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12224 Commits

Author SHA1 Message Date
Silvan Fuhrer
702c6f6df4 FW pos C: fix altitude control for VTOL/FW by also publishing attitude sp if in altitude, not only if position or velocity controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-10 13:20:07 -04:00
Silvan Fuhrer
92b824e218 VTOL attitude controller: run update_vtol_state only if mc or fw att sp changed, such that pusher support in hover works again 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-10 13:52:33 +02:00
Silvan Fuhrer
1b2403a87f VTOL land detector: trigger land detector in fixed-wing mode if disarmed. 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-10 13:46:43 +02:00
Patrick Servello
47e668eb86 simulator and dumpfile fix minor resource leaks 
* Certain conditional branches returned before closing the file handler.
 2019-09-09 13:24:07 -04:00
Tanja Baumann
f3c5ca6015 Collision Prevention: support multiple sensors and frames (#12883) 
* build internal sensor map

* Extend testing coverage

* Update matrix library
 2019-09-06 08:38:56 +02:00
Julien Lecoeur
7bea81f02c Add board orientation ROLL_90_YAW_270 2019-09-05 20:41:32 -07:00
JaeyoungLim
09dab07071 Enable support for global position setpoints with SET_POSITION_TARGET_GLOBAL_INT (#12819) 2019-09-03 11:21:41 +02:00
Daniel Agar
9bc19fd732 IMU_GYRO_RATEMAX add common options 2019-09-02 23:53:26 -05:00
Daniel Agar
f280977ed0
mavlink: update orb_publish to uORB::Publication<> 2019-09-02 23:51:54 -05:00
Daniel Agar
20e6adc4ca
sensors: update orb_publish to uORB::Publication<> 2019-09-02 20:44:03 -04:00
Daniel Agar
c8f77d438d
load_mon: update orb_publish to uORB::Publication<> 2019-09-02 20:41:34 -04:00
Daniel Agar
4d9f2bf776
add IMU_GYRO_RATEMAX to optionally limit gyro control publication rate 2019-09-02 20:06:50 -04:00
Daniel Agar
7162000e80 fw_pos_control_l1: update orb_publish to uORB::Publication<> 2019-09-02 16:20:44 -04:00
Daniel Agar
e83026f106 fw_att_control: update orb_publish to uORB::Publication<> 2019-09-02 16:20:44 -04:00
Daniel Agar
6938955b8d
vtol_att_control: limit state updates to input availability and always publish both FW/MC actuator controls 2019-09-02 14:13:33 -04:00
Daniel Agar
06cf801121
SENS_BARO_QNH set reboot_required 
- fixes https://github.com/PX4/Firmware/issues/12866
 2019-09-02 13:40:34 -04:00
Julien Lecoeur
47355333ad Clarify comment 2019-09-02 10:47:40 -04:00
Julien Lecoeur
ced201bdb5 IO: respect actuator_armed.prearmed flag 2019-09-02 10:47:40 -04:00
Julien Lecoeur
9c50f5ea08 Add parameter COM_PREARM_MODE 
Condition to enter the prearmed state, an intermediate state between disarmed and armed
 * in which non-throttling actuators are active.
 *
 * @value 0 Disabled
 * @value 1 Safety button
 * @value 2 Always
 2019-09-02 10:47:40 -04:00
Mark Sauder
60e5e0821a land_detector: Add and max_altitude and timestamp validity checks to MulticopterLandDetector class. (#12681) 
* Rename local camelCase vars to snake_case and control_mode -> vehicle_control_mode to match typdef with established class convention.
 2019-09-02 00:30:46 -04:00
Daniel Agar
c180d63441 delete accidental systemlib/param/param_new.c 2019-09-01 20:42:41 -04:00
Daniel Agar
891aae0377
commander increase cpu overload threshold 
* the large 20% margin is no longer appropriate now that nearly all work in the system is
scheduled (moved out of ISRs) and represented in the load percentage
 * closes https://github.com/PX4/Firmware/issues/12753
 2019-09-01 14:55:05 -04:00
Silvan Fuhrer
ff6577ce5f EKF and AirspeedSelector: publish multiple wind estimate topic instances and log them all 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-01 14:05:06 -04:00
Beat Küng
a2ebbe9066 pwm_limit: rename to output_limit 
As there is nothing pwm-specific about it.
 2019-08-31 10:05:00 -04:00
Beat Küng
1bee984bb0 MC_AIRMODE: move parameter definition to mixer_module 
Makes sure that the parameter is included for the builds that need it.
 2019-08-31 10:05:00 -04:00
Daniel Agar
78ef8aab2d STACK_MAIN increase default 1024 -> 2048 2019-08-30 19:11:51 -07:00
kritz
9ed2daef48 Fixing and simplifying mavlink odometry handling (#12793) 
* Fixing and simplify mavlink odometry
 2019-08-30 06:33:13 -07:00
Beat Küng
43fdcd7876 px4_middleware: remove that header and move px4::init to px4_init.h 
delete include:
for i in $(grep -rl 'px4_middleware.h' src platforms); do sed -i '/#include <px4_middleware.h/d' $i; done
 2019-08-30 07:59:44 +02:00
Beat Küng
f8e0441e7b src/platforms/common: move to platforms/common 
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
 2019-08-30 07:59:44 +02:00
Beat Küng
ab43a83bed platform: restructure (NuttX) architecture-specific code 
updated: tone_alarm, px4io_serial, px4_micro_hal
 2019-08-30 07:59:44 +02:00
roangel
1e510f5a44 [FlightTasks] Added class enum for FlightTasks errors (#12822) 2019-08-29 14:48:52 +02:00
Daniel Agar
aebf244464 mc_pos_control: takeoff fix implicit switch fallthrough 2019-08-28 18:16:28 -04:00
roangel
e50dd7c364 replay: close replay log file after replay is finished, then exit (#11264) 2019-08-28 08:13:50 +02:00
JaeyoungLim
950dbc1d2e Rover: Enable Offboard support for Rover position control 2019-08-21 12:04:19 -04:00
Julien Lecoeur
7fa885c7b3 Document the behaviour of TERMINATE and LOCKDOWN in comments 2019-08-21 07:56:20 -07:00
Julien Lecoeur
85c2e7d65d Offboard failsafe actions: cleanup and move to dedicated functions 2019-08-21 07:56:20 -07:00
Julien Lecoeur
84eeacfb38 Offboard failsafe actions: add DISABLED, LOCKDOWN and TERMINATE options 2019-08-21 07:56:20 -07:00
Julien Lecoeur
4c9288d993 Commander: cleanup COM_POSCTL_NAVL parameter 
- move to px4::params
- use enum
 2019-08-21 07:56:20 -07:00
Beat Küng
7f6a9e587f logger: fix multiple format definitions for multi-instance topics 
With https://github.com/PX4/Firmware/pull/12123 all multi-instance topics
lead to repeated format definitions in the ULog file.
 2019-08-21 10:47:31 -04:00
Jaeyoung-Lim
914417f580 Enable offboard local position setpoints for fixed wing position control 2019-08-21 12:12:29 +02:00
Silvan Fuhrer
8a8cc3b52b Navigator: VTOL: set heading of transition of a VTOL_TAKEOFF to the VTOL_TAKEOFF waypoint (and enforce heading) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-21 10:08:04 +02:00
Silvan Fuhrer
b1d38ee050 Navigator: VTOL: fix mission yawing timeout (MIS_YAW_TMT) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-21 10:08:04 +02:00
Silvan Fuhrer
ab28f1e4f7 Navigator: VTOL: disable weather vane during yaw aligning before front transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-21 10:08:04 +02:00
Daniel Agar
7d248e0f45
px4fmu: move to WQ with uORB callback scheduling (#12224) 2019-08-20 20:24:12 -04:00
Daniel Agar
41dee3875e
VTOL: only run on actuator publications corresponding to VTOL mode 2019-08-20 13:50:34 -04:00
Daniel Agar
d38dfcfcd3
uORB::Subscription fix initialization but not yet published case 
- otherwise uORB::Subscription will erroneously report published after the first successful initialization of an unpublished topic
 2019-08-20 10:28:09 -04:00
Daniel Agar
737f5d4e3d
px4io fix code style 2019-08-19 15:11:39 -04:00
dlwalter
310fd80405 added logic to encode NAN as INT16_MAX to transfer to IO from FMU 2019-08-19 21:08:11 +02:00
Beat Küng
a7eed520b4 commander: refactor module usage output 2019-08-19 10:54:56 +02:00
Beat Küng
d64d3170c0 commander unit tests: enable preflight checks 
- the last check expects pre_arm to run so we need to enable the
  preflight checks. This is closer to the real system.
- as a result we need to enable HIL for other tests so that the sensors
  are not checked.
 2019-08-19 10:54:56 +02:00