0485c2b94a
sensors: add baro pressure temperature compensation and reporting
2017-01-19 19:24:52 +01:00
0ba31b521c
uavcan: Populate baro device ID
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TODO - use unique HW ID
2017-01-19 19:24:52 +01:00
677616ed83
mavlink: Populate baro device ID
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TODO - use unique HW ID
2017-01-19 19:24:52 +01:00
c2fc283fdb
sensors: Update single axis temp comp method to 5th order
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This allows future use with baro sensors that require a higher fit order
2017-01-19 19:24:52 +01:00
f8cef1e9ab
attitude_estimator_q: populate control state gyro bias data
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Populate with zeros.
TODO provide estimate.
2017-01-19 19:24:52 +01:00
27e6f07485
ekf2: publish control state gyro bias data
2017-01-19 19:24:52 +01:00
63f032832f
Add prototype IMU temperature compensation
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Enabled using TC_A_ENABLE and TC_G_ENABLE parameters
Disabled by default.
IMU offsets and scale factors for selected sensor published to sensor_correction topic
TODO Parameter storage method is cumbersome
2017-01-19 19:24:52 +01:00
db581fa5e8
mc_pos_control: hotfix for possible thrust below minimum thrust setting
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Hotfix after a crash because of a heavily negative desired thrust that got clipped to 0 by the mixer.
0 thrust meant no more attitude tracking.
2017-01-19 18:05:57 +01:00
e7db0ed098
test_mixer & mixer: use memmove instead of memcpy
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Both, src & dst use the same array, thus potentially overlapping.
Behavior of memcpy in that case is undefined.
2017-01-18 18:23:42 +01:00
33a307873a
Enable rc mode change switch to override offboard mode. This is a safety feature, in case offboard control goes crazy, user can always regain control by switching modes to stabilize, or alt hold or position hold, however they have configured the mode change RC switch.
2017-01-18 18:15:58 +01:00
ba10db06c2
Code formatting
2017-01-17 03:14:26 -08:00
d0dad4ad7d
Indenting
2017-01-17 03:14:26 -08:00
de039ca870
VTOL back transition acceptance radius calculation
2017-01-17 03:14:26 -08:00
7fd06ee913
MAVLLink simulator interface: Simulate minimum airspeed noise
2017-01-16 08:26:37 -08:00
b8598c4407
Sensors: Adjust airspeed fail checks
2017-01-16 08:26:37 -08:00
a13082bfed
commander: Widen pre-flight check for airspeed
2017-01-16 08:26:37 -08:00
67c3102db4
updated to remove a compilation flag check as orb_exists() is already supported
2017-01-16 08:25:58 -08:00
b693e29d64
enable px4 flight for excelsior(legacy)
2017-01-16 08:25:58 -08:00
12767c8538
MC position controller: Stop holding position once ground contact is established.
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This ensures the system does not tip over on landings. Tested in SITL with a GPS drift model.
2017-01-16 08:25:26 -08:00
5b54d78128
land detector: changed minimum throttle threshold to have useful landing detection in real world scenarios
2017-01-16 08:25:26 -08:00
39f9647291
mc_pos_control: fixed float literals and commented calculations
2017-01-16 08:25:26 -08:00
f95fb0f20f
land detector: commented takeoff throttle values for each mode
2017-01-16 08:25:26 -08:00
5f3cbbbbc2
mc_pos_control: changed thrust calculation to 3D projection onto body z axis
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until now the desired thrust was simply the absolute value of the thrust setpoint vector
but a multicopter is only capable of producing thrust in its (negative) body z axis
this leads to excess thrust during attitude tracking errors
one important use case is:
trying to land with minimal thrust in NED z axis against gravity
but the position controller still correcting some small horizontal estimation errors
then this prevents unwanted thrust in a completely wrong direction
2017-01-16 08:25:26 -08:00
d63db203ba
mc_pos_control: don't publish attitude sp 2x
2017-01-16 08:25:26 -08:00
7ab2958757
land_detector: added takeoff throttle threshold
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if we control manually and are still landed, we want to stay idle until the pilot rises the throttle
2017-01-16 08:25:26 -08:00
5529023ec1
mc_pos_control: added feed forward hover thrust
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the velocity controller was misusing the integral part to account for the constant gravitational force offset
the hover throttle from the parameter is now is now directly used as feed forward for the thrust in world z direction
the integrator compensates for inaccurate paarameter but should now be idealy zero
2017-01-16 08:25:26 -08:00
50002a0ff6
Update EEKF2 to match ecl updates
2017-01-15 01:57:38 -08:00
1c42cea28e
MAVLink: Ignore bogus mission item requests silently
2017-01-15 01:47:10 +01:00
d1fcd8dd8e
Fix code style for mavlink main
2017-01-14 07:47:03 -08:00
521b89b1ce
MAVLink: Protect against illegal length indication of RTCM data
2017-01-14 07:47:03 -08:00
1549f5a5d1
sdlog2: Fix string termination
2017-01-14 07:47:03 -08:00
3eb7caba4f
MAVLink param handling: Exclude Coverity false positives
2017-01-14 07:47:03 -08:00
fc2970b309
Helicopter mixer: Fix out of bounds checks
2017-01-14 07:47:03 -08:00
4939e42c0f
MAVLink main: Fix resource leak for non-NuttX cases
2017-01-14 07:47:03 -08:00
1155a4725b
PX4IO: Fix mixer load corner case in string termination
2017-01-14 07:47:03 -08:00
df5d0ba8b9
airspeed cal more descriptive error message ( #6324 )
2017-01-13 17:26:27 -05:00
338804606a
Fixed-wing: allow mission takeoff
2017-01-13 00:18:08 -08:00
79d682e740
Master uavcan mainline ( #6313 )
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* Update libuavcan to upstream master with PX4 contrib for NuttX 7.16+
* Release any 64B blocks not needed by usavcan after FW server is stopped.
We simply call the srrink methode after the server stop.
See https://github.com/PX4/Firmware/pull/3005#issue-111885687
for backgound
2017-01-12 13:28:38 -10:00
ba2efff70f
Updated libuavcan submodule with upstream ci fix.
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This commit does not effect PX4 it just points to a commit
that fixes a CI failure introduced in the changes upstrem to
support the nuttx upgrade to 7.16+
2017-01-12 10:53:48 -08:00
a8902472e4
Params: Fix the description text
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The MAIN and AUX outputs had the same description which could confuse users.
2017-01-12 02:40:56 +01:00
751909cd4e
clang readability-braces-around-statements ( #6298 )
2017-01-11 17:01:51 -05:00
48c5ec54bb
commander: make sure all code paths return an (n)ack to MAV_CMD_PREFLIGHT_CALIBRATION
2017-01-11 16:25:04 +01:00
f529069368
Fixed code format issues
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Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2017-01-09 15:41:54 -08:00
830eb8528e
fixed merge conflict
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Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2017-01-09 15:41:54 -08:00
b08e70b65a
Enabled topic_unadvertised
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Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2017-01-09 15:41:54 -08:00
9834155d09
Removed extra debug
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Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2017-01-09 15:41:54 -08:00
b556528984
Fixed wait_for_topic and orb_exists
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orb_exists was not updating the DSP topics on apps proc side
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2017-01-09 15:41:54 -08:00
62a3e07423
orb_exists support for muorb
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Also added builtin command wait_for_topic
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2017-01-09 15:41:54 -08:00
30f80515ec
fix logger: sscanf was used wrong for custom topics file
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using scanf with %s reads until the first whitespace, which included the
comma (as per C standard and tested on linux). Behavior on NuttX differs.
This makes it work on both Linux and Nuttx.
2017-01-09 11:09:37 +01:00
c9956e25b4
mavlink fix code style
2017-01-07 01:03:18 -05:00
Paul Riseborough