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Author SHA1 Message Date
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
dlwalter 77ab9b617e QMC5883 Magnetometer Driver (#11140) 2019-03-08 22:04:43 -05:00
Matthias Grob 56b069956d slice test: fix trailing whitespace style 2019-03-08 20:20:08 +01:00
Oskar Weigl 5ccfa74c72 Fix const error 2019-03-08 19:17:40 +00:00
Oskar Weigl eea6b59973 Implement slice as copy loop 2019-03-08 19:17:40 +00:00
Oskar Weigl 93375fbd3c Fix copy-paste error 2019-03-08 19:17:40 +00:00
Oskar Weigl 5872bbc28c Add slicing tests that are not pure row slicing 
I had a look at the implementation of `slice`, and I found it odd that it doesn't have a copy loop. The current implementation does a raw memcpy of the underlying contiguous row-major data. As far as I can tell, this could only slice along rows. Interestingly, I found that the tests only tested for slicing along rows, so this bug would go unnoticed.

I added some tests that checks slicing along columns also. I have a feeling this would break, and we need to fix the implementation of `slice`. However I could be wrong, and hence I'm submitting these tests first to verify.
 2019-03-08 19:17:40 +00:00
Beat Küng 505b1aca2c lockstep_scheduler: work around a potential dead-lock for canceled threads 2019-03-08 12:22:45 -05:00
Beat Küng e999075ac7 lockstep_scheduler: fix system_sleep -> system_usleep 
The effect was that threads that tried to exit were unnecessarily kept
running.
This did not cause problems except for increased resource usage.
 2019-03-08 12:22:45 -05:00
Beat Küng 08298ab3d0 drv_hrt: make lockstep_scheduler a pointer 
This solves a potential dead-lock when trying to shutdown: a call to exit()
stops all threads and calls all destructors for static objects.
The destructor of LockstepScheduler takes a lock. However this is not
safe, as the lock could already be taken (by any thread).
 2019-03-08 12:22:45 -05:00
Daniel Agar 27ad3178f8 Jenkins add SITL tests AddressSanitizer 2019-03-07 22:38:24 -05:00
mcsauder d12cec81ba Add const specifier to remaining methods utilizing mavlink_message_t and similar message pointer types. 2019-03-07 08:22:44 +01:00
mcsauder 278fddb585 Cut case MAVLINK_MSG_ID_ODOMETRY content and paste into handle_message_odometry() method. 2019-03-07 08:22:44 +01:00
mcsauder 3918d0ce0a Cut case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE content and paste into handle_message_vision_position_estimate() method. Add const specifier to publish_odometry_topic() method. 2019-03-07 08:22:44 +01:00
mcsauder c3acd3bad3 Delete unnecessary curly braces in simulator_mavlink.cpp 2019-03-07 08:22:44 +01:00
mcsauder e43a0bbf1d Cut case MAVLINK_MSG_ID_RC_CHANNELS content and paste into handle_message_rc_channels() method. 2019-03-07 08:22:44 +01:00
mcsauder 801cbc856e Cut case MAVLINK_MSG_ID_HIL_GPS content and paste into handle_message_hil_gps() method. 2019-03-07 08:22:44 +01:00
mcsauder b705bf6b1c Cut case MAVLINK_MSG_ID_HIL_SENSOR content and paste into handle_message_hil_sensor() method. 2019-03-07 08:22:44 +01:00
Daniel Agar 37cda4e264 Update submodule jMAVSim to latest Wed Mar 6 00:38:35 UTC 2019 (#11597) 
- jMAVSim in PX4/Firmware (a97151feed): https://github.com/PX4/jMAVSim/commit/0c25b7c18990a64fc851cfd7fe3aac9a4060aea3
    - jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/8b2f4568e05935af57782fd0db9a434f733cc800
    - Changes: https://github.com/PX4/jMAVSim/compare/0c25b7c18990a64fc851cfd7fe3aac9a4060aea3...8b2f4568e05935af57782fd0db9a434f733cc800

    8b2f456 2019-02-28 Julian Oes - Merge pull request #95 from PX4/shell-style
3d0174a 2019-02-27 Matthias Grob - Fix shell script style
 2019-03-05 23:57:25 -05:00
Daniel Agar a01b598694 Update submodule mavlink v2.0 to latest Wed Mar 6 00:38:42 UTC 2019 (#11596) 
-  mavlink v2.0 in PX4/Firmware (1a2b88ea30ae3bec38d2e9f11793042d7582506a): https://github.com/mavlink/c_library_v2/commit/f073569b746b6533c1715b0bbfed6c988444b257
    - mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/2a47f11e73eef6d817af7934692b1223d7fb434f
    - Changes: https://github.com/mavlink/c_library_v2/compare/f073569b746b6533c1715b0bbfed6c988444b257...2a47f11e73eef6d817af7934692b1223d7fb434f

    2a47f11 2019-03-01 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/747c3e73e9ad28e8011cdc5c98faf56752b1d32a
 2019-03-05 23:56:41 -05:00
Daniel Agar beca16fa37 ekf2 update setGpsData usage 2019-03-05 23:28:26 -05:00
Daniel Agar a85d3a43ed attitude_fw remove unused 2019-03-05 17:26:19 -05:00
Daniel Agar c66f7f4a09 EKF drop unused timestamp from collect_gps() and pass data by const reference 2019-03-05 17:26:19 -05:00
Freek van Tienen 78b899c72d Add Paparazzi compatibility (#580) 
This adds support for the paparazzi autopilot to use this library as EKF.
The header order change has to be done in order to have std.h included to get certain defines at the start of the estimator_interface.h.
 2019-03-05 12:41:21 -05:00