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Author SHA1 Message Date
Paul Riseborough fabd216ca5 EKF: Documentation edits 2019-03-13 08:14:23 +11:00
CarlOlsson 8d6e8ae078 EKF: update get_mag_decl_deg() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
CarlOlsson 2b17ced405 EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
mcsauder 2ae2331c15 Delete extra newline character in qmc5883/CMakeLists.txt to quiet git hook. 2019-03-12 14:59:08 -04:00
Beat Küng 509189ea95 uorb top: add 'uorb top -1' to run only once 2019-03-12 12:33:23 -04:00
Beat Küng 6672284871 commander: fix status init & some status update changes 2019-03-12 11:24:33 +01:00
Claudio Micheli 697566177c Commander: Properly initialized another boolean variable. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 908cdaa574 Onboard controller loss parameter cleanup. 
Since Timeout from onboard controller is something that does not require a lot of modifications there is no sense to having it parametrized.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli cd47cefb03 Some more code cleanup. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 59cf9a1dd4 telemetry_status: Changed "type" comment. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli fb990d7de3 Removed subscribtion to multiple _telemetry_status instances. 
Since commander handles all telemetry_status the same there is no need to subscribe to multiple instances.


Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli a53594135b Commander: changed "datalink regain" logic. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli ca53217175 removed stm discovery board. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 13f3ee4c82 state_machine_helper: (Critical) Prevent datalink failsafe triggering if not enabled. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 788e28fbb1 Commander: datalink heartbeat variables refactoring. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 32e4baf6a0 Commander: some more cleanup. 2019-03-12 11:24:33 +01:00
Claudio Micheli a84a1e1b5a Commander: mavlink messages cleanup. header variables refactoring. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli b85cceebe9 mavlink_receiver: Ignore heartbeats coming from other vehicles. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 14415b29c1 Removed hardcoded onboard controller timeouts thresholds. 
Added COM_ONB_LOSS_T and COM_ONB_REG_T parameters to specify thresholds that triggers "onboard link lost" and "onboard link regained".


Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 156317e546 Fixes for ONBOARD Controller lost & regain. 2019-03-12 11:24:33 +01:00
Claudio Micheli f44c690b33 Modified COM_DL_REG_T parameter description. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 1fc055a51f Fixed some issues for datalink loss & regain (GCS HEARTBEAT). 
Major changes:
- Prevent  "HIGH LATENCY DATA LINK LOST" message to appear if iridium telemetry is not used.
- Prevent "DATA LINK LOSS" mavlink messages flooding when QGC is open and then closed.
- Changed "DATA LINK REGAINED" condition (use _datalink_last_heartbeat_gcs insthead of _datalink_lost)



Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
baumanta d8bdc1b367 output a message if a previously lost connection is regained 2019-03-12 11:24:33 +01:00
baumanta d42b9205f9 Rename parameter MPC_OBS_AVOID to COM_OBS_AVOID and change the location to commander. 2019-03-12 11:24:33 +01:00
baumanta f42b378b9b Also activate navigator for 32f4discovery board 2019-03-12 11:24:33 +01:00
baumanta b0024a1555 activate mc_pos_ctrl module to be able to access MPC_OBS_AVOID parameter 2019-03-12 11:24:33 +01:00
baumanta a98f5d2ab2 suggestion for treating obstacle avoidance heartbeats 2019-03-12 11:24:33 +01:00
Daniel Agar 6dec451bab HEARTBEAT and commander failsafe handling cleanup 2019-03-12 11:24:33 +01:00
CarlOlsson 1d91785a8e EKF: correct quaternion order 2019-03-12 19:07:55 +11:00
CarlOlsson 000aa0de5d EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter() 2019-03-12 19:07:55 +11:00
CarlOlsson 96c5c14041 EKF: Change the EKF initialization to 
1) init tilt
2) init yaw
3) init tilt uncertainty
4) init yaw uncertainty

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson ea259d358d EKF: initialize the newest attitude estimate to a valid quaternion 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 6cf512f103 EKF: Also update the newest and oldest quaternion estimate in 
alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 78122b20a6 EKF: fix the rotation direction of the buffered attitude solutions 
in alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 56b6b7a778 EKF: cleanup use of _mag_filt_state 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 37339de57c EKF: remove unused variable 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
Matthias Grob f794ee0c8a FlightTaskManualAltitude: add slow upwards start 
when still close to ground
 2019-03-11 20:09:45 +01:00
Matthias Grob 63a6ab34f7 FlightTaskManualAltitude: slow down when landing manually 2019-03-11 20:09:45 +01:00
Vasily Evseenko f8c50f442f Fix RSSI in on FMUv4 (pixracer) 2019-03-11 10:55:57 -07:00
mcsauder 2773fe6a54 Deprecate _hil_frames and _old_timestamp member vars and dead logic from MavlinkReceiver class. 2019-03-11 08:03:37 +01:00
BazookaJoe1900 8947cb5841 FlightTaskAuto: removed non used _getMaxCruiseSpeed 2019-03-10 11:17:21 -04:00
Anthony Lamping a9fc04b2f9 CI: SITL test run: select ROS version based on env variable 2019-03-09 16:26:37 -05:00
Daniel Agar d085afdf3a Jenkins re-enable Catkin and Colcon builds 2019-03-09 15:38:15 -05:00
mcsauder 1f65887982 Migrate a few more var initializations from the Mavlink class constructor list to the respective declarations. 2019-03-09 14:53:24 -05:00
Todd Stellanova 6c759e0e9f Initial unit tests for DataValidator (#588) 2019-03-09 14:47:13 -05:00
mcsauder 7b3482adf0 Whitespace formatting in mavlink_main.cpp/h and begin work of some variable initialization at declaration in mavlink_main.h. 2019-03-09 13:32:26 -05:00
Daniel Agar a8808cc5cd Jenkins update SITL tests coverage to correct base container 2019-03-09 13:08:34 -05:00
Nuno Marques 4e0e68e905 Ekf: add more useful methods to interface with the covariances (#543) 2019-03-09 11:57:35 -05:00
Anthony Lamping 84c52439e9 jenkins: update all image tags to 2019-03-08 2019-03-08 23:17:06 -05:00
mcsauder cb49ed55fe Delete unnecessary #includes from mavlink_main.cpp and relocate a few #defines to mavlink_main.h for future variable initialization work. 2019-03-08 22:10:11 -05:00