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Author SHA1 Message Date
Jaeyoung-Lim 16b1b220fd Fix roslaunch multivehicle regression caused by #16497 2021-01-12 21:19:36 +01:00
Beat Küng daaf8b61dc drivers: remove ism330dlc 
not used anymore
 2021-01-12 09:55:59 -05:00
Beat Küng 9f5dee2ecf v5x/v6x: update IMU sensors (remove ISM330DLC) 2021-01-12 09:55:59 -05:00
Daniel Agar 48f125f150 estimated IMU bias preflight checks 
- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
 - ekf2 publish estimated bias limits in estimator_sensor_bias
 - preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
 2021-01-12 09:09:42 +01:00
TSC21 7c95e99156 tools: make sure that uORB type names found as part of field names are not capitalized as ROS types 2021-01-12 09:05:59 +01:00
Daniel Agar cb74cb8692 boards: enable CONFIG_ARMV7M_LAZYFPU everywhere 2021-01-12 09:04:38 +01:00
Daniel Agar abec2bd8df msg: estimator_status_flags shorten fields 
- previously this message exceeded the logger total field length (1500 bytes)
 2021-01-11 11:49:51 -05:00
Daniel Agar 04f9ada500 ekf2: selector improve fallback selection when the primary becomes unhealthy 
- if an ekf instance becomes unhealthy prefer switching to the next best healthy instance on a different IMU
 2021-01-11 09:38:26 -05:00
Daniel Agar 967d35a6b6 rate limit most parameter_update subscriptions 
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
 - limit modules from updating faster than once per second
 2021-01-10 21:09:15 -05:00
Daniel Agar 70e503cb91 rotation: use Dcmf for all rotations that aren't direct swaps 
- increase optimization to ${MAX_CUSTOM_OPT_LEVEL} (max per board)
 2021-01-10 18:08:41 -05:00
TSC21 06b733bb86 msg: rtps: improve verbosity when the the client is not capable of parsing a specific ID 2021-01-10 22:22:22 +01:00
TSC21 3f1c303b16 msg: rtps: improve verbosity when the the agent is not capable of parsing a specific ID 2021-01-10 22:22:22 +01:00
bazooka joe 9b9163813d avoid re-initiate RTL or land in battery emergency 
if the mode is already running
 2021-01-10 21:19:52 +01:00
Nicolas de Palezieux 6260c164e7 fmu v4: make starting mavlink on WIFI port configurable and make it start by default 2021-01-10 21:16:02 +01:00
Nicolas de Palezieux 653b7c0007 fmu v4: add option to run DShot telemetry on UART usually used for the ESP WIFI module 2021-01-10 21:16:02 +01:00
Matthias Grob 3cc8e7a210 commander_params: Make multicopter only COM_RC_OVERRIDE more visible 2021-01-10 21:12:09 +01:00
TSC21 cef3d36af2 simulator: delete PublicationMulti ptrs for sensor_gps 2021-01-10 19:58:54 +01:00
Daniel Agar f73d93ef6c ekf2: selector improve status reporting 
- publish estimator_selector_status at minimal rate or immediately on change
 - log all estimator_selector_status updates
 2021-01-10 19:25:53 +01:00
Matthias Grob 2fc212e064 geofence_params: clarify EKF vs baro altitude source 2021-01-10 18:40:58 +01:00
Hamish Willee d5c8d0a233 GF_ALTMODE: Update in line with Lorenz feedback 2021-01-10 18:40:58 +01:00
Hamish Willee d43444fce7 geofence: GF_ALTMODE clarification 2021-01-10 18:40:58 +01:00
Muesli_Reep fe7908feb0 Simulator: Added remote host option (#15443) 
* Added an option to the Simulator module to connect to remote Gazebo servers.

This is usefull when the Gazebo simulation is running on a different host than the PX4 instance.
For example, we are running instances of PX4 with a companion application in multiple Dockers, for swarming simulations, which then connect to a remote Gazebo server.

A "-t" input argument has been added and can be called from the rcS startup script as: simulator start -t "192.168.178.122" $simulator_tcp_port

* _tcp_remote_ipaddr defaults to nullptr. This way testing against nullptr it can be determined if localhost or remote host is desired by the user.
* Documented the option in usage().

Signed-off-by: Peter Blom <peterblom.mail@gmail.com>
 2021-01-10 18:37:37 +01:00
Daniel Agar 763c3b8fda boards: start enabling multi-EKF by default on F7/H7 2021-01-10 17:56:34 +01:00
Jaeyoung-Lim b3257c0bf2 Support relative altitude for offboard global position setpoints 
Previously the coordinate_frame flag for setpoint_target_global_int message was not handled, resulting in the vehicle to not handle altitude correctly. This commit handles the relative altitude correctly.
 2021-01-10 17:54:53 +01:00
Daniel Agar 662f177830 ekf2: multi instance numbering consistent with uORB publication instances 2021-01-09 13:20:26 -05:00
Daniel Agar c3fc96fd42 uORB::PublicationMulti add get_instance() 2021-01-09 13:20:26 -05:00
PX4 BuildBot 0398a936e3 Update submodule ecl to latest Sat Jan 9 16:06:23 UTC 2021 
- ecl in PX4/Firmware (c6af260a41): https://github/commit/c212975abe83bf462bc512288ba30358f9a17865
    - ecl current upstream: https://github/commit/99575d73e10aad06eb7d5b6415ea2db4151c5045
    - Changes: https://github/compare/c212975abe83bf462bc512288ba30358f9a17865...99575d73e10aad06eb7d5b6415ea2db4151c5045

    99575d7 2021-01-09 Paul Riseborough - EKF: Add bad accel bias checking for EV and range finder height use cases
ff3c0a6 2021-01-08 Paul Riseborough - EKF: Fix bug preventing recovery from bad delta velocity bias estimates
c25c97f 2021-01-08 priseborough - [AUTO COMMIT] update change indication
9641810 2021-01-08 Paul Riseborough - test: Allow for larger vel variance growth due to dvel bias variance
1b1c049 2021-01-08 Paul Riseborough - test: Update unit test to match expected behaviour
dd259a2 2021-01-07 Paul Riseborough - EKF: Don't modify accel bias states and variances when inhibited
3e1f2d8 2021-01-07 Paul Riseborough - EKF: Set dvel bias variance to stored value when state is inactive
 2021-01-09 12:57:25 -05:00
Daniel Agar c6af260a41 log_message increase queue depth 2->4 2021-01-09 11:04:32 -05:00
Paul Riseborough 99575d73e1 EKF: Add bad accel bias checking for EV and range finder height use cases 2021-01-09 11:03:31 -05:00
Paul Riseborough ff3c0a6136 EKF: Fix bug preventing recovery from bad delta velocity bias estimates 2021-01-09 11:03:31 -05:00
priseborough c25c97f8b5 [AUTO COMMIT] update change indication 2021-01-09 11:03:31 -05:00
Paul Riseborough 96418101e1 test: Allow for larger vel variance growth due to dvel bias variance 2021-01-09 11:03:31 -05:00
Paul Riseborough 1b1c049e81 test: Update unit test to match expected behaviour 2021-01-09 11:03:31 -05:00
Paul Riseborough dd259a288f EKF: Don't modify accel bias states and variances when inhibited 2021-01-09 11:03:31 -05:00
Paul Riseborough 3e1f2d8674 EKF: Set dvel bias variance to stored value when state is inactive 2021-01-09 11:03:31 -05:00
Jaeyoung-Lim d42e57a066 Update sitl_gazebo to latest 
This PR updates sitl_gazebo to latest
 2021-01-08 21:33:22 -05:00
Daniel Agar b9a721726d sensors/vehicle_magnetometer: respect calibration offset update success 
- the magnetometer calibration offset setter returns false if the new offset change is negligible
 2021-01-08 15:34:48 -05:00
Mohamed Abdelkader Zahana 80dd841cad Update launch files to enable multi-video stream in SITL (#16497) 
* Update launch files to support multi-video stream in SITL

* Pass extra args to jinja_gen.py inside gazebo_sitl_multiple_run.sh to enable multi-video streaming
 2021-01-08 19:29:47 +01:00
Silvan Fuhrer 706f806943 VTOL: standard VTOL and Tiltrotor manual MC throttle during transition 
This sets the throttle of the Multicopter actuators to the throttle stick position
while in Stabilized, Acro or Manual mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-08 10:28:00 +01:00
xdwgood 802c68a62e Do not run transition flight task when not enable altitude control 2021-01-08 10:28:00 +01:00
Daniel Agar bf330a51b2 sensors/vehicle_magnetometer: reduce offset update message length to fit 2021-01-08 01:22:31 -05:00
Thies Lennart Alff eb60479e4c UUV introduce param to skip controller (#15706) 
* added skip_ctrl param to uuv

* fixed formatting
 2021-01-08 06:50:40 +01:00
PX4 BuildBot 064511c2df Update submodule flightgear_bridge to latest Fri Jan 8 00:39:45 UTC 2021 
- flightgear_bridge in PX4/Firmware (168468c12a): https://github.com/PX4/PX4-FlightGear-Bridge/commit/44b51d5b1ccc6679e82090e24177ed73a3d4f5de
    - flightgear_bridge current upstream: https://github.com/PX4/PX4-FlightGear-Bridge/commit/7c2c623da9f5dcb3f01d32830af1a2ed958de363
    - Changes: https://github.com/PX4/PX4-FlightGear-Bridge/compare/44b51d5b1ccc6679e82090e24177ed73a3d4f5de...7c2c623da9f5dcb3f01d32830af1a2ed958de363

    7c2c623 2021-01-06 slimonslimon - Switch Ign-math to Eigen3 (#5)
 2021-01-07 21:21:02 -05:00
PX4 BuildBot 168468c12a Update submodule ecl to latest Thu Jan 7 12:50:52 UTC 2021 
- ecl in PX4/Firmware (c999734463c9b23c6b56670d5242ca4496f9e6ef): https://github/commit/03fed323ab950125114eb34309d3a79119e572ee
    - ecl current upstream: https://github/commit/c212975abe83bf462bc512288ba30358f9a17865
    - Changes: https://github/compare/03fed323ab950125114eb34309d3a79119e572ee...c212975abe83bf462bc512288ba30358f9a17865

    c212975 2021-01-06 bresch - rng height: reset to baro using common logic
 2021-01-07 12:08:21 -05:00
Daniel Agar 88f8da27ef save learned mag bias per sensor (Multi-EKF support) 
- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
 - this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
 - ekf2 reset mag mag bias on any magnetometer or calibration change
 - use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-01-07 09:54:13 -05:00
Matthias Grob 537ee5b19b FlightTaskOrbit: smooth yaw like in missions 2021-01-07 13:31:05 +01:00
Matthias Grob 44606ca872 FlightTaskOrbit: further simplify circling yaw setpoint calculation 
The whole angle adding and pi wrap was just necessary because the
correct atan2 arguments were never completely thought through.
 2021-01-07 13:31:05 +01:00
Matthias Grob f435bea57c state_machine_helper: orbit failsafe just with data link loss 
RC is like the comment says not required.
 2021-01-07 13:31:05 +01:00
Matthias Grob 6b8fa417e1 SlewRate: Add SlewRateYaw handling [-pi,pi] wraps 2021-01-07 13:31:05 +01:00
bresch c212975abe rng height: reset to baro using common logic 
The failsafe from rng height to baro height should occur after a reset
to baro triggered by the controlHeightSensorTimeouts function and not in
the fusion selector.

Until now, the EKF was fusing baro measurements between rng updates if
the range finder ODR was slower than the EKF update rate. This is not
the case anymore as the height reset occurs after 5 seconds.

The unit test has been extended to show this behavior.
 2021-01-07 10:07:57 +01:00