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Author SHA1 Message Date
Daniel Agar 0bdec5bcc0 cmake: nuttx fix jlink-nuttx dependency 2023-01-25 09:06:35 -05:00
Daniel Agar 64c2ec5eea simulation/gz_bridge: remove cmake CONFIGURE_DEPENDS 
- PX4 build system simulation targets are optional and no longer
strictly required
 2023-01-24 13:58:30 -05:00
Daniel Agar 9cb6de8010 simulation: relax jmavsim java requirements (finding vecmath.jar) 2023-01-24 13:56:24 -05:00
Daniel Agar 3b543c7700 mavlink: serialize mavlink generation to prevent broken output 
- let uAvionix generation fully complete before generating CONFIG_MAVLINK_DIALECT
 2023-01-24 13:49:28 -05:00
Daniel Agar 7c9dcd1985 drivers/uavcan: silence noisy libuavcan cmake version deprecation warning for now 
- keep drivers/uavcannode cmake in sync with drivers/uavcan
 2023-01-22 14:48:43 -05:00
Daniel Agar 1b46028fd3 mavlink: generate mavlink quiet by default (stdout redirected to log file) 2023-01-22 14:45:41 -05:00
Daniel Agar 3f842f01a0 simulator/gz_bridge: split actuator outputs for ESCs and servos (#20979) 
- existing SIM_GZ outputs -> SIM_GZ_EC (ESCs)
 - new SIM_GZ_SV for servos (not fully implemented)
 2023-01-21 14:44:09 -05:00
Daniel Agar a93ef657d1 HIL/test_airframes.sh allow 'gps' and 'mavlink' status to fail 
- we're only looking for debug info if/when things go wrong later
 2023-01-21 11:38:39 -05:00
Daniel Agar fb000e874f boards: px4_fmu-v5_debug quiet RTC debug errors 
- test rack CUAV v5 plus is producing false positives (in this particular situation) that are failing the overall testing
 2023-01-21 11:14:28 -05:00
Daniel Agar 6b13fb8b86 HIL/test_airframes.sh check mavlink and gps status before stopping all 
- occasionally these fail on the test rack (cube orange), so try to
gather more information
 2023-01-21 11:06:23 -05:00
Daniel Agar 1aa8ec4537 drivers: initial VectorNav (VN-100, VN-200, VN-300) support 2023-01-20 19:09:30 -05:00
Daniel Agar bd9d09663f commander: avoid uint64 timestamp implicit float conversions 
- 64 bit time in microseconds stored in a 32 bit float quickly becomes problematic
 - fixes https://github.com/PX4/PX4-Autopilot/issues/20944
 2023-01-19 17:48:40 -05:00
Daniel Agar 3822ef1519 boards: update all in tree bootloaders 2023-01-19 17:25:39 -05:00
Daniel Agar 9d7c4b8273 boards: ark_can-flow_default disable sensors/vehicle_acceleration to save flash 2023-01-18 22:58:19 -05:00
Daniel Agar ffa9d61065 boards: px4_sitl_default include gz_bridge by default 2023-01-18 22:56:17 -05:00
Daniel Agar 2b5722786b cmake: fix and update packaging 2023-01-18 22:51:12 -05:00
Daniel Agar 967c37ac17 boards: mro_pixracerpro_default disable examples/fake_gps to save flash 2023-01-18 21:44:09 -05:00
Daniel Agar 6a64e74ef3 icm42688p: fix register bank selection 
* icm42688p: clear INT_CONFIG1 INT_ASYNC_RESET for proper INT1/INT2 pin operation
 2023-01-18 11:08:03 -05:00
Daniel Agar 95300d5637 ekf2: refactor output predictor to class 
- refactor all EKF backend output predictor pieces into new OutputPredictor class
 - output states are now calculated immediately with new high rate IMU rather than after EKF update
 - IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
 2023-01-18 10:59:34 -05:00
Daniel Agar 71d916dbcd ekf2: PreFlightChecker fix vel_ne_innov_lpf index 2023-01-17 13:03:38 -05:00
Daniel Agar 6991ac014c rename 'gazebo' simulation to 'gazebo-classic' (#20936) 
- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
   - additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
 - use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
 2023-01-15 11:36:12 -05:00
Daniel Agar 6605378d0d boards: px4_fmu-v6c_default disable systemcmds/serial_test to save flash 2023-01-14 19:24:47 -05:00
Daniel Agar 30a240a7a4 boards: modalai_fc-v2_default disable examples/fake_gps to save flash 2023-01-14 19:23:19 -05:00
Daniel Agar 52b9b9ba2f simulation: restore 'gazebo' alias for 'gazebo_iris' 
- only create helper targets if Gazebo 11 found on system
 2023-01-14 17:03:18 -05:00
Daniel Agar 45912066d2 fix copyright header year range 2023-01-14 09:16:16 -05:00
Daniel Agar 674a59e48f ekf2: new gyro bias limit parameter EKF2_GYR_B_LIM 
- default is now a more conservative 0.15 rad/s (~8.6 deg/s) instead of the previous hardcoded 20 deg/s
 2023-01-14 09:15:46 -05:00
Daniel Agar c97381c97f mavlink: streams SCALED_IMU fix gyro dt 2023-01-13 20:01:41 -05:00
Daniel Agar 5942194c66 iridiumsbd: advertise status topic immediately and log by default 2023-01-13 20:01:03 -05:00
Daniel Agar 635daeed8a NuttX push jlink-nuttx into cmake and enable CONFIG_DEBUG_TCBINFO by default 2023-01-12 09:05:26 -05:00
Daniel Agar 5453630a6d Jenkins: hardware test rack ignore irrelevant sensor timeouts 2023-01-11 16:56:19 -05:00
Daniel Agar 0f9bc351f1 ekf2: fix global_pos alt_reset_counter publish (#20906) 
- fixes #20900
 2023-01-11 14:15:07 -05:00
Daniel Agar 618288cca9 SITL Gazebo classic make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 97c8a60d67 SITL gz make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar ae4cb24100 SITL flightgear make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 1abe35c220 SITL jsbsim make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 75125da34c SITL sihsim make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 95a6eba36c SITL jmavsim make airframes simulator specific 
-cleanup and simplify jmavsim SITL launch and debug
 2023-01-07 17:00:35 -05:00
Daniel Agar 760fff7d89 Kconfig: fix missing SERIAL_EXT2 (fmu-v5x/v6x) 2023-01-07 12:10:52 -05:00
Daniel Agar dc5ce9b0ce boards: NuttX increase default CONFIG_ARCH_INTERRUPTSTACK 512->768 bytes 
- during casual testing on default configs the stack was penetration was reaching ~90% which is a bit too close for comfort
 - increasing by 50% to be conservative
 2023-01-07 12:07:35 -05:00
Daniel Agar 7f7dfea998 drivers/imu/analog_devices: experimental support for new ADIS16507 IMU (untested) 2023-01-07 10:56:30 -05:00
Daniel AgarandPX4 BuildBot f520d4b3be Update submodule mavlink to latest Sat Jan 7 12:38:21 UTC 2023 
- mavlink in PX4/Firmware (8bc88ed526044a864427a4b65135c3baffabb2ef): https://github.com/mavlink/mavlink/commit/0c7792edfeee7cf08e531cb4ce5b4f01854e5724
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/74dee05f0cd121ae27e021d011a04b161c9d0440
    - Changes: https://github.com/mavlink/mavlink/compare/0c7792edfeee7cf08e531cb4ce5b4f01854e5724...74dee05f0cd121ae27e021d011a04b161c9d0440

74dee05f 2023-01-04 Beat Küng - component_metadata: add translation schema (#1934)
0267c4cf 2023-01-04 Bob Long - common.xml: add fuel_pressure ext. to EFI_STATUS (#1938)
c64818e8 2023-01-04 Mathieu Mirmont - common.xml: fix typos in AIS_TYPE enumerate (#1939)
2306bf79 2023-01-04 Hamish Willee - Update pymavlink (#1940)
0077129b 2022-10-06 Peter Hall - Development: update airspeed message
fbf84c64 2022-10-05 Peter Hall - gitignore: add /.vscode
817c44d8 2022-12-15 Mathieu Mirmont - Add the MAV_TYPE_VTOL_TILTWING aircraft type (#1933)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-01-07 10:55:05 -05:00
Daniel Agar 34c57cc5b5 px4-rc.simulator shellcheck fixes 2023-01-04 17:35:41 -05:00
Daniel Agar ca9ae80b10 px4-rc.simulator support launching new Gazebo Garden vs Fortress (#20864) 
- "ign gazebo" command is now "gz sim" as of Gazebo Garden
 2023-01-04 12:39:06 -05:00
Daniel Agar cc1b043e18 cmake/kconfig.cmake: fix whitespace 2022-12-30 13:01:30 -05:00
Daniel Agar 20a1c73cf0 ekf2: reinit baro height on sensor or calibration change 
- handle reset on delayed time horizon
 2022-12-29 16:37:34 -05:00
Daniel Agar 40e3503c39 boards: fix all NuttX configs (CONFIG_SMALL NuttX upgrade migration) 2022-12-29 12:50:37 -05:00
Daniel Agar 0fbb6db6d4 boards: update all NuttX defconfig (make all_olddefconfig) 2022-12-29 12:50:37 -05:00
Daniel Agar c2f15f5957 boards: update all px4boards (make all_px4_savedefconfig) 2022-12-29 12:50:37 -05:00
Daniel Agar 0204a55354 Makefile: add all_olddefconfig and all_px4_savedefconfig helpers for updating all boards 2022-12-29 12:50:37 -05:00
Daniel Agar f37eb55e19 platforms/nuttx: FATAL error if NSH enabled and SET disabled 2022-12-29 12:50:37 -05:00
Daniel Agar 03c0808ae6 vscode/settings.json: add .sdf and Jenkinsfile associations 2022-12-21 16:46:25 -05:00
Daniel Agar f2cd7667dc systemcmds/bsondump: new command line utility (extracted from parameters) 2022-12-21 10:14:00 -05:00
Daniel Agar 54a32eb2f7 ekf2: EV overhaul yaw and position fusion (#20501) 
- move EV yaw and EV position to new state machines
 - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
 - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
 - yaw_align now strictly means north (no more rotate external vision aid mask)
 - automatic switching between EV yaw, and yaw align north based on GPS quality
 2022-12-20 10:23:56 -05:00
Daniel Agar 4d318ebd30 mavlink: add initial mavlink OPEN_DRONE_ID_SYSTEM stream 2022-12-13 19:39:27 -05:00
Daniel Agar 696eeb9a49 ekf2: update EV height state machine (small piece of EV overhaul) 
- respect new EKF2_EV_CTRL parameter for VPOS usage
  - EV hgt rotate EV position before usage (there's often a small offset in frames)
  - EV hgt reset use proper EV velocity body frame
  - try to keep EV hgt and EV vel state machines consistent
  - small incremental piece of https://github.com/PX4/PX4-Autopilot/pull/19128
 2022-12-13 13:29:18 -05:00
Daniel Agar 805ffa9d0b ekf2: push mag cal reset to delayed time horizon 2022-12-13 10:24:02 -05:00
Daniel Agar dc0823062e github actions: disable vtol_standard address sanitizer test 
- unfortunately this is often too slow for github actions
 2022-12-12 14:23:13 -05:00
Daniel Agar 61fa28c0d6 Tools/generate_board_targets_json.py exclude px4_ros2_default for now 2022-12-12 11:46:36 -05:00
Daniel Agar 8cf13d50a8 ekf2: EKFGSF_yaw minor cleanup (#20510) 
- don't store unnecessary IMU copy in class, pass it through where required
 - remove custom pi constants
 - remove unused fields from ahrs_ekf_gsf (vel_NE, fuse_gps, accel_dt)
 - explicitly initialize everything in header
 - apply PX4 code style
 - set GPS velocity before yaw estimator update, not after
 2022-12-09 13:24:00 -05:00
Daniel AgarandPX4 BuildBot f3884d5835 Update world_magnetic_model to latest Fri Dec 9 11:14:09 UTC 2022 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-12-09 11:40:30 -05:00
Daniel Agar 41fa53605c boards: rebuild STM32H7 bootloaders and px4-io-v2 2022-12-09 11:02:21 -05:00
Daniel Agar 8114aad983 initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689) 
- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2
 - PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2
 - currently doesn't do much other than allow you to build px4 msgs interface package
 2022-12-08 23:03:44 -05:00
Daniel Agar 2b1d8c1d8e mavlink switch to common dialect by default and update to latest 2022-12-07 15:46:04 -05:00
Daniel Agar 72cb4bee01 SITL gz fixes and init cleanup (#20725) 
- remove broken gz version handling and remove x500-legacy
 - fix all shellcheck warnings
 - prepare for Gazebo Garden compatibility (needs more work)
 2022-12-07 15:41:13 -05:00
Daniel Agar 8eb2a0a3ec ekf2: delete orientation_covariances_euler() 
- usage replaced with now public calcRotVecVariances()
 2022-12-07 12:41:27 -05:00
Daniel AgarandPX4 BuildBot c12d9124bd Update submodule GPS drivers to latest Wed Dec 7 12:38:31 UTC 2022 
- GPS drivers in PX4/Firmware (4eb0a0598048df07c213659944b2720ee42e1cc2): https://github.com/PX4/PX4-GPSDrivers/commit/b49a6c257371abae6e26e0a3e0fc04b963b2f13d
    - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/b76fc1df45952abbc76c7eb9f5a5ab3ae994bef2
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/b49a6c257371abae6e26e0a3e0fc04b963b2f13d...b76fc1df45952abbc76c7eb9f5a5ab3ae994bef2

    b76fc1d 2022-11-21 qst0528 - ashtech: fix position accuracy loss caused by misplaced integer cast (#118)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-12-07 09:16:31 -05:00
Daniel Agar c1c4c96c88 boards: flywoo_gn-f405 NuttX upgrade fixes 2022-12-06 19:35:30 -05:00
Daniel Agar 4f99ac209c gitmodules update NuttX to 10.3.0+ 2022-12-06 18:40:58 -05:00
Daniel Agar f12dbb3ff7 boards: px4_fmu-v5_test disable common distance sensors to save flash 2022-12-06 11:39:25 -05:00
Daniel Agar 91a43c3bce boards: px4_fmu-v5_uavcanv0periph disable camera_feedback to save flash 2022-12-06 10:48:56 -05:00
Daniel Agar 9b20228ffb boards: modalai_voxl2-io NuttX upgrade fixes and sync with px4-io-v2 2022-12-06 10:45:30 -05:00
Daniel Agar a191509b27 boards: raspberrypi_pico NuttX upgrade fixes 2022-12-06 10:40:27 -05:00
Daniel Agar 89b81b0bd6 create Welford mean Vector with covariance and improve precision with Kahan summation (#20676) 
- WelfordMeanVector now computes covariance
 - use Kahan summation for Welford mean (but continue using float32 for actual mean, etc)
 - WelfordMean and WelfordMeanVector handle initial value and count roll over
 - Welford mean count rollover at 16 bit max to prevent numerical issues and shift weight to newer samples
 - sensors/vehicle_imu: update Welford mean usage (now simplified with resets removed)
    - fix vehicle_imu_status accel var, now properly rotated with full covariance matrix
 - gyro_calibration: update Welford mean usage
 2022-11-30 14:50:13 -05:00
Daniel Agar 28e1f6790f Jenkinsfile-hardware: don't run logger on stack check build 
- stackcheck build is so slow it will trigger the logger watchdog (error fails Jenkins)
 2022-11-22 16:07:22 -05:00
Daniel Agar 08cdb96f77 boards: px4_fmu-v5_uavcanv0periph disable systemcmds to save flash 2022-11-21 21:23:02 -05:00
Daniel Agar 16564af788 Jenkinsfile-hardware: remove px4_fmu-v3 2022-11-21 21:18:01 -05:00
Daniel AgarPeter van der PerkDavid Sidranealexklimaj
 		2cb4ef0629 NuttX 10.3+ upgrade (#20190) 
Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
Co-authored-by: David Sidrane <David.Sidrane@NscDg.com>
Co-authored-by: alexklimaj <alex@arkelectron.com>
 2022-11-20 20:28:07 -05:00
Daniel Agar da82757bf6 ekf2: accumulate multiple vel/pos/orientation reset deltas per update 
- if in a single EKF update there are multiple resets we need to track the accumulated delta so the change consumed by the controllers is correct
 2022-11-15 13:20:54 -05:00
Daniel AgarandMathieu Bresciani 639d1ddca2 ekf2: update flags (in_air, at_rest, etc) on delayed time horizon (#20576) 
- in a lot of cases this won't really matter, although you can see it in logs (especially with things like vehicle_at_rest), but it's something we might as well do properly

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-11-14 11:35:40 -05:00
Daniel Agar 9e7db0ed54 merge vehicle_angular_acceleration into vehicle_angular_velocity (#20531) 
- vehicle_angular_velocity and vehicle_angular_acceleration are produced together from the same input data, consumed together, and share the the same metadata (timestamps)
 - individually these topics each have 16 bytes of metadata (2 timestamps) for 12 bytes of data (x,y,z float32)
 2022-11-14 11:03:59 -05:00
Daniel Agar bd5bc9d207 ekf2: cleanup terrain estimator init (shouldn't be valid by default) 
- with Ekf::initialiseFilter() resetting _time_last_hagl_fuse the terrain estimate was technically valid regardless of any range or flow data availability and as a result optical flow fusion is able to start and stay active
 - only consider terrain estimate valid based on control status flags and recent fusion
 2022-11-14 09:29:46 -05:00
Daniel Agar 84d1435880 ekf2: ensure minimum output buffer sizing 
- buffer at least 2 samples for the IMU output predictor buffers
 - dropping below 2 becomes problematic for the minimum observation
interval calculation and the vertical output buffer trapezoidal
integration
 2022-11-09 09:49:35 -05:00
Daniel Agar 5239993c88 ekf2: move EV vel to new state machine, introduce EKF2_EV_CTRL param 2022-11-08 11:46:41 -05:00
Daniel Agar 688dae1108 ekf2: add new EKF2_EV_QMIN parameter 2022-11-08 11:46:41 -05:00
Daniel Agar dac9f0dac4 boards: px4_fmu-v6x_default include systemcmds/gpio 2022-11-07 17:10:47 -05:00
Daniel Agar 4190353192 vehicle_magnetometer: fix standalone mag bias est factored into in flight mag cal 
- preflight mag bias estimate is in the vehicle body frame and removed from the raw mag data after it's rotated, calibrated, etc
 - in flight mag bias (from ekf2) is in the vehicle body frame, but stored as a sensor frame offset immediately
 2022-11-07 09:31:17 -05:00
Daniel Agar 298cc61e07 ekf2: push fuse beta config into backend 2022-11-02 10:09:26 -04:00
Daniel AgarandPX4 BuildBot d4fb1b1f8b Update submodule GPS drivers to latest Sat Oct 29 12:39:01 UTC 2022 
- GPS drivers in PX4/Firmware (d67b19ac1d41b2dcfc61ed6d353ae513ac3f4a82): https://github.com/PX4/PX4-GPSDrivers/commit/1ff87868f6008f06e2033ee05dd904ec54109e52
    - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/fa2177d690207e42e0d8c92e9663578340d44fe4
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/1ff87868f6008f06e2033ee05dd904ec54109e52...fa2177d690207e42e0d8c92e9663578340d44fe4

    fa2177d 2022-10-10 Michael Schaeuble - Return from GPSDriverUBX::receive when ready, don't wait until no data is received

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-10-29 10:55:20 -04:00
Daniel Agar a242a0210e Update world_magnetic_model to latest Mon 24 Oct 2022 09:29:11 PM EDT 2022-10-25 09:20:01 -04:00
Daniel Agar c32cf21b63 commander: estimator check shorten messages 
- otherwise these are awkwardly split in mavlink
 2022-10-25 08:02:47 +02:00
Daniel Agar a7b909234b commander: estimator nav test is not an arming check 2022-10-25 08:01:30 +02:00
Daniel Agar 6f861ba889 ekf2: pos/vel reset helpers pass new variance 
- optical flow velocity reset use already computed _flow_vel_ne
 2022-10-24 10:59:58 -04:00
Daniel Agar ed558e199f ekf2: remove realignYawGPS() (replaced with yaw estimator) 2022-10-21 09:01:30 -04:00
Daniel Agar 5030b21d2e ekf2: replace quatToInverseRotMat if only used once 2022-10-20 14:15:32 -04:00
Daniel Agarandbresch fb3adc3faa ekf2: move baro compensation to delayed time horizon and add validity check 
- this removes an unnecessary virtual call and simplifies things a bit

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2022-10-20 09:17:55 -04:00
Daniel Agar b400b7fcc4 vehicle_angular_velocity: ESC RPM notch filters minimize filter resets (#20449) 
- vehicle_angular_velocity: ESC RPM notch filters minimize filter resets
 - only allow one filter init per axis per cycle
 - "park" ESC notch filters at min frequency instead of full disable
 - relax timeout before a notch filter is disabled
 - add new parameter IMU_GYRO_DNF_MIN for configuring the minimum notch filter frequency
 2022-10-20 09:05:23 -04:00
Daniel Agar fe80e7aa46 commander: respect COM_CPU_MAX for overload and adjust default threshold 2022-10-19 20:25:06 -04:00
Daniel Agar 309465858a commander: elapsed time checks avoid subtracting unsigned integers 
- avoid the possibility of unsigned underflow from subtracting two HRT timestamps (uint64_t)
 - most of these aren't problematic, but people tend to replicate the pattern, so it's better to be safe
 - likely wasn't a problem when people were using hrt_absolute_time() in place, but if using an existing timestamp there's the possibility it's older than a more recent topic update
 2022-10-19 20:21:36 -04:00
Daniel Agar cea185268e msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge 
- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
 2022-10-19 19:36:47 -04:00
Daniel Agar e211e0ca0e commander: limit some estimator checks to prearm 2022-10-19 19:06:56 -04:00