer
632dfa55e6 FW Pos C: add option to disable airspeed setpoint via stick input 
-rename FW_POSCTL_INV_ST to FW_POS_STK_CONF and make bitmask out of it:
  - bit 0: alternative mapping (height rate on throttle stick, airspeed on pitch)
  - bit 1: enable/disable airspeed setpoints via stick

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 10:13:07 +01:00
Silvan Fuhrer
cbb8c90245 ControlAllocation: fix calculation of roll/pitch normalization scale 
Take into account the actual number of roll and pitch acutators,
instead of assuming that all actuators have a roll/pitch component.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 08:22:12 +01:00
Silvan Fuhrer
0950bb81ab ControlAllocation: update normalization scale only if matrix updated is forced 
The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 08:22:12 +01:00
CUAVmengxiao
258a563dd5 barometer: Add ICP10100 and ICP1011 2022-01-18 19:14:40 -05:00
FARHANG
fe44e281e5
ROMFS: Holybro X500 v2 airframe addition 2022-01-18 15:11:41 -05:00
Daniel Agar
dd6b7fa98f sensors: switch status PX4_INFO -> PX4_INFO_RAW 2022-01-18 15:00:18 -05:00
Daniel Agar
b1d2a0cc4e sensors: simplify timestamp data validator handling 2022-01-18 14:57:18 -05:00
Daniel Agar
8067207ea6 px4_work_queue: rename serial port WQs 2022-01-18 14:56:15 -05:00
bresch
953c90d3a6 failure detector: change imbalanced propeller metric 
Use standard deviations instead of variances to get a linear metric
 2022-01-18 12:24:35 -05:00
bresch
408cf011b2 failure detector: fix dt computation 2022-01-18 12:24:35 -05:00
Daniel Agar
7eee949a81
Jenkins: hardware tolerate irrelevant uorb status failure 2022-01-18 12:23:05 -05:00
Daniel Agar
548b7d5ece sensors/vehicle_imu: on calibration change don't resume in flight calibration learning immediately 2022-01-18 11:22:41 -05:00
Daniel Agar
ece09064c4 parameters: perform verification pass twice 
- on NuttX with MTD storage this is to ensure we are verifying what's
actually stored on ramtron or eeprom, not just what's cached by bchlib
 2022-01-18 09:47:28 -05:00
alexklimaj
cdb6a437a0 Fix UAVCAN beep not started 2022-01-17 21:49:53 -05:00
PX4 BuildBot
0bb9cce1ce Update submodule mavlink to latest Tue Jan 18 00:39:07 UTC 2022 
- mavlink in PX4/Firmware (37e04f56da3916dcb518eeba66b0888db1cd8c32): 75204adad2
    - mavlink current upstream: 3d8092006e
    - Changes: 75204adad2...3d8092006e

    3d809200 2022-01-14 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION - mark as reserved capability (#1775)
68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
 2022-01-17 21:36:02 -05:00
Julian Oes
be9385ef06 cmake: use at least 1 core to build SITL 
If we use -j 0, ninja fails with invalid argument.
 2022-01-17 17:07:31 -05:00
Daniel Agar
2fb82789fe lib/wind_estimator: pass q_att as const reference 2022-01-17 16:59:28 -05:00
Beat Küng
4cbee44220 rc.mc_defaults: only set IMU_GYRO_RATEMAX if default 
Allows boards to set a higher rate.
 2022-01-17 10:41:33 -05:00
Beat Küng
425b268feb boards: add holybro/kakuteh7 
known issues:
- flash-based params does not work on H7 (due to ECC), so params are on
  SD card. The last flash sector is still reserved however.
- output channel 6 does not support DShot (the implementation does not
  handle channel gaps)
- flashing of the 2. flash bank is much slower (around 3x), than the 1.
  bank for some unknown reason.
- after the BL jumps to the app, there's several seconds passing until
  stm32_boardinitialize() is called.
 2022-01-17 10:41:33 -05:00