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Author SHA1 Message Date
Beat Küng
cd2bb14f9b stm32h7/micro_hal.h: add RCC_APB1ENR_TIM4EN 2022-01-17 10:41:33 -05:00
Berker Canatar
9249d3ae3d Update current year in LICENSE 2022-01-17 08:10:57 +01:00
Silvan Fuhrer
0ce44cebb7 WindEstimator: use vehicle heading instead of ground course for initialisation 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 17:42:01 -05:00
Silvan Fuhrer
1a4b2b37bb AirspeedValidator: remove unused variable _tas_gate 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 17:42:01 -05:00
Thomas Stastny
3b6c9448aa npfg: fix format CMakeLists 2022-01-14 22:05:53 +01:00
Thomas Stastny
13c36155ce fw_pos_ctrl: allow npfg to operate without wind estimate, dont switch controllers 2022-01-14 22:05:53 +01:00
Thomas Stastny
082e320191 integrate optional NPFG library for wind-aware fixed-wing guidance 2022-01-14 22:05:53 +01:00
Beat Küng
66cbbf9f2e control_allocator: use 'bidirectional' to clarify reversible motors 2022-01-14 12:18:29 -05:00
Beat Küng
9ca58f5e97 actuator outputs: always add reverse range param 
and remove the possibility to set min > max to reverse.

Initially the idea was to add the checkbox on the UI side, to avoid adding
another param, but I don't think I'll go through the extra effort on the
QGC side.
 2022-01-14 12:18:29 -05:00
Daniel Agar
98a9748bb8 drivers/dshot: use uORB::PublicationMulti for ORB_ID(esc_status) 
- there can be multiple different outupt modules publishing esc_status (eg dshot & uavcan)
 2022-01-14 12:17:49 -05:00
Daniel Agar
81ecd130fc uavcan: ESC publish esc_status in callback instead of timer 
- this ensures every ESC status gets published with minimal latency
 - also prevents publishing ORB_ID(esc_status) when there's no actual
data (bug)
 2022-01-14 12:17:49 -05:00
David Sidrane
25099ce11f fmurt1062-v1:Added GPS driver dropped in move to boardconfig 2022-01-14 07:04:06 -08:00
Julian Oes
651702c2c1 setup: don't install ccache 
I don't think the PX4 setup script should decide whether a user is to
use ccache or not. Anecdotally, I've heard from some in the dev team
that they are not using it themselves, so I don't think there is a good
basis to push it onto others.

That being said, we can of course still use ccache as part of the CI
builds nevertheless.
 2022-01-14 10:01:23 -05:00
Roman Bapst
dc6067ed12 Update src/modules/fw_att_control/fw_att_control_params.c 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 16:34:44 +03:00
RomanBapst
34bb671a73 improve parameter descriptions for fw maximum/minimum roll/pitch angles 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-01-14 16:34:44 +03:00
RomanBapst
555ee371e8 FixedWingPositionControl: consistently use the same roll and pitch angle 
limits for autonomous and semi-autonomous modes (altitude & position control)

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-01-14 16:34:44 +03:00
Thomas Stastny
f8c2ee73db handle line segment termination in navigator 
- if following line segment (fixed-wing position control) switch waypoint when in acceptance radius OR passed the second waypoint. this handles the case of being beyond the second waypoint but not within the acceptance radius without the need to fly back to the waypoint (e.g. after a loiter up to waypoint alt)
- sync navigator and fw pos ctrl waypoint acceptance altitude
 2022-01-13 13:43:02 +01:00
Claudio Micheli
8a01135a93 Commander: more changes to use events with escs and battery failures 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2022-01-13 08:40:34 +01:00
Claudio Micheli
d122513197 extend support for Battery status message 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2022-01-13 08:40:34 +01:00
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
463513f31f Jenkins: hardware disable auto cal before on board tests 2022-01-11 11:47:02 -05:00
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
6ed48ad0c0 ROMFS: Remove now unused variable 2022-01-10 23:04:10 -05:00
Julian Oes
b52972f3f8 ROMFS: remove duplicate startup tune 
This must have come back in a rebase.
 2022-01-10 23:04:10 -05:00
Julian Oes
1baecf07ad Mantis: remove startup tune volume 
Let's just leave it at the default like the rest of the beeps.
 2022-01-10 23:04:10 -05:00
Julian Oes
38439256e5 Mantis: move MIXER vars to airframe init 
The two were actually conflicting and are now consolidated.
 2022-01-10 23:04:10 -05:00
Julian Oes
14fb019821 Mantis: move SYS_DM_BACKEND to board_defaults 
Otherwise it is set too late and not used during startup.
 2022-01-10 23:04:10 -05:00
Julian Oes
feb2987fa8 Mantis: remove unused transition script 
When coming from the previous stack there are no params anywhere, so
this will not execute anyway.
 2022-01-10 23:04:10 -05:00
Julian Oes
a061d7a02a Mantis: use dataman in RAM 2022-01-10 23:04:10 -05:00
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
372a0da987 Mantis: move upload.sh into boards/atl/mantis-edu 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
0ffdccbd60 Mantis: Add MPC2520 again 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
8331339927 atl_mantis: update bootloader binary again 
This includes the fix which disables the UART overrun.
 2022-01-10 23:04:10 -05:00
Julian Oes
b1a1e4913b Mantis: rotate flow by 180 degrees 
This seemed to be exactly inverted.
 2022-01-10 23:04:10 -05:00
Julian Oes
28d69d3285 Mantis: fix throttle RC calibration 2022-01-10 23:04:10 -05:00
Julian Oes
b92aa92bec Mantis: fix mixer loading 
The ordering before did not work out, and without the sleep it fails.
 2022-01-10 23:04:10 -05:00
Julian Oes
06b5b58b3b Mantis: increase Tx buffer to with gimbal->camera 
This way log streaming works with much less drops.
 2022-01-10 23:04:10 -05:00
Julian Oes
11b60904c3 Mantis: use lower log streaming rate 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
f3a278dce5 Mantis: add comment about boot order. 
The boot order is now:
1. The PX4 bootloader boots, and starts the camera.
2. The camera starts and sends the boot command to the PX4 bootloader.
3. PX4 starts.
 2022-01-10 23:04:10 -05:00
Julian Oes
ecfc7cc24f Mantis: set bootloader timeout to 180 seconds 
The first byte 0xb4 is 180. This number is read by the bootloader.
 2022-01-10 23:04:10 -05:00