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0d3676e5b0dfdb90d6b2f772a0bc3e9cb3c5daa1
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22324 Commits

Author SHA1 Message Date
Lorenz Meier 0d3676e5b0 Safety switch: Default to safety off 
90% of all real-world vehicle configs default to this and it is something that users stumble over if they configure a new system. There are valid cases where this would not be desired - for these it can be still switched off.
 2021-02-14 11:17:28 +01:00
Lorenz Meier 8a448718b9 RC update: Do not constrain throttle 
If the user calibrated to negative throttle, enable them to use it.
 2021-02-14 11:17:28 +01:00
Lorenz Meier 9d20dea3b8 Rover: remove unused parameter 2021-02-14 11:17:28 +01:00
Daniel Agar fb2a199621 delete unmaintaned mkblctrl driver 2021-02-14 10:38:15 +01:00
Lorenz Meier c04d23645c IO: Fix reverse mapping 
The reverse mapping was off-by-one in the IO driver.
 2021-02-13 15:21:10 -05:00
Daniel Agar ce552a3364 navigator: RTL don't get invalid params 2021-02-13 00:34:56 +01:00
Daniel Agar 1981519aad L1 position controller: use double precision floating point for all lat/lon 2021-02-12 21:59:56 +01:00
Silvan Fuhrer 31a6edff07 Fixed-wing: remove roll offset param (FW_RSP_OFF) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Silvan Fuhrer a70cf950f4 fw_pos_control_l1: apply pitch setpoint offset centrally 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Daniel Agar f61d8539cb fw_pos_control_l1: add takeoff minimum pitch parameter 
- remove mavlink mechanism for setting minimum pitch
 2021-02-12 13:57:15 -05:00
Daniel Agar 15e76ad993 PWM12 mode for pwm_out and dshot 2021-02-12 09:19:18 -05:00
Daniel Agar 0614789db3 tests: add simple parameter custom default testing 2021-02-12 08:27:47 -05:00
Daniel Agar ce64951578 parameter_update.msg: add basic status info 2021-02-12 08:27:47 -05:00
Daniel Agar b8b13bb882 parameters runtime defaults 2021-02-12 08:27:47 -05:00
Daniel Agar da1a38b44e parameters: merge generated files ito single static constexpr header 
- store parameter type and if volatile separately (saves kilobytes of flash)
 - use Bitset for tracking active and changed parameters
 - use atomic for autosave_enabled flag
 - compile at ${MAX_CUSTOM_OPT_LEVEL} (-O2 on non flash constrained boards)
 2021-02-12 08:27:47 -05:00
PX4 BuildBot 71c7c69c9d Update submodule ecl to latest Fri Feb 12 12:42:24 UTC 2021 
- ecl in PX4/Firmware (2292cf3ed4f8c4391131870936881331bc870260): https://github.com/PX4/PX4-ECL/commit/602e65146c975c12482560fafab7e05bf43b0029
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/ffab483504a6c2eb3b61ae10d612cb35c8fbc550
    - Changes: https://github.com/PX4/PX4-ECL/compare/602e65146c975c12482560fafab7e05bf43b0029...ffab483504a6c2eb3b61ae10d612cb35c8fbc550

    ffab483 2021-02-11 Loic Dubois - Waiting for the filter to be initialized to set global origin
 2021-02-12 08:26:10 -05:00
Daniel Agar c3172a91d9 ekf2: try reselecting distance_sensor on timeout 2021-02-12 08:25:27 -05:00
Matthias Grob a002a07ed5 sdcardCheck: minor refactor 
I was late for the review.
 2021-02-12 00:17:43 -05:00
Daniel Agar 5db906314a uavcan: stm32h7 driver silence debug output 2021-02-11 23:08:17 -05:00
Daniel Agar c63107bb57 uORB: tests increase priorities to minimize failures with stackcheck/debug enabled 
- also relax the maximum mean by 50%
 2021-02-11 22:58:57 -05:00
Daniel Agar cb7aabf932 fw_pos_control_l1: cleanup body velocity and acceleration usage 
- minimize storing unnecessary state (msg copies)
 2021-02-12 00:41:39 +01:00
bresch 9d3ff12a94 commander: reword nav failure message 2021-02-11 16:20:30 -05:00
bresch 5726e8e0a3 commander: do not fail nav check on GPS position glitch 
In case of a diverge of the nav filter, both position and velocity test
ratios are large. If only one of them is too large, the nav filter is
most likely not diverging but is encountering a GNSS position reset and
it is still safe to fly in position mode.
 2021-02-11 16:20:30 -05:00
bresch b1b032d6e1 commander: rework nav failure check 
Allows to recover from a failed test with a stricter test
 2021-02-11 16:20:30 -05:00
Daniel Agar 5b44bd67bb ist8310: fix 16 times average configuration 2021-02-11 13:18:13 -05:00
Matthias Grob 82d6cc3dba FlightTasks: use .xy() where possible 
to take the first two elements of a Vector3f.
 2021-02-10 15:56:58 +01:00
Matthias Grob 7686533abb FlightTaskManualAcceleration: adapt position reset to new structure 
The mapping itself was seprated out into a calls because it was reused
for the experimental nudging implementation.
The position resets which were handled correctly before now
change the wrong setpoints and I adjusted.

The nudging has to be before any filtering, then these member setpoints
which are essentially copies are not needed anymore.
 2021-02-10 15:56:58 +01:00
Julian Oes c524e61b97 airspeed_selector: fix timeout check 
I think this check was the wrong way round which meant that we would end
up with an unsigned int overflow and trigger a reset.
 2021-02-10 12:58:23 +01:00
Daniel Agar a76e429b1a calibration parameters volatile (offsets and scale factors) 
- anything set vehicle side should be volatile and excluded from the
param hash
 2021-02-10 09:01:47 +01:00
PX4 BuildBot bf29ec2da2 Update submodule ecl to latest Wed Feb 10 00:39:35 UTC 2021 
- ecl in PX4/Firmware (afb692ecffccc3ba7ade39c5906c8c5660066121): https://github.com/PX4/PX4-ECL/commit/cd38621dd6a4ef0f42eb29a2b4145f58023e7910
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/602e65146c975c12482560fafab7e05bf43b0029
    - Changes: https://github.com/PX4/PX4-ECL/compare/cd38621dd6a4ef0f42eb29a2b4145f58023e7910...602e65146c975c12482560fafab7e05bf43b0029

    602e651 2021-02-05 Paul Riseborough - EKF: Remove unnecessary initialisation
6f664ab 2020-07-20 Paul Riseborough - EKF: Non functional changes arising from review
b87778e 2020-06-30 Paul Riseborough - EKF: Make clip detection logic easier to follow
9aa8d93 2020-06-30 Paul Riseborough - EKF: Use isRecent function
e948b35 2020-06-29 Paul Riseborough - EKF: Don't reject vertical aiding data if inertial solution is bad
c566318 2020-06-23 Paul Riseborough - EKF: misc improvements to handling of accel clipping
9c89fa3 2020-06-02 Paul Riseborough - EKF: Use IMU clipping to adjudicate bad accel data check
 2021-02-10 00:16:42 -05:00
David Sidrane ef444da689 BUGFIX Hardfault Commander Calibration 2021-02-09 15:20:50 +01:00
Matthias Grob dec353219d FlightTaskManualAcceleration: smooth position unlock 
The velocity setpoint of the position controller
does a jump when unlocking position with a non-zero position error.

This is solved by using the velocity setpoint feedback to smoothly
take over.
 2021-02-09 11:31:35 +01:00
Matthias Grob c9eac29d25 StickAccelerationXY: access member setpoints directly 
This is a leftover from before converting the logic into
a completely separate class.
 2021-02-09 11:31:35 +01:00
Matthias Grob 79739c5676 StrickAccelerationXY: name setpoints unambiguous 2021-02-09 11:31:35 +01:00
Beat Küng 5a1c60b5a1 component_information: switch from gzip to xz 
Improves compression, e.g. current params file: 62KB to 51KB

There's also a PRESET_EXTREME option, which reduces by another 2KB.
We can revisit that once needed, as it increases mem usage as well.
 2021-02-09 09:44:50 +01:00
Beat Küng cedfae9e46 jenkins: upload params.json.gz to S3 2021-02-09 09:44:50 +01:00
Beat Küng f8989fe5aa mavlink: speed up ftp transfers on POSIX 
Around 900 KB/s - not fast, but should be fast enough for the use-cases.
 2021-02-09 09:44:50 +01:00
Beat Küng d0e35efe3a parameters: remove uid from json output 
Got removed from the spec
 2021-02-09 09:44:50 +01:00
Beat Küng 4ca883f843 parameters: fix JSON output types 
All types were previously output as strings
 2021-02-09 09:44:50 +01:00
Beat Küng 1f8e7de824 mavlink: implement COMPONENT_INFORMATION 
- implement COMP_METADATA_TYPE_VERSION & add component_version.json.gz to
  ROMFS for all targets.
- implement COMP_METADATA_TYPE_PARAMETER (only enabled for SITL currently)
 2021-02-09 09:44:50 +01:00
Daniel Agar 9f00fd2796 move PWM params to lib 2021-02-09 08:57:00 +01:00
PX4 BuildBot 8a047c8965 Update submodule ecl to latest Tue Feb 9 04:48:03 UTC 2021 
- ecl in PX4/Firmware (24abafdfc91875020fd9ecc792f6989cf2058a77): https://github.com/PX4/PX4-ECL/commit/46251db4a11e1f80ce1cce226c7664f875260832
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/cd38621dd6a4ef0f42eb29a2b4145f58023e7910
    - Changes: https://github.com/PX4/PX4-ECL/compare/46251db4a11e1f80ce1cce226c7664f875260832...cd38621dd6a4ef0f42eb29a2b4145f58023e7910

    cd38621 2021-02-08 bresch - flow terrain: use dedicated variable for last fusion time
9521e81 2021-02-08 PX4BuildBot - [AUTO COMMIT] update change indication
ae0c054 2021-02-08 PX4 BuildBot - Update geo_lookup WMM  to latest Mon Feb  8 11:48:14 UTC 2021
5aaa6c6 2021-01-28 bresch - lpos accuracy: bump variance if deadreckon time exceeded
 2021-02-09 00:50:36 -05:00
Daniel Agar 8f0918a16b boards: remove unused linker __param section 2021-02-08 23:22:48 -05:00
Beat Küng 76a447ed0f fix StickAccelerationXY: avoid setpoint oscillations around 0 
With a higher responsiveness, after centering the stick, the velocity and
acceleration setpoints could oscillate around 0 and never reach 0, due to
discretization.
This also prevented position lock engagement.
 2021-02-08 13:51:36 +01:00
PX4 BuildBot 8d0f96f22c Update submodule libcanard to latest Mon Feb 8 00:39:35 UTC 2021 
- libcanard in PX4/Firmware (0c6cf6cb99): https://github.com/UAVCAN/libcanard/commit/cde670347425023480a1417fcd603b27c8eb06c1
    - libcanard current upstream: https://github.com/UAVCAN/libcanard/commit/55938c51cf7da3096679933302693c9dae7a2b33
    - Changes: https://github.com/UAVCAN/libcanard/compare/cde670347425023480a1417fcd603b27c8eb06c1...55938c51cf7da3096679933302693c9dae7a2b33

    55938c5 2020-12-29 Pavel Kirienko - Merge pull request #160 from UAVCAN/readme-fix
1c91c49 2020-12-29 Pavel Kirienko - Improve the example in README, fix #159
 2021-02-07 21:42:30 -05:00
PX4 BuildBot 05164d0a6a Update submodule libcanard to latest Mon Feb 8 00:39:43 UTC 2021 
- libcanard in PX4/Firmware (fef2f1c150ee15ba430c2da74fb432483fd888d8): https://github/commit/cde670347425023480a1417fcd603b27c8eb06c1
    - libcanard current upstream: https://github/commit/55938c51cf7da3096679933302693c9dae7a2b33
    - Changes: https://github/compare/cde670347425023480a1417fcd603b27c8eb06c1...55938c51cf7da3096679933302693c9dae7a2b33

    55938c5 2020-12-29 Pavel Kirienko - Merge pull request #160 from UAVCAN/readme-fix
1c91c49 2020-12-29 Pavel Kirienko - Improve the example in README, fix #159
 2021-02-07 20:27:59 -05:00
Peter van der Perk 8242968b2b UAVCAN v1 GPS demo with MAVCAN autoconfigure 2021-02-07 17:18:45 +01:00
Peter van der Perk 8b2d20df34 "MAVCAN" PNP & Register example implementation 2021-02-07 17:18:45 +01:00
Peter van der Perk e5d29d4079 UAVCANv1 demo UAVCAN146 <-> BMS-722 is working 
Fixed UAVCAN146 linker script that caused CXX initalization to wrong
Enabled uORB listener command
Updated UAVCANv1 msg definition

Known isssue: PX4 params are not working on the UAVCAN146
 2021-02-07 17:18:45 +01:00
Daniel Agar 58ca575871 UAVCAN v1 bridge 
- NuttX stm32f4/stm32f7 uses character device driver
 - NuttX kinetis and s32k uses socketcan
 2021-02-07 17:18:45 +01:00