089c962d92
px4io: moving mixing to FMU side
...
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-09-25 19:15:05 -04:00
9ad0e5b357
mavlink_receiver: updated sens flow parameters to be dynamically handle
2021-09-23 09:23:22 +02:00
6f902e54f9
mavlink: correctly lock radio status
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- hrt_elapsed_time_atomic is not atomic on posix
- other fields like _radio_status_mult need protection as well
2021-09-23 09:23:08 +02:00
0bfb1a983b
px4iofirmware: avoid using hrt_elapsed_time_atomic
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It's only ever read and written in controls_tick() after startup
2021-09-23 09:23:08 +02:00
e53d2907d7
AutoSmoothVel: adjust controller constraints in emergency braking
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When engaging auto mode at high vertical speed, we don't want to cut the velocity
trajectory setpoint in order to create a smooth deceleration.
2021-09-23 09:22:32 +02:00
316e0dfeb5
AutoLineSmoothVel: add emergency braking mode
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Currently only for the Z axis. If the current downward velocity is more
than twice the maximum allowed value, the emergency braking mode is
activated. In this mode, a higher vertical acceleration and jerk is used
until the vehicle stops moving.
2021-09-23 09:22:32 +02:00
3a148bc777
camera_trigger: remove camera trigger secondary
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camera_trigger: publish trigger when capture feedback is not enabled
2021-09-23 09:21:56 +02:00
7af5a33ff3
commander: don't play failsafe tune if disarmed
2021-09-16 09:17:00 -04:00
2b80a6958a
fix disable airspeed check with negative ASPD_FS_INTEG ( #18186 )
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* fix disable airspeed check with negative ASPD_FS_INTEG
* improve logic when nav velocity data is not good
* simplify logic. Reset integrator state when the check is not run.
2021-09-14 12:13:56 +02:00
e7a90bf367
PositionControl: correct horizontal margin calculation
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It was using the already reduced vertical thrust to do
the horizontal limitation resulting in no margin.
2021-09-14 10:57:38 +02:00
d1f1e02afb
Refactor mode button changes
2021-09-14 09:52:32 +02:00
05d40f40d4
Handle rc toggle mode buttons to initialize flight modes
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-09-14 09:52:32 +02:00
c50daae4a3
rc_update: introduce support for toggle buttons via RC channels
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-09-14 09:52:32 +02:00
fa4fc5f347
esc_report: change esc_temperature field to allow negative values
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-09-11 15:14:49 -04:00
7d7200cf2f
Added yaw to CMD_DO_SET_HOME
2021-09-11 15:14:01 -04:00
ce206d992b
RC_FAILS_THR and RC_MAP_FAILSAFE improve parameter description
2021-09-11 15:12:54 -04:00
f09b34007e
CA: reload CA matrix to newly created CA class properly
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Also remove the dependency of ActuatorEffectivenessMultirotor
to param update uORB topic; the CA module
sends a "force" parameter when needed
2021-09-11 15:07:49 -04:00
cf5917d188
control_allocator: restructure param update
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recompute effectiveness on param change
clear update at the end
2021-09-11 15:07:49 -04:00
9d974062d0
replay: improved logging for format mismatchs
2021-09-11 14:37:52 -04:00
5b70fd4a1d
airspeed_selector: switch to events
2021-09-11 14:08:41 -04:00
5fb16e4395
fw_pos_control_l1: switch to events
2021-09-11 14:08:41 -04:00
0a1ae37c1a
logger: switch to events
2021-09-11 14:08:41 -04:00
38eca0c64b
logger: start session & log index at 100
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To avoid leading zeros, as the events interface does not support that (yet)
2021-09-11 14:08:41 -04:00
b31276a4f5
mavlink: switch to events
2021-09-11 14:08:41 -04:00
90940c3672
mc_pos_control: switch to events
2021-09-11 14:08:41 -04:00
79a0edafb5
vehicle_air_data: switch to events
2021-09-11 14:08:41 -04:00
a8cc2f9ef6
vehicle_imu: switch to events
2021-09-11 14:08:41 -04:00
acb73fde14
vehicle_magnetometer: switch to events
2021-09-11 14:08:41 -04:00
f8dc915789
vtol_att_control: switch to events
2021-09-11 14:08:41 -04:00
1f73294ad7
navigator: switch to events
2021-09-11 14:08:41 -04:00
5ac43e7236
commander: switch to events
2021-09-11 14:08:41 -04:00
8866215d1d
sensors/vehicle_imu: add protections for bad sensor data
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- check for inconsistent timestamps, zero samples, and numerical issues in online mean
2021-09-11 13:04:46 -04:00
aad11ecc65
PreFltCheck: do not force to report ekf2 failures on GCS connection
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EKF2 has a grace period of 10 seconds after boot where it doesn't need
to warn the user while the sensors (especially GNSS) are still
converging.
A connection to a GCS shouldn't skip this grace period but
an arming request should.
2021-09-08 14:41:26 -04:00
58ea97a699
MulticopterPositionControl: add horizontal margin for saturation cases
2021-09-08 19:55:27 +02:00
06a91ec752
Improve offboard failsafe ( #18160 )
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* state_machine_helper: improve offboard failsafe
* state_machine_helper: add missing parameter to set_link_loss_nav_state
* state_machine_helper: fix no rc and offboard reason
* Fix offboard test by enabling rcl_except
* mavros_test fix offboard_posctl_test with rcl_except
* autopilot_tester make RcLossException bits explicit
Co-authored-by: Julian Oes <julian@oes.ch >
* autopilot_tester change rcl_except to rc_loss_exception
Co-authored-by: Julian Oes <julian@oes.ch >
* autopilot_tester fix rc_loss_exception renaming errors
Co-authored-by: Julian Oes <julian@oes.ch >
2021-09-08 18:19:53 +02:00
291ca246d2
matrix: update submodule (improves matrix inversion)
2021-09-05 23:18:28 -04:00
93075ad5e8
rtl: fixed computation of return altitude if destination is not home
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-09-05 10:26:24 +02:00
c35293107d
tailsitter.cpp:If transition timeout,abort transition
2021-09-03 13:41:40 +02:00
92abf0545a
GeofenceBreachAvoidance: fixed bug which caused min vertical distance to fence
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not to be calculated
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-09-02 15:45:19 +03:00
478cc576ee
commander: warn on offboard mission init
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- this could happen because the SD card was formatted
2021-09-01 15:16:00 -04:00
e7607b858d
sensors: use vehicle_imu timestamp_sample instead of timestamp
2021-09-01 15:16:00 -04:00
a5a457d744
sensors: relax default data_validator timeout 20->40ms
2021-09-01 15:16:00 -04:00
65b1a9648d
Tools/HIL/run_nsh_cmd.py: fail if ERROR printed in output
2021-09-01 15:16:00 -04:00
054d0b995c
px4iofirmware: remove police lights to avoid getting stuck
2021-09-01 15:16:00 -04:00
6be7926ed3
px4io: add watchdog
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- F1 iwdg:Support optional configuable init
Co-authored-by: David Sidrane <David.Sidrane@NscDg.com >
2021-09-01 15:16:00 -04:00
6cb0259b79
commander: improve progress output
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Instead of outputting progress at weird percentages and dropping 100%,
this now sends the progress every 10 %.
2021-08-30 21:05:40 -04:00
34483aef0f
Do not resend a mission request if it is not the expected sequence number, this can cause an excessive increase of used bandwith ( #18082 )
2021-08-30 13:39:51 +02:00
a917793248
mavlink: only block parameter sync until boot complete
2021-08-30 13:27:51 +02:00
22e62a044a
px4iofirmware: never directly touch mixer from isr
2021-08-25 21:32:05 +02:00
d8214f5e00
component_information: merge extra component_information_header target
...
With Makefile build, generate_component_general.py was called twice during
build, which did not happen with the ninja build.
This created a race condition with the following error in rare cases:
Traceback (most recent call last):
File "/__w/PX4-Autopilot/PX4-Autopilot/src/lib/component_information/generate_component_general.py", line 79, in <module>
save_compressed(filename)
File "/__w/PX4-Autopilot/PX4-Autopilot/src/lib/component_information/generate_component_general.py", line 33, in save_compressed
with open(filename, 'r') as content_file:
FileNotFoundError: [Errno 2] No such file or directory: '/__w/PX4-Autopilot/PX4-Autopilot/build/px4_sitl_default/component_general.json'
make[3]: *** [src/lib/component_information/CMakeFiles/component_information_header.dir/build.make:68: component_general.json] Error 1
Merging the targets avoids the duplicate execution.
2021-08-25 10:04:39 -04:00
Daniel Agar