01f0992f49
sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX
2022-06-07 15:45:47 -04:00
5df266cedc
MulticopterRateControl: use constructor to copy thrust setpoint array
2022-06-07 11:45:59 -04:00
4f1091792f
ekf2 preflight: only check innovation of active height sources
2022-06-07 11:44:56 -04:00
a247b42907
[AUTO COMMIT] update change indication
2022-06-04 15:57:11 -04:00
d1142008f6
FailureDetector: check if ESCs have current
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And increase the timeout to 300ms, as some ESCs only update with 10Hz.
2022-06-04 07:40:29 +02:00
0ab61aee2e
control_allocator: show motor axis for MC (as advanced)
2022-06-04 07:40:29 +02:00
99a329f937
mc_rate_control: pass through 3D thrust
2022-06-04 07:40:29 +02:00
82eb71d70b
failure_detector: allow disabling attitude failure (as already documented)
2022-06-04 07:40:29 +02:00
e2955bdd61
terrain est: clear innovation/var/test ration when aiding stops
2022-06-03 17:31:14 -04:00
fad3d46907
Use signNoZero() where possible
2022-06-03 16:08:16 +02:00
c19e74784a
attitude_estimator_q: Run() method refactoring ( #19526 )
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* Refactor attitude_estimator_q_main.cpp Run() method by breaking apart into separate method calls:
* update_vehicle_local_position()
* update_motion_capture_odometry()
* update_visual_odometry()
* update_magnetometer()
* update_vehicle_attitude()
* update_sensors()
* Rename init_attitude_q()
* Standardize whitespace formatting
* Add remaining c++ style initializers.
2022-06-01 13:41:42 -04:00
21b1c933dc
ekf2: EKFGSF_yaw delete unnecessary internal state
2022-06-01 13:16:06 -04:00
3889b79342
ekf2: yaw estimator add yaw_composite_valid boolean
2022-06-01 13:16:06 -04:00
25488da944
px4io: replace safety_off state with safety button event ( #19558 )
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internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
2022-06-01 13:15:13 -04:00
a9cdfff7a3
FlightModeManager: only execute flight task commands when multicopter
2022-06-01 15:14:07 +02:00
96b0304049
PreFlightCheck: disallow arming in land mode
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after the automatic switch to Hold mode was introduced.
2022-06-01 12:08:32 +12:00
83c15fca9f
Commander: switch back to Hold mode after autonomous landing
2022-06-01 12:08:32 +12:00
33df8b24f2
Commander: differentiate clearly between to arm and to disarm transition
2022-06-01 12:08:32 +12:00
400e1f8214
Commander: only initialize to tablet mode and don't switch back on RC loss
2022-06-01 12:08:32 +12:00
0074894637
control_allocator: disable backup schedule with lockstep
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The backup schedule triggers updates too early and leads to simulator errors:
ERROR [simulator] poll timeout 0, 22
2022-05-31 07:17:30 +02:00
cb8b5ae872
mavlink: MavlinkStatustextHandlerTest ignore Wcast-align
2022-05-29 09:44:48 -04:00
095e0f0604
ekf2: sensor_simulator fix enum shadow
2022-05-29 00:21:08 -04:00
63155b5b01
Update submodule mavlink to latest Sat May 28 00:38:55 UTC 2022
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- mavlink in PX4/Firmware (56106be4805cb2f70d22ad31b87fbd9774f0d0f3): https://github.com/mavlink/mavlink/commit/99e82cad70494903a23a67de08ff9cbb5918d8f3
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/0909631552187b998dd6359f998ee78ee8765728
- Changes: https://github.com/mavlink/mavlink/compare/99e82cad70494903a23a67de08ff9cbb5918d8f3...0909631552187b998dd6359f998ee78ee8765728
09096315 2022-05-26 Hamish Willee - Clarify and cross reference home position everywhere (#1836 )
38c1a99f 2022-05-25 Julian Oes - WIND_COV: clarify description and unknown value (#1845 )
2022-05-28 00:06:05 -04:00
554283655c
Revert "px4io: replace safety_off state with safety button event ( #19558 )"
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This reverts commit 12a81979a8
2022-05-26 10:06:32 -04:00
6aefcbb6cf
Revert "px4iofirmware: fix for bug introduced with #19558 "
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This reverts commit 79a34b5aed
2022-05-26 10:06:32 -04:00
c03f5b9481
Commander: fix overlooked rebase naming error
2022-05-25 21:10:19 +02:00
29c4119e24
Match commander uORB var names to message names ( #19707 )
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* match vehicle_status
* match home_position
* match vehicle_command_ack
* match actuator_armed
* match vehicle_control_mode
* match commander_state
2022-05-25 17:08:48 +02:00
58ea6235fe
ekf2: estimator aid source status (range height)
2022-05-25 09:25:12 -04:00
1e25aee6fa
ekf2: estimator aid source status (baro height)
2022-05-25 09:25:12 -04:00
4dbe6f0a1c
simulator_mavlink: fix MAV_TYPE_VTOL_TAILSITTER case
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This type (23) doesn't specify a motor number, so it can't be properly handled.
There are duo (19) and quad (20) tailsitter types that still work in simulation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-05-24 17:58:44 -04:00
016b8aeb35
MulticopterRateControl: fix thrust sign for acro
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Regression from fbc109436f
2022-05-24 15:03:17 +02:00
44be415e0e
mission_block: make "Delay until" item work while landed
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To enable landing, waiting and taking off again e.g. for delivery.
2022-05-24 13:42:03 +02:00
0be474430c
Commander: don't disarm on landing amid a mission
2022-05-24 13:42:03 +02:00
639222dd65
ekf2: estimator aid source status (GPS pos, GPS vel)
2022-05-23 16:21:49 -04:00
1ae467e9cd
ekf2: estimator aid source status (starting with fake position)
2022-05-23 16:21:49 -04:00
79a34b5aed
px4iofirmware: fix for bug introduced with #19558
2022-05-23 14:59:11 -04:00
c57c575cfe
ekf2: use explicit flags instead of bitmask position
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This prevents bitmask mismatch when a new flag is inserted
2022-05-23 14:43:02 -04:00
bc220ddb82
sensors/vehicle_magnetometer: fix multi_mode check
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Signed-off-by: Serhat Aksun <serhat.aksun@maxwell-innovations.com >
2022-05-23 10:09:41 -04:00
12a81979a8
px4io: replace safety_off state with safety button event ( #19558 )
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internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
2022-05-23 06:54:37 +02:00
08dcc72e1f
commander/safety: replace safety.msg with Safety class ( #19558 )
2022-05-23 06:54:37 +02:00
00e88a02c0
baro bias: improve innovation sequence monitoring
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The baro observation noise parameter is often over-estimated in order as
a measure to mitigate temporary offsets in the readings due to wind
gusts or poor pressure compensation tuning. The side effect is that the
innovation sequence monitoring based on normalized innovation struggles
to detect an offset in the state because the innovation isn't
statistically significant.
To counter this issue, a simpler check is added to trigger the process
noise boost when the innovation has the same sign for a long period of
time.
2022-05-21 22:37:04 +02:00
db4545e442
Update world_magnetic_model to latest Sat May 21 11:14:10 UTC 2022
2022-05-21 14:57:55 -04:00
6b0788ff46
Standardize variable naming and formatting across vehicle attitude controller files.
2022-05-21 12:22:18 -04:00
c40631c136
commander: handle RC loss timeout if manual_control_setpoint stops publishing ( #19680 )
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2022-05-20 19:37:30 -04:00
33a77c225c
commander: lockdown is not termination
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We use lockdown to prevent outputs like motors and servos from being
active in HITL simulation. This means that we can't treat the lockdown
flag as a flight_terminated, otherwise we can't arm in HITL at all.
2022-05-20 09:43:32 -04:00
a0cb7f6258
HITL: undefined time_remaining_s should be NAN
2022-05-20 09:38:43 -04:00
04071b9456
Commander: ignore MAV_CMD_REQUEST_MSG
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This commit adds the MAV_CMD_REQUEST_MESSAGE to the list of vehicle
commands which are ignored without generating a warning sound.
2022-05-20 15:36:42 +02:00
38e027ee45
ArmStateMachine: remove dependency on armed.armed
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To have the internal state as single source of truth
for the arming state within Commander.
2022-05-20 13:51:51 +02:00
37c485ce89
ArmStateMachine: move arm state into the class
2022-05-20 13:51:51 +02:00
47532ca07b
ArmStateMachine: replace state name array with method
2022-05-20 13:51:51 +02:00
Daniel Agar