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1923 Commits

Author SHA1 Message Date
Martina Rivizzigno
02bdc2c46b CollisionPrevention: use FlightTasks convention for private/public methods, 
add doxygen on header file
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
8637a9255e CollisionPrevention: add failsafe for stale distance data 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
e6e4d846fb add uORB message obstacle_distance_fused with data from offboard 
obstacle_distance and distance sensor
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
a9b1946bea CollisionPrevention: make sure that vehicle tilt compensation is 
correct for all sensor orientation
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
2439dc09ae CollisionPrevention: refactor code to make it more readable 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
b6eea508bb CollisionPrevention: make sure that the timestamp is updated for distance 
sensors even if they are out of range
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
09bfb00c88 Obstacle_distance: use only one increment in float directly 
CollisionPrevention: rename a few variables to make the code more readable
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
5b24f28ac7 CollisionPrevention: map distance_sensor data to obstacle distance 2019-07-15 10:58:00 +02:00
bresch
e5128ac7b9 Cosmetic - Use c++ list initialization 2019-07-11 17:46:44 +02:00
bresch
15ec73629b MPC auto - Add MPC_YAW_MODE: towards waypoint (yaw first) mode. This mode ensures that 
the vehicle yaws towards the next waypoint before accelerating. This is
required for drones with front vision and aerodynamic multicopters such
as standard vtol planes or highspeed multirotors.
 2019-07-11 17:46:44 +02:00
Daniel Agar
dc10a68539 NuttX and apps update 7.29 2019-07-10 12:58:35 -04:00
Roman Bapst
b54a43fccc UAVCAN driver: support throttle linearization (THR_MLD_FAC parameter) 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-09 15:10:54 -04:00
bresch
6df1600357 Auto - Update velocity setpoint generator to avoid overshoot at high cruise speed. 
The linear mapping from position error to cruise velocity is changed by
a combination of that linear mapping and a nonlinear function containing
the maximum acceleration and jerk to avoid overshoots at waypoints due to
overoptimistic breaking distance.
 2019-07-09 09:46:45 +02:00
Jacob Dahl
59c555aec3 Multicopter Auto: Adjustable land speed via RC (#12220) 2019-07-08 23:55:21 -04:00
PX4 Build Bot
d9c90ed31a Update submodule ecl to latest Fri Jul 5 12:38:36 UTC 2019 
- ecl in PX4/Firmware (590b55cb222ec68d4bbb61208f301102607b6161): a036cf82cc
    - ecl current upstream: e1751188fd
    - Changes: a036cf82cc...e1751188fd

    e175118 2019-06-28 bresch - EKF - Initialize _deadrekon_time_exceeded to true. If no sample have been received, deadrekoning and local position should be invalid.
 2019-07-05 16:46:31 -04:00
Timothy Scott
dce1dda871 Fixed incorrect timestamps 2019-07-03 14:39:59 +02:00
Daniel Agar
9450496eb4
Analog Devices ADIS16497 move to PX4Accelerometer/PX4Gyroscope and cleanup 2019-07-01 22:47:31 -04:00
Daniele Pettenuzzo
55b5e7552c mavlink: add new extvisionmin mode (#12279) 
Signed-off-by: DanielePettenuzzo <daniele@px4.io>
 2019-06-28 10:44:22 -04:00
Angel
46662072d1 Missed conversion to radians in AutoMapper and AutoMapper2 2019-06-25 14:01:35 +02:00
PX4 Build Bot
4831a4b0cf Update submodule ecl to latest Tue Jun 18 20:37:33 EDT 2019 
- ecl in PX4/Firmware (4673dd0a0c9b90fcab84a26e75812a5c7172d1af): 0f49eb34a0
    - ecl current upstream: a036cf82cc
    - Changes: 0f49eb34a0...a036cf82cc

    a036cf8 2019-06-14 Paul Riseborough - EKF: Remove use of of quaternion self product operator and fix delta rotation sign
0e946f2 2019-06-14 Paul Riseborough - EKF: Remove use of quaternion self product operator and fix delta rotation sign error
ad7f7af 2019-05-21 CarlOlsson - ekf: correct quaternion multiplication order
d6351bd 2019-05-21 CarlOlsson - EKF: update comment
7612fa4 2019-05-30 Paul Riseborough - EKF: Don't start using GPS for height until all validity checks have passed
cef2ba5 2019-05-08 Roman - implemented Kahan summation algorithm for adding process noise to delta angle- and delta velocity bias variance
 2019-06-19 11:38:49 +10:00
Beat Küng
beaba44e5b mc mixer: prioritize roll/pitch over yaw for full airmode 
Improves roll/pitch tracking in situations of large yaw demands.
 2019-06-17 13:17:18 +02:00
bresch
83d90410ff Jerk-limited auto mode - use MPC_ACC_HOR instead of MPC_ACC_HOR_MAX 
as written in the parameter desctiption
 2019-06-14 09:56:56 +02:00
Timothy Scott
a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00
Martina Rivizzigno
7a586d2b60 ObstacleAvoidance: hysteresis on failsafe 2019-06-12 16:42:02 +02:00
Daniel Agar
79d4c09d59
uORB::Publication simplify and cleanup 
- base class is now template
 - drop linked list
 - virtualization no longer required
 2019-06-12 08:48:19 -04:00
PX4 Build Bot
736a1c4778 Update submodule ecl to latest Mon Jun 10 12:38:13 UTC 2019 
- ecl in PX4/Firmware (e80050ce8c261e9b5c1cf7e1e8c62f32db08099f): 54ac147ae8
    - ecl current upstream: 0f49eb34a0
    - Changes: 54ac147ae8...0f49eb34a0

    0f49eb3 2019-05-24 RomanBapst - fixed method which calculates validity of terrain estimate
cd34ab8 2019-05-24 Daniel Agar - mathlib delete floorf in favor of math.h
340d85a 2019-05-27 Robert de Vries - EKF: fix variable names in estimator_interface.h
90b4c7c 2019-05-24 Matthias Grob - mathlib: fix floorf indentation
710c529 2019-05-23 Sebastian Verling - fixed calculation of magentic table values by using floor instead of int casting
 2019-06-10 10:42:37 -07:00
Daniel Agar
32a89a1834 rename empy templates (*.template) to proper file extension (.em) 2019-06-10 10:42:00 -07:00
Daniel Agar
90bf26b239 CollisionPrevention move orb subscriptions to uORB::Subscription 2019-06-07 09:22:35 -04:00
Daniel Agar
55c9786157
PX4Magnetometer implement MAGIOCGSCALE (copy out scale) 
- fixes #12193
 2019-06-06 14:10:13 -04:00
Beat Küng
73102dc3c4 SYS_MC_EST_GROUP: add q estimator only option and activate on omnibus 2019-06-06 11:11:44 -04:00
bresch
96da46d1aa Failsafe - cosmetic changes 2019-06-05 16:53:08 +02:00
bresch
4eaf6e77be Flight termination - Always send flag to IO without checking the circuit breaker. The circuit breaker is used inside IO to decide if it has to go into failsafe if FMU dies and also controls is the FailureDetector sets the force_failsafe flag. The other sources of flight termination (rc loss, geo fence, ...) are not disabled by the circuit breaker 2019-06-05 16:53:08 +02:00
bresch
59265f6663 Failure detector - Add flight termination comments, make format 2019-06-05 16:53:08 +02:00
bresch
a72de95c94 Failure detector - Disable flight termination by default. Modify FD_FAIL parameters description 2019-06-05 16:53:08 +02:00
bresch
b64a2a884b Circuit Breaker - Disable flight termination circuit breaker by default (reverts ab40008) -> Allow flight termination 2019-06-05 16:53:08 +02:00
Julian Oes
f3620f7018 Remove all leftover PX4_BACKTRACE calls 2019-06-05 08:16:19 +02:00
baumanta
2320088541 use position controller parameters for limitation instead of acceleration/jerk 2019-06-04 16:47:33 +02:00
baumanta
c497d94616 publish a minimal message for logging/debugging 2019-06-04 16:47:33 +02:00
baumanta
09e1d4888c use velocity component in bin direction instead of norm 2019-06-04 16:47:33 +02:00
baumanta
33cd032c35 camelcase function name, initialize c++11 style 2019-06-04 16:47:33 +02:00
baumanta
e7d17cc265 consider acceleration ramp-up time 2019-06-04 16:47:33 +02:00
baumanta
ab792093e1 fix wrong if clause 2019-06-04 16:47:33 +02:00
baumanta
23c23e3aa5 clean up 2019-06-04 16:47:33 +02:00
baumanta
f50a1d58b0 bugfixes and cleanup 2019-06-04 16:47:33 +02:00
baumanta
4212ae8b87 sign bug fix and clean up 2019-06-04 16:47:33 +02:00
baumanta
60befdce5b change collision prevention algorithm 2019-06-04 16:47:33 +02:00
baumanta
8427cd3051 constant acceleration breaking for collision prevention 2019-06-04 16:47:33 +02:00
Daniel Agar
2c63e335e9 uORB::Subscription subscribe directly to uORB device node object 2019-06-03 17:06:21 -04:00
Daniel Agar
32fb2bae8c InvenSense MPU9250 move to PX4Accelerometer and PX4Gyroscope helpers 2019-05-31 21:43:30 -04:00
Daniel Agar
cd45d8fc68 fxas21002c split out main and header 2019-05-31 18:20:32 -04:00