070a73ad63
Commander: Switch into right mode in various corner conditions
...
* If you move in LAND, AUTO or HOLD the sticks the system will give control back to the pilot
* If you do not connect any RC the system will default to HOLD and will allow you tablet control
* If you gain position lock for the first time the system will re-evaluate the mode switch (so if you dropped down to alt hold it will now go into position)
* If the system breaches the Geofence it will now always drop back to POSCTRL if the sticks are moved
2017-02-17 09:13:13 +01:00
7a77e27a79
fixed wing offboard attitude setpoint fix ( #6112 )
2017-02-15 23:51:50 -05:00
081c40c6fa
Commander: Fix level cal command
2017-02-15 22:16:20 +01:00
0263ab8cd2
enable takeoff in gps denied areas and minor requested changes
2017-02-13 21:11:25 +01:00
1f7fdb2386
allow local position for takeoff (e.g. flow)
2017-02-13 21:11:25 +01:00
feda5caac2
commander state machine helper fix style and remove unused
2017-02-12 10:29:59 +01:00
d0b188f585
commander FW don't allow FOLLOW or OFFBOARD
2017-02-12 10:29:59 +01:00
473c211eb0
gyro_calibration uses simpler common bord indentity api
2017-02-04 22:27:04 +01:00
b182a5eeca
Added the vehicle_status_flags publisher with the conversion in a bit field in commander
2017-02-04 21:13:59 +01:00
bf448fce71
Commander: Update call for new power management interface
2017-02-04 21:06:21 +01:00
a92931fe84
Commander: Switch system off if in undervoltage condition and disarmed.
...
This is necessary to not have systems deep-discharge the battery while sitting idle. While at it we also deny arming in low battery conditions to ensure people who just landed with a low battery do not take off again and fail to get a successful RTL.
2017-02-04 21:06:21 +01:00
b89b76fbe6
gyro_calibration: use param_notify_changes
2017-02-03 13:57:48 +01:00
3eecd16309
accelerometer_calibration: use param_notify_changes
2017-02-03 13:57:48 +01:00
fe53e3a0d5
commander: add status_changed when battery is low
2017-02-03 13:53:51 +01:00
b6f3cf9425
events: refactor temperature_calibration command to take options and use a single vehicle_command
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This makes it easier to start calibration for all sensors at once.
2017-02-02 23:54:06 +01:00
b33d49c77d
state_machine_helper use static_assert
2017-02-01 22:15:50 -05:00
6631e72d6f
clang-tidy modernize-redundant-void-arg
2017-02-01 22:15:50 -05:00
e927f3e040
clang-tidy modernize-use-nullptr
2017-02-01 22:15:50 -05:00
c0fd3afc8c
accelerometer_calibration: only notify system once (after last scale change)
2017-02-01 08:40:23 +01:00
bdbc4f4d65
commander: fix bug in gyro calibration
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If the same gyro data was contained in two uORB instances, the thermal offset coefficient was being corrected twice.
TODO should fix what was causing data from the same sensor to appear on two uORB topics.
2017-02-01 08:40:23 +01:00
6e841f6cbd
commander: fix bugs in handling of thermal compensation during access cal
2017-02-01 08:40:23 +01:00
4763a119bc
calibration: make sure to notify the system when temp calibration changes
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This is needed so that temperature compensation reads in the updated values
and publishes the updated sensor_correction topic.
2017-02-01 08:40:23 +01:00
7ebe2ac017
gyro_calibration: take into account temperature compensation when storing the scale
2017-02-01 08:40:23 +01:00
fbef2b7a6a
accelerometer_calibration: avoid using accel_mapping
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This is not needed, as s is an uORB instance and accel_offset_0
contains data from uORB instance 0.
2017-02-01 08:40:23 +01:00
fdb75dbba2
accelerometer_calibration: simplify & fix if temp compensation is enabled
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if compensation enabled, scale & offsets for the drivers should be reset,
but actually only the params were reset and accel_scale was still applied
to the driver via ioctl.
2017-02-01 08:40:23 +01:00
d0ea4e8876
accelerometer_calibration: cleanup
2017-02-01 08:40:23 +01:00
69fd8447ae
accelerometer_calibration: make sure to initialize sensor_correction properly
2017-02-01 08:40:23 +01:00
51def4fc60
gyro_calibration: make sure to initialize sensor_correction properly
...
if it's not published yet or published with low frequency, this makes sure
we have valid data.
also:
- _sensor_correction -> sensor_correction
- remove unnecessary init of sensor_correction_sub
2017-02-01 08:40:23 +01:00
fb774bef67
commander: enable accel cal to adjust thermal compensation parameters
2017-02-01 08:40:23 +01:00
62694d92d2
commander: rework IMU cal for compatibility with temperature compensation
2017-02-01 08:40:23 +01:00
ef2a5599a1
mag_calibration: Make sure calibration fails if any mag fails; More checks on calibration results
2017-02-01 08:38:26 +01:00
fded02220b
calibration_routines: use PX4_ISFINITE() instead of isnan()
2017-02-01 08:38:26 +01:00
5c96c8c1b3
Removed std::fill_n since it is not supported
2017-02-01 08:38:26 +01:00
9fe65d0957
Fix array initialization bug
2017-02-01 08:38:26 +01:00
2c831c314e
commander: correct mag cal offset direction
2017-02-01 08:38:26 +01:00
c6f8bcf8b3
commander: use mathlib matrix_alg functions
2017-02-01 08:38:26 +01:00
78b8deda15
commander: add ellipsoid 9 param fit for magnetometer corrections
2017-02-01 08:38:26 +01:00
c9ac15f0dd
commander: fix code style
2017-02-01 08:38:26 +01:00
f811777789
commander: add new math for sphere fit for compass calibration
2017-02-01 08:38:26 +01:00
c1e2aeff0b
commander: ignore PREFLIGHT_CALIBRATION for temperature calibration param
2017-01-25 22:43:29 +01:00
63e3bbde07
gyro_calibration is using board_get_uuid_raw32 instead of mcu_unique_id
2017-01-25 07:43:11 +01:00
4ceba407f2
commander: raise stack size
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A stack usage of 3000 bytes was observed, therefore it's safer to raise
the commander's stack size by 400 bytes.
2017-01-21 16:04:43 +01:00
1c3ebadb85
Removed unused defines AVIONICS_ERROR_VOLTAGE and AVIONICS_WARN_VOLTAGE
2017-01-21 11:45:36 +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
a13082bfed
commander: Widen pre-flight check for airspeed
2017-01-16 08:26:37 -08:00
b693e29d64
enable px4 flight for excelsior(legacy)
2017-01-16 08:25:58 -08:00
df5d0ba8b9
airspeed cal more descriptive error message ( #6324 )
2017-01-13 17:26:27 -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
5ec546f735
Makefile add scan-build target
2017-01-02 10:14:41 +01:00
8416505a67
Commander: Header cleanup
2016-12-27 21:00:51 +01:00
Lorenz Meier