93eb1266f6
EKF: reset position when stopping GPS use and EV is active
2019-09-18 08:33:40 +10:00
60c9c99dcc
Fix type for division.
2019-09-17 11:08:00 -04:00
18eaeb564d
PMW3901 improvements ( #12977 )
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* PMW3901: use frame count and quality metric
* PMW3901: set qual to 0 for unsuccessful SPI reads
* PMW3901: improve comment for collect_time
* PMW3901: set qual to zero for huge flow values
2019-09-17 10:54:56 -04:00
b4714e2ed2
Don't lose array sizes in copyTo
2019-09-17 15:09:12 +02:00
72e93a9c36
fixed total flight time counting bug
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After landing it can happen that a second take off is detected and then the _takeoff_time is rest, resulting in a wrong total flight time counter. With this fix the flight time is reliably counted from the first take off until the vehicle is disarmed. Normally the vehicle will not spend much time armed after landing, if it does the flight time will be off but this is the same as before this fix. This fix was tested in several flight experiments.
2019-09-17 14:52:27 +02:00
c13835c0f0
replay module split replay_main.cpp into separate compilation units
2019-09-17 14:33:04 +02:00
270e12a4df
VelocitySmoothing: refactor local scope t variables instead of array
2019-09-17 09:27:00 +02:00
da8ac8cafb
VelocitySmoothing - Clean up updateTraj function based on Matthias' comments
2019-09-17 09:27:00 +02:00
b82fa68893
VelocitySmoothingTest - Fix typo and use "zero" instead of "null"
2019-09-17 09:27:00 +02:00
42cedb7fda
VelocitySmoothing - Change direction of "brake" as braking means that
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only the T3 part is required and that the jerk applied during T3 is the
opposite of the one defined by "_direction".
2019-09-17 09:27:00 +02:00
8490266be8
VelocitySmoothing - (Re)set _state_init every time _state is (re)set
2019-09-17 09:27:00 +02:00
654938f6a1
VelocitySmoothing - Cosmetic changes (new lines, reorganize functions),
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regroup both updateTraj functions and edit some comments
2019-09-17 09:27:00 +02:00
0b765a1642
AltitudeSmoothVel - Update to use new implementation of VelocitySmoothing
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Remove jerk reduction (not needed in the new implementation)
2019-09-17 09:27:00 +02:00
862454827e
VelocitySmoothingTest - Test that the trajectory is always within the constraints
2019-09-17 09:27:00 +02:00
8cc2a7018e
VelocitySmoothing - Re-enable time stretch, integrate dt to get local time.
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Also split a few functions into smaller ones for readability, fix
formatting, use geters to get the current state of the trajectory
instead of return arguments.
2019-09-17 09:27:00 +02:00
c7696488fe
VelocitySmoothing - Improve computation of the direction of the trajectory by predicting the velocity at zero acceleration instead of the current velocity
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This helps when the current velocity is smaller than the target but that
the acceleration is too large such that the velocity will overshoot.
Without this check, the algorithm increases the acceleration which leads
to an even larger overshoot.
2019-09-17 09:27:00 +02:00
052932fa95
VelocitySmoothingTest - Update unit test to use the same parameters ordering (time, setpoint) as the VelocitySmoothing class
2019-09-17 09:27:00 +02:00
c13499e64b
test_velocity_smothing - Update test script to use new polynomial evaluation algorithm
2019-09-17 09:27:00 +02:00
a03cc495ce
VelocitySmoothing - Refactor class to use polynomial evaluation instead of numerical integration
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This solves many numerical issues when the trajectory is close to the
primary NE axes (small velocities). It is also more robust when dt is
large and has some jitter.
2019-09-17 09:27:00 +02:00
0c0b261ff2
ubuntu.sh - remove modemmanager
2019-09-17 00:38:14 -04:00
51d2f9f0dc
Remove direct access to internal data
2019-09-16 21:58:32 -04:00
18218c8f9c
Test non-square matrix multiplication ( #91 )
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* Test non-square matrix multiplication
2019-09-16 17:40:25 +02:00
b817e8677d
Add helpers based on Slice: row(), col(), xy()
2019-09-16 16:11:08 +02:00
82d565f4d9
Add support for Slice to Matrix, SquareMatrix, Vector
2019-09-16 16:11:08 +02:00
af1378cc55
Add Slice class
2019-09-16 16:11:08 +02:00
5507f14bb2
Jenkins HIL disable rgbled
2019-09-15 17:17:09 -04:00
ed6c7cc806
cmake remove unused/broken _no_optimization_for_target
2019-09-15 17:16:38 -04:00
251831f7af
cmake px4_add_library remove unused PX4_LIBRARIES property
2019-09-15 17:16:38 -04:00
dc46b6a749
cmake px4_add_module MAIN is always present (required)
2019-09-15 17:16:38 -04:00
fb7521eb5e
cmake px4_base -> px4_parse_function_args
2019-09-15 14:36:38 -04:00
d256fb8770
cmake px4_find_python_module move to standalone file
2019-09-15 14:36:38 -04:00
d27dfcd921
NuttX CMakeLists.txt extract helpers (jlink, upload, etc)
2019-09-15 14:36:38 -04:00
f2189dd045
CMakeLists.txt extract top level helpers (ccache, doxygen, metadata, etc)
2019-09-15 14:36:38 -04:00
d4f984fea5
FlightTaskAutoLineSmooth: Fix comment to be style compliant
2019-09-13 18:10:05 +02:00
47401d1177
AutoLineSmoothVel - Replace min/max absolute constraints with a function named constrainAbs
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This function constrain the absolute value of some value but keeps the original sign.
2019-09-13 17:46:01 +02:00
3c5b24037a
AutoLineSmoothVel - Improve virtual pilot logic that provides velocity setpoints to the trajectory generator.
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Constrain the generated velocities in the NE inertial frame rather than
just constraining the norm.
2019-09-13 17:46:01 +02:00
59f54a7fd8
mathlib - Add FLT_EPSILON deadzone in sign computation
2019-09-13 17:46:01 +02:00
410dd85289
Comment out the ll40ls (LidarLite) driver from the fmu-v2 build.
2019-09-13 11:03:13 -04:00
a26865c279
drivers: set CM8JL65 signal_quality invalid beyond bounds
2019-09-13 10:42:10 -04:00
78279f6587
Unit tests for Obstacle Avoidance interface ( #12816 )
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* FlighTask: remove legacy definition of empty_trajectory_wapoint
* add unit tests for the ObstacleAvoidance interface
2019-09-12 14:37:31 +02:00
267195a11b
EKF: remove check for faulty flag in fake rng
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This removes the check for _rng_hgt_faulty in the decision of publishing
a fake range measurement. The reason for this is that some distance sensors
don't populate the quality flag, even if they are saturated. Hence, if we
are on the ground and not moving, it is safe to publish a fake measurement
of the distance sensor and overwrite the actual sensor data.
2019-09-12 17:45:37 +10:00
933189eac0
EKF: fix rng_faulty flag when sensor is stuck
2019-09-12 17:45:37 +10:00
640e41cba7
EKF: change rangeSample quality to int8_t
2019-09-12 17:45:37 +10:00
a12186c285
terrain_estimator: introduce quality metric in rng
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This commit introduces a quality measure in the range data. It is
used to properly decide whether to initialize the HAGL estimate on
sensor data or MIN_HGT parameter, as well as in the decision of
whether a 'fake' measurement should be published on the ground to
allow for optical flow take-offs.
2019-09-12 17:45:37 +10:00
3e05fd552e
EKF: Compensate for bad range finder data when on ground
2019-09-12 17:45:37 +10:00
39451b811a
Do syscall for time once, outside of loop
2019-09-11 12:34:59 -04:00
b27d6a958a
Account for the time since range data arrived
2019-09-11 12:34:59 -04:00
94ef585f76
Link to missing params docs
2019-09-11 09:17:00 -04:00
fd10220a34
Ubuntu.sh: check for requirements.txt
2019-09-11 09:15:44 -04:00
6277710fac
Github actions simple cpp build
2019-09-10 17:07:51 -04:00
Jan Brehmer