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Author SHA1 Message Date
Paul Riseborough cd2ca57ec2 Merge pull request #339 from PX4/ekfPosCtrlLimits-wip 
Ekf pos ctrl limits wip
 2017-10-23 06:57:23 +11:00
Daniel Agar 812f9ea11d update ECL to latest master (includes tecs) 2017-10-22 21:56:06 +02:00
Daniel Agar a133b12635 delete fw_pos_control_l1/mtecs 2017-10-22 21:56:06 +02:00
Daniel Agar 729e721ef3 update LICENSE for github 2017-10-22 21:56:06 +02:00
Daniel Agar fa8629f6c7 nxphlite config remove external_lgpl 2017-10-22 21:56:06 +02:00
Paul Riseborough 3fc7aba178 TECS: Use version in ECL library 
This change updates a number of interfaces to use the new TECS implementation from the ECL library.
 2017-10-22 21:56:06 +02:00
Lorenz Meier 4923d0cba3 Remove TECS from system codebase 
The TECS controller belongs really into the ECL (estimation & control library) where we have collected a number of vehicle control systems. It is being replaced by a new implementation of the algorithm, contributed by Paul Riseborough.
 2017-10-22 21:56:06 +02:00
Daniel Agar 22a51c6afd PX4_ISFINITE -> ISFINITE 2017-10-22 20:37:40 +02:00
Daniel Agar 9e13a2cb21 tecs move initialization 2017-10-22 20:37:40 +02:00
Daniel Agar 31a8e047d7 tecs one line setters and group 2017-10-22 20:37:40 +02:00
Daniel Agar 4f2d571c89 tecs fix code style 2017-10-22 20:37:40 +02:00
Paul Riseborough 79995b2c15 Create total energy control system implementation 
This is a new, clean and streamlined variant of the mathematical derivation I created a few years ago.
 2017-10-22 20:37:40 +02:00
Daniel Agar 9eb860fabd travis-ci fix gcc and clang compilation jobs (#344) 
- allow the python testing to fail without failing the entire build
 2017-10-22 12:19:11 -04:00
DonLakeFlyer 8693c51cba Fix bad meta data 2017-10-21 20:17:41 +02:00
Paul Riseborough c9f44531c2 logger: Add logging profile to support comparison of multiple sensors (#8134) 2017-10-20 09:30:55 -04:00
Daniel Agar 136d259876 travis-ci fix coverity scan and px4_metadata (#8156) 2017-10-20 09:20:30 -04:00
Paul Riseborough e10ec59058 EKF: Use consistent test for navigation validity reporting 
This will enable controller to take advantage of non-inertial dead reckoning.
 2017-10-20 14:44:38 +11:00
Paul Riseborough 19074fdd9e EKF: Use consistent time limit for inertial dead reckoning test 2017-10-20 14:44:38 +11:00
Paul Riseborough 55a2dc94df EKF: handle air data fusion covariance reset consistently 
Both the sideslip and airspeed fusion should not be resetting covariances for states they do not modify.
 2017-10-20 14:44:37 +11:00
Paul Riseborough 0d32128701 EKF: Use dead-reckoning status to determine if air data should modify non-wind states 2017-10-20 14:44:37 +11:00
Paul Riseborough e4ffe199ed EKF: fix bug in sideslip fusion activation 2017-10-20 14:44:37 +11:00
Paul Riseborough 59f1c3e19e EKF: Update dead-reckoning definition 
Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
 2017-10-20 14:44:37 +11:00
Paul Riseborough a2dcd5b9b6 EKF: Consolidate no aiding reset logic 2017-10-20 14:44:37 +11:00
Paul Riseborough 929c5c2b37 EKF: enable gps fusion flag to be false while fusing air data 2017-10-20 14:44:37 +11:00
Paul Riseborough 204a218ee6 EKF: Allow dead-reckoning using air data 2017-10-20 14:22:06 +11:00
ChristophTobler f5fd90533a fix gps and flow flag handling 
gps flag was not turning false if there was flow

only reset states if we were relying on that sensor only
 2017-10-20 14:22:06 +11:00
Paul Riseborough 9857fb9eb6 EKF: publish control limits for optical flow navigation 2017-10-20 14:22:06 +11:00
Paul Riseborough afa8844eb7 Merge pull request #341 from CarlOlsson/fix/fw_yaw_align2 
EKF: If aligning yaw for fw with low GPS velocity, use mag
 2017-10-20 14:05:52 +11:00
CarlOlsson 2e03084d34 EKF: If aligning yaw for fw with low GPS velocity, use mag 2017-10-19 16:49:54 +02:00
Beat Küng aa92ef3ca6 airframe 4040_reaper: fix type to quad h 2017-10-19 07:45:40 +02:00
Paul Riseborough 85c076d54e update ecl/ekf submodule 2017-10-18 11:08:58 +02:00
ChristophTobler d7c8d53489 use get() for BlockParam 2017-10-18 11:08:58 +02:00
ChristophTobler 2a23162f8d update ecl/ekf submodule 2017-10-18 11:08:58 +02:00
ChristophTobler 40b8d8bd48 use distance to ground if on ground an distance is out of range 2017-10-18 11:08:58 +02:00
Julian Oes 787931f04f navigator: check distances between waypoints 
Instead of just checking whether the first waypoint is too far away from
home it makes sense to also check between waypoints.
This can prevent
- flyaways due to user errors, or
- catch the corner case where a takeoff waypoint is added to a mission
  and therefore the first waypoint is not too far away, however, the
  subsequent waypoints are still too far away.
 2017-10-18 08:42:20 +02:00
Beat Küng 8b797d9b05 logger: use int for loop counter 2017-10-18 08:40:32 +02:00
Beat Küng d930ad4e9e mavlink_orb_subscription: reduce orb_exists() check from 10Hz to 3Hz 
Checking with 3Hz for new topics should be fast enough.
 2017-10-18 08:40:32 +02:00
Beat Küng 7381ea8222 logger: remove unused topics commander_state & rc_channels 
flight review now uses vehicle_status & manual_control_setpoint
 2017-10-18 08:40:32 +02:00
Beat Küng d096ec0b61 vdev_posix: change filemap into a static list of objects instead of pointers 
to avoid dynamic memory allocations & frees (specifically in orb_exists)
 2017-10-18 08:40:32 +02:00
Beat Küng 2668055358 vdev: remove unused fileds from file_t 2017-10-18 08:40:32 +02:00
Beat Küng deaf125c81 logger: check for newly published topics while not logging 
If logger is started very early, orb_exists() will fail for a lot of
topics, they will be advertised within the next few seconds.
Logger already dynamically adds subscriptions during logging, but if we
do that before as well, we'll avoid any delays and having to subscribe
to a lot of topics all at once.
 2017-10-18 08:40:32 +02:00
Beat Küng 3be252289a logger: use orb_exists to check if we need to subscribe to the first instance 
To keep track of the configured interval, we store it as negative file
descriptor, until we do the subscription.

This frees up a considerable amount of file descriptors in most use-cases.
 2017-10-18 08:40:32 +02:00
Beat Küng 4c4b528842 uORBManager: fix code style 2017-10-18 08:40:32 +02:00
Beat Küng 2f2c0440c4 orb_exists: change semantics from (is published or subscribed) to (is published) 
Existing users of orb_exists:
- logger (dynamic subscribe to multi-instances)
- mavlink (orb subscription)
- sdlog2
- preflightcheck (check for home_position)
- wait_for_topic shell command (it's not used)
- orb_group_count() (sensors: dynamic sensor addition)

All use-cases benefit from the changed semantics: they are really only
interested if there is a publisher, not another subscriber.
 2017-10-18 08:40:32 +02:00
Daniel Agar d83073f016 move RTPS to dedicated px4fmu-v{3,4,4pro,5}, posix, sdflight builds (#8113) 2017-10-17 16:29:55 -04:00
Daniel Agar 979d092628 travis-ci enable tests under address sanitizier (#8095) 2017-10-17 16:26:17 -04:00
Paul Riseborough 61e0c04811 Merge pull request #338 from CarlOlsson/fix/fw_pos_reset 
EKF: Fix bug when resetting position and velocities for fw due to som…
 2017-10-18 07:02:34 +11:00
Matthias Grob f4243160e2 Quaternion: changed comments because of typos and unclear inconsistent indexing 2017-10-17 17:37:23 +02:00
Matthias Grob d259ab2108 Test: add Quaternion rotate() test that catches non-commutating rotations 2017-10-17 17:37:23 +02:00
Matthias Grob ee2219b836 Quaternion: replace conversion in rotate() with AxisAngle call 2017-10-17 17:37:23 +02:00