0ddf76ed7f
uavcan: Add support for BatteryInfoAux message
2022-01-26 13:44:48 -05:00
996b01acbc
uavcannode need link conversion
2022-01-26 13:43:29 -05:00
c8349811d1
Enable logging of mavlink tunnel messages
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Co-authored-by: Vit Hanousek <vithanousek@seznam.cz >
2022-01-26 11:10:43 -05:00
ae3070bbf1
ekf2: make filter update period configurable
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- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
- actual filter update period will be an integer multiple of IMU
2022-01-26 10:57:09 -05:00
3f25349eb9
commander: don't reject VEHICLE_CMD_DO_SET_ACTUATOR
2022-01-25 18:44:58 -05:00
2945ce7c87
ekf2: fuse optical flow when magnetometer is disabled
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Co-authored-by: bresch <brescianimathieu@gmail.com >
2022-01-25 15:42:10 +01:00
82e88a9547
[AUTO COMMIT] update change indication
2022-01-25 15:07:48 +01:00
d20e46567e
ekf2: improve flow for terrain unit test
2022-01-25 15:07:48 +01:00
1502d77df2
ekf: refactor fake position control logic
2022-01-25 15:07:48 +01:00
42404ade77
FlightTaskOrbit: Use cruise speed and manual acceleration for radius and velocity changes
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instead of arbitrary fractions of the maximum radius and velocity.
2022-01-25 11:45:31 +01:00
7c55229db7
FlightTaskOrbit: Fix altitude adjustment by stick
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This is done by inheriting from FlightTaskManualAltitudeSmoothVel again.
The altitude change by command is taken care of by switching
to the apporach when the altitude difference is big enough and
switching back once the altitude is close enough.
The altitude of the command is not perfectly reached but this can
only be done smoothly when the Orbit has full control over the
altitude smoothing. The independent altitude smoothing is not kept
because it was lacking stick handling like altitude lock and smooth
transitions when opening and closing the vertical position loop.
2022-01-25 11:45:31 +01:00
d73d8f390b
FlightTaskOrbit: Fix vertical speed limit
2022-01-25 11:45:31 +01:00
38de07186d
FlightTaskOrbit: include acceleration and jerk in approach setpoint publishing
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I think they were forgotten and it leads to side effects:
- The acceleration feed-forward does not get executed
- The acceleration setpoint is NAN when initializing the altitude
smoothing when arriving at the circle
2022-01-25 11:45:31 +01:00
b9fb8490ba
FlightTaskOrbit: initialize position smoothing with previous setpoints instead of current state
2022-01-25 11:45:31 +01:00
e0337a484b
FlightTaskOrbit: remove unnecessary _sanitizeParams() in activation
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the parameters are anyways sanitized on every update so even if activate()
sets unfeasible one's they get adjusted on the first update.
2022-01-25 11:45:31 +01:00
661496ab24
FlightTaskOrbit: improved naming in applyCommandParameters()
2022-01-25 11:45:31 +01:00
8525a8e520
FlightTaskAuto: fix typo pos(i)tion
2022-01-25 11:45:31 +01:00
4671a741dc
FlightTaskOrbit: Do not switch out of circle orbit control logic on radius change.
2022-01-25 11:45:31 +01:00
8d03e71c16
drivers/magnetometer/bosch/bmm150: init and self test improvements
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- if self test fails consistently proceed with startup, but report failure
2022-01-24 16:16:03 -05:00
8217e0f335
drivers/magnetometer/bosch/bmm150: add self test fail perf counter to status
2022-01-24 13:06:32 -05:00
5ded1aedcb
sensors/vehicle_angular_velocity: add IMU_GYRO_DNF_HMC to configure number of ESC RPM notch filter harmonics
2022-01-24 09:23:03 -05:00
07e6c274d5
uavcan/uavcannode: bridge LogMessage and PX4 ORB_ID(log_message_s)
2022-01-23 20:21:39 -05:00
6203ad25c7
Update submodule mavlink to latest Sat Jan 22 00:39:17 UTC 2022
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- mavlink in PX4/Firmware (a16a8dceb1b2d234ae963c74621c147f521abce9): https://github.com/mavlink/mavlink/commit/3d8092006ec1b2321f74e84039dadb1ebd3d1f37
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/51abf3c82b3d7137406459dc9b337e57637711ae
- Changes: https://github.com/mavlink/mavlink/compare/3d8092006ec1b2321f74e84039dadb1ebd3d1f37...51abf3c82b3d7137406459dc9b337e57637711ae
51abf3c8 2022-01-21 Julian Oes - Component information: add note (#1785 )
f5694b29 2022-01-19 Julian Oes - component_info: re-use protocol capabilities (#1786 )
2022-01-21 23:10:05 -05:00
4de9c598fa
bmm150: retry probe up to 3 times
2022-01-21 15:51:43 -05:00
7cb8ed3a1f
sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats
2022-01-21 09:18:49 -05:00
0607982b23
Publish orbit status also when the waypoint is a loiter waypoint ( #19048 )
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* Publish orbit status also when the waypoint is a loiter waypoint
* Remove redundant orbit status publishing
2022-01-21 09:13:03 +01:00
a2260e53da
ekf2: replace yaw failure detection criteria
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The existing logic using the angle between velocity vectors failed to
determine a yaw failure in practice because the state velocity is often
too small compared to its uncertainty to be used. In all the failures
reported, the yaw emergency estimator converged properly and yaw reset
would have fixed the issue.
A much simpler check using the yaw difference between the main EKF
and the emergency estimator is now used to tell if the vel/pos update
failure is most likely caused by a wrong heading.
2022-01-20 11:54:24 +01:00
0dea56f88b
Use current_sp for publishing orbit status
2022-01-19 12:00:03 -05:00
dec5e7e9c8
Publish orbit status whenever the vehicle is in loiter
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This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint
2022-01-19 12:00:03 -05:00
19c98b8841
npfg: fix typo in Vector2f indexing
2022-01-19 11:17:44 -05:00
e89e3c1b0c
ekf2: extract logic to test yaw emergency estimate quality
2022-01-19 09:05:41 -05:00
ea80c5027e
ekf2: split yaw estimator state getter into several functions
2022-01-19 09:05:41 -05:00
476c1e5c09
[AUTO COMMIT] update change indication
2022-01-19 09:04:53 -05:00
ffebd8e771
ekf2: initialize cos tilt variable assuming no tilt
2022-01-19 09:04:53 -05:00
92a5bbe97f
ekf2: improve ring buffer sizing and dynamically allocate
2022-01-19 09:04:53 -05:00
36605bfff6
sensors: lower SENS_MAG_RATE default
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- reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4)
2022-01-19 08:51:57 -05:00
c9f7c20d46
MulticoperPositionController: time failsafe messages together
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The following output instead of printing the
action "stop and wait" just once:
WARN [mc_pos_control] invalid setpoints
WARN [mc_pos_control] invalid setpoints
WARN [mc_pos_control] Failsafe: stop and wait
WARN [mc_pos_control] invalid setpoints
WARN [mc_pos_control] Failsafe: stop and wait
WARN [mc_pos_control] invalid setpoints
WARN [mc_pos_control] Failsafe: stop and wait
2022-01-19 14:31:19 +01:00
d4e356a1ac
PosititionControl: fix integrator windup with invalid setpoint
2022-01-19 14:31:19 +01:00
8811482f1d
PositionControlTest: add integrator windup with invalid setpoint combination unit test
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This bug was by chance found during simulation testing and debugging.
The unit test is to easily reproduce and cover this case.
2022-01-19 14:31:19 +01:00
632dfa55e6
FW Pos C: add option to disable airspeed setpoint via stick input
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-rename FW_POSCTL_INV_ST to FW_POS_STK_CONF and make bitmask out of it:
- bit 0: alternative mapping (height rate on throttle stick, airspeed on pitch)
- bit 1: enable/disable airspeed setpoints via stick
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-01-19 10:13:07 +01:00
cbb8c90245
ControlAllocation: fix calculation of roll/pitch normalization scale
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Take into account the actual number of roll and pitch acutators,
instead of assuming that all actuators have a roll/pitch component.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-01-19 08:22:12 +01:00
0950bb81ab
ControlAllocation: update normalization scale only if matrix updated is forced
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The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-01-19 08:22:12 +01:00
258a563dd5
barometer: Add ICP10100 and ICP1011
2022-01-18 19:14:40 -05:00
dd6b7fa98f
sensors: switch status PX4_INFO -> PX4_INFO_RAW
2022-01-18 15:00:18 -05:00
b1d2a0cc4e
sensors: simplify timestamp data validator handling
2022-01-18 14:57:18 -05:00
953c90d3a6
failure detector: change imbalanced propeller metric
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Use standard deviations instead of variances to get a linear metric
2022-01-18 12:24:35 -05:00
408cf011b2
failure detector: fix dt computation
2022-01-18 12:24:35 -05:00
548b7d5ece
sensors/vehicle_imu: on calibration change don't resume in flight calibration learning immediately
2022-01-18 11:22:41 -05:00
ece09064c4
parameters: perform verification pass twice
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- on NuttX with MTD storage this is to ensure we are verifying what's
actually stored on ramtron or eeprom, not just what's cached by bchlib
2022-01-18 09:47:28 -05:00
cdb6a437a0
Fix UAVCAN beep not started
2022-01-17 21:49:53 -05:00
CUAVmengxiao