fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity
33,631 Commits 852 Branches 161 Tags
Commit Graph

13309 Commits

Author SHA1 Message Date
Daniel Agar
03388f4656 ekf2: move estimator states publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
98334d1325 ekf2: move local position publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
c09a5e0d9f ekf2: move global position publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
8616345346 ekf2: move estimator_sensor_bias publication to method 
- only publish if there's a change in bias
 - publish current estimated mag bias, including saved mag bias
 2020-11-11 20:17:52 -05:00
Daniel Agar
e397cbf8bb ekf2: move ekf_gps_drift publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
0d657c74bf ekf2: rename publish helpers mixed case (google style guide) 2020-11-11 20:17:52 -05:00
Silvan Fuhrer
5dd14dfd54 FW Position Control: re-add wrongly removed airspeed_poll() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-11 19:20:03 -05:00
Matthias Grob
ff801fbc08 FlightTasks: remove FlightTaskManualPositionSmooth 
alias first smooth position control version from 2017.

RIP it served well.
 2020-11-11 21:16:18 +01:00
Matthias Grob
e6338d8a2f MulticopterPositionControl: default cases with unsupported POS_MODE 2020-11-11 21:16:18 +01:00
Matthias Grob
0b8f092d2b Add acceleration stick mapping for position mode 2020-11-11 21:16:18 +01:00
Daniel Agar
7ba73b46ca
uORB: tests decrease stack 
- save a bit of memory for running on older boards
 2020-11-10 23:44:02 -05:00
Nicolas MARTIN
8b96ff57d7 arm auth: split COM_ARM_AUTH in 3 parameters 
new params are:
- COM_ARM_AUTH_ID
- COM_ARM_AUTH_MET
- COM_ARM_AUTH_TO
 2020-11-10 09:03:59 +01:00
Nicolas MARTIN
6579544fca arm_auth: use ack reception timestamp to compute authorization timeout 2020-11-10 09:03:59 +01:00
Nicolas MARTIN
e89c21155a arm_auth: check authorization timestamp to skip old commands 2020-11-10 09:03:59 +01:00
Daniel Agar
142452f80c replay: print parameter changes and error on mismatch 2020-11-04 11:47:01 -05:00
Silvan Fuhrer
99833eb001 FW Position Control: remove duplicated position_sp_triplet update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-03 15:47:57 +01:00
Daniel Agar
ba5ef28f23 uORB_tests: add uORB::SubscriptionMultiArray tests 2020-11-03 09:10:54 -05:00
Silvan Fuhrer
67a0e1993a FW Position controller: add option to swap throttle and pitch stick 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-02 22:49:05 +01:00
Daniel Agar
817285ec64 commander: gyro calibration use MedianFilter 2020-11-02 12:58:46 -05:00
Daniel Agar
4578b8cdcc
Update submodule ecl to latest Mon Nov 2 09:57:32 EST 2020 
- ecl in PX4/Firmware (f87b19f31b9918f73d336d10e68d39c659037582): https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd
    - ecl current upstream: https://github/commit/a21092804a784d012939f96cc633e7da5f5e8cde
    - Changes: https://github/compare/48a8992caf7a95e09a5e17235133894c072b96bd...a21092804a784d012939f96cc633e7da5f5e8cde

    a210928 2020-11-01 Daniel Agar - EKF: remove virtual getters from estimator_interface
 2020-11-02 12:44:14 -05:00
Beat Küng
d83da4ded4 fix SubscriptionMultiArray: end() iterator needs to point past the end 
And ensure not to dereference.
 2020-11-02 09:00:04 +01:00
Daniel Agar
a1ef4d1469 ekf2: only advertise immediately in multi-EKF mode 2020-11-01 15:48:35 -05:00
Daniel Agar
ecb462f325 ekf2: EKF2.cpp using matrix Eulerf, Quatf, Vector3f 2020-10-29 10:22:57 -04:00
Daniel Agar
d1af095c0b ekf2: don't store vehicle_status_s 2020-10-29 10:22:57 -04:00
Daniel Agar
d27573b797 ekf2: don't store vehicle_land_detected_s 2020-10-29 10:22:57 -04:00
Daniel Agar
7757aeda94 ekf2: don't store sensor_selection_s copy 2020-10-29 10:22:57 -04:00
Daniel Agar
db5235b074 ekf2: avoid storing message copies 2020-10-29 10:22:57 -04:00
Daniel Agar
3f9f2c6fdf ekf2: multi ekf supports up to 4 IMUs 2020-10-28 20:50:58 -04:00
Daniel Agar
2c874f1cd9 ekf2 selector fix SITL lockstep 
- ekf2 selector don't register lockstep until first attitude publication
 - sensors module register lockstep component
 - enable multi-EKF2 in SITL
 2020-10-28 09:42:41 -04:00
Thies Lennart Alff
82988b1912
airframes: added BlueROV2 (heavy configuration) airframe (#16004) 2020-10-28 11:07:31 +01:00
Daniel Agar
69986affbf commander: calibration restore sleep after CAL_QGC_DONE_MSG/CAL_QGC_FAILED_MSG 2020-10-27 18:54:16 -04:00
Nicolas Martin
171bd6d784 positionControl: add check on sign before sqrtf 2020-10-27 18:52:23 -04:00
SalimTerryLi
05f1efd1a4
load_mon: get mem_usage by reading /proc/meminfo on Linux 2020-10-27 18:49:25 -04:00
Daniel Agar
91da194bd7 sensors/vehicle_gps_position: only register callbacks once topic published 
- this avoids creating unnecessary uORB device nodes for GPS instances that might never exist
 2020-10-27 18:40:57 -04:00
Daniel Agar
df2f26ebdf
rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned 
- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
 - helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
 2020-10-27 12:33:39 -04:00
Mathieu Bresciani
050c9dcd3d
HTE: fix variance prediction (#16016) 
In the predition step, the process variance was erroneously
multiplied by dt instead of dt^2. The default values are adjusted
accordingly to keep the same tuning for the default loop rate of 50Hz
 2020-10-27 16:56:32 +01:00
Daniel Agar
0f411d6820
Multi-EKF support (ekf2) 
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
    - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
 - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
 - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
 - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
 - ekf2 single instance mode is still fully supported and the default

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2020-10-27 10:56:11 -04:00
Daniel Agar
d5245a22d3 logger: limit default estimator_optical_flow_vel logging 2020-10-26 14:10:25 -04:00
bresch
109ed18a3a Flow: adjust default optical flow delay based on pmw3901 
This is the correct value for the most common optical flow sensor
 2020-10-26 14:10:25 -04:00
bresch
09cc3120e2 OpticalFlow: add optical flow velocity logging 
This is important to align the flow with the IMU data and verify that
the compensation is properly done
 2020-10-26 14:10:25 -04:00
FengShun
eac9a6b68b Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH 2020-10-26 13:01:13 +01:00
FengShun
90c366f369 uORB::Publication*: template parameter automatically obtains the queue size according to the type 2020-10-26 13:01:13 +01:00
Nicolas Martin
948bed6b5c fix ekf2 saved mag bias comments (mGauss -> Gauss) 2020-10-26 00:43:20 -04:00
Daniel Agar
8435742dd5 logger: double actuator_controls_0 and vehicle_attitude_setpoint default log rate 2020-10-26 00:36:02 -04:00
Daniel Agar
6d2f592c16 logger: add vehicle_constraints to default set 2020-10-26 00:36:02 -04:00
Daniel Agar
945c17bc3f
move subsystem_info entirely into commander and remove from uORB 
* HealthFlags: define bitfield using 1<<X

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2020-10-25 10:08:15 -04:00
Daniel Agar
6285e06fe2 mc_pos_control: split out header and name consistently 2020-10-23 15:06:04 -04:00
Daniel Agar
81765bc06a commander: PreFlightCheck remove HIL special cases 
- skipping these sensor checks in HIL no longer makes sense as each
sensor has a normal publication (sensor_accel/gyro/etc) regardless of
simulation
 2020-10-23 11:25:50 -04:00
JaeyoungLim
46d79d3050
Remove exception of actuator scaling for airships (#16011) 
This removes the exception handling of airship type vehicles when scaling actuators for the simulator
 2020-10-22 10:37:03 +02:00
Daniel Agar
2201424dfd micrortps_bridge: don't reuse msg_files variable (now global) 2020-10-20 11:05:47 -04:00