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1231 Commits

Author SHA1 Message Date
Julian Oes
cda6524421 manual_control: move override detection 
This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
 2021-11-09 16:05:25 +01:00
Julian Oes
723db8bf2a manual_control: add selector class [WIP] 
This adds a selector class with unit tests.
The idea is to have a valid flag in manual_control_septoint and set that
according to the selection and/or timeout of manual_control_inputs.
 2021-11-09 16:05:25 +01:00
Daniel Agar
2d816e0b3e [WIP] manual_control selector hacks 2021-11-09 16:05:25 +01:00
Daniel Agar
e18cf3da3e sensors/vehicle_imu: use WelfordMean for online mean and variance 2021-11-09 15:19:35 +01:00
JaeyoungLim
cda7c6ceaa
Enable offboard actuator setpoints 2021-11-07 15:38:42 -05:00
Daniel Agar
68026eadeb
save significant IMU bias changes learned by the EKF 
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-11-07 15:34:27 -05:00
bresch
1e94512719 FD: use flags union instead of bitmask 2021-11-05 09:45:52 -04:00
bresch
3f1025fb1e FD: add dedicated topic to log more internal states 
log imbalanced propeller check metric

add failure_detector_status message
 2021-11-05 09:45:52 -04:00
bresch
5dfb8e594a FD: add imbalanced propeller check 2021-11-05 09:45:52 -04:00
bresch
bf2fb70d67 vehicleIMU: compute and log accel variance 2021-11-05 09:45:52 -04:00
Silvan Fuhrer
f02786d112 Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL 
- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 12:09:39 +03:00
Silvan Fuhrer
cad7851774 AirspeedSelector: add _CAS_scale_validated to airspeed_wind for logging 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer
625f556b0e AirspeedSelector: airspeed scale estimation improvements and robustification 
- run airspeed scale estimation always, not in dedicated mode
- add option to apply scale automatically, with extra feasibility check
- add airspeed scale for all 3 possible airspeed instances
- clean up parameters
- add check for data stuck (non-changing airspeed data)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Beat Küng
8a2b310b83 topic_listener: avoid code generation, use existing metadata at runtime 
This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.
 2021-10-20 08:10:05 +02:00
Beat Küng
4c73ac3805 uorb: use single byte for internal types in o_fields metadata 
Reduces flash usage by ~9KB.
 2021-10-20 08:10:05 +02:00
mcsauder
21163d859e Whitespace cleanup. 2021-10-19 13:29:26 -04:00
Beat Küng
a65533b469 mixer_module: add output functions for servos, landing gear, parachute, RC passthrough & gimbal 2021-10-18 18:45:19 -04:00
Beat Küng
5103f00de3 vehicle_command.msg: add VEHICLE_CMD_DO_SET_ACTUATOR 2021-10-18 18:45:19 -04:00
Beat Küng
38fa65a47e control_allocator: remove direct mixer, add actuator_{motors,servos} instead 2021-10-18 18:45:19 -04:00
bresch
ec178c8745 create new mag_bias_estimator module 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-10-02 21:25:21 -04:00
bresch
5874b1f87c mc atune: add module to all targets 
- adjust flash constrianed targets to fit
 2021-10-02 18:12:05 -04:00
bresch
0498ee92d0 mc atune: add multicopter attitude auto-tuner module 2021-10-02 18:12:05 -04:00
bresch
d504b49695 mc_rate: compute control energy and publish to status msg 2021-10-02 18:12:05 -04:00
Nicolas Martin
b24e5fc0af clean remaining offboard_control_signal_found_once 
offboard_control_signal_found_once is not used any more
 2021-09-28 09:25:04 -04:00
Daniel Agar
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
Igor Mišić
3a148bc777 camera_trigger: remove camera trigger secondary 
camera_trigger: publish trigger when capture feedback is not enabled
 2021-09-23 09:21:56 +02:00
Hamish Willee
f41e5985e8 vehicle_local_position: clarify origin of system 2021-09-22 10:14:23 +02:00
Matthias Grob
d1f1e02afb Refactor mode button changes 2021-09-14 09:52:32 +02:00
Claudio Micheli
c50daae4a3 rc_update: introduce support for toggle buttons via RC channels 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-14 09:52:32 +02:00
Claudio Micheli
fa4fc5f347 esc_report: change esc_temperature field to allow negative values 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-11 15:14:49 -04:00
Beat Küng
00d939995b fix micrortps_transport: set poll fd when baudrate is 0 2021-08-22 10:42:13 -04:00
Christian Llanes
c0efbe1f9c change PublicationMulti-> Publication as a temporary fix 2021-08-20 19:56:56 +01:00
Christian Llanes
6423ea50e6 add sensor_combined to urtps_bridge_topics.yaml 2021-08-18 23:52:45 +01:00
Hamish Willee
8aecc64a73 generate uorb - support multiline descriptions 2021-08-16 08:29:44 +02:00
Hamish Willee
9c081ed24b ekf2_timestamps.msg - make first line a complete sentence 
Fixes the docs.
 2021-08-16 08:29:44 +02:00
Hamish Willee
51fa834ac6 generate_msg_docs: generate better page title 2021-08-16 08:29:44 +02:00
Daniel Agar
ff39e27e2d sensor calibration: save temperature at calibration time for monitoring 2021-08-15 11:19:24 -04:00
Daniel Agar
f2bae02f87 msg: purge unused qshell 2021-08-14 12:54:01 -04:00
TSC21
21953daa3b microRTPS: transport: fix UART configuration 2021-08-12 08:44:53 +02:00
TSC21
4b6646c5f3 microRTPS: transport: normalize configs with mavlink/mavlink-router 2021-08-12 08:44:53 +02:00
TSC21
af8a6117fa microRTPS: agent: add missing 'g' option 2021-08-12 08:44:53 +02:00
TSC21
2a368b4db1 uorb_to_ros_urtps_topics: minor cleanup 2021-08-12 08:44:53 +02:00
TSC21
74557c9071 uorb_to_ros_msgs: minor cleanup 2021-08-12 08:44:53 +02:00
TSC21
8762dce762 microRTPS: transport: small format fix 2021-08-12 08:44:53 +02:00
TSC21
fae1627d92 microRTPS: client: cleanup and make arguments consistent 2021-08-12 08:44:53 +02:00
TSC21
109b031156 microRTPS: agent: cleanup and make arguments consistent 2021-08-12 08:44:53 +02:00
TSC21
e83a3a6cf7 microRTPS: update RTPS message list naming from 'ids' to 'msgs' 2021-08-12 08:44:53 +02:00
TSC21
0b23679f98 msg: templates: update empy contexts, required fields and license header years 2021-08-12 08:44:53 +02:00
TSC21
ffa70ac0fd microRTPS: generate_microRTPS_bridge: run fastrtsgen only once for all files 
Reducing the generation time to a 4th of the time (!!)
 2021-08-12 08:44:53 +02:00
TSC21
a8a56a03a4 microRTPS: rename uorb_to_ros_rtps_ids to uorb_to_ros_urtps_topics and remove the 'id' references on it 2021-08-12 08:44:53 +02:00