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22486 Commits

Author SHA1 Message Date
Daniel Agar 0eb327743e move min/max distance to ground limits to FlightTask ManualAltitude 2021-03-03 18:53:56 +01:00
Daniel Agar ecd5e57ab5 remove debug 2021-03-03 18:53:56 +01:00
Daniel Agar 0ada59e57b ekf reset remove NAN checks 2021-03-03 18:53:56 +01:00
Daniel Agar 7a7d316a32 Update src/modules/mc_pos_control/PositionControl/CMakeLists.txt 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar 87f835710b Update src/modules/flight_mode_manager/FlightModeManager.hpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar c891db19f9 Update src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar 266ea377da move takeoff state machine flight_mode_manager -> mc_pos_control 2021-03-03 18:53:56 +01:00
Daniel Agar c9a2d0ed34 IMU_GYRO_RATEMAX set system default to 400 Hz 
- MC default is still 800 Hz
 2021-03-02 10:08:49 -05:00
Kalyan Sriram b257f9d1fd actuator: add support for MAV_CMD_DO_SET_ACTUATOR 
Adds support for using the MAVLink command MAV_CMD_DO_SET_ACTUATOR to
update the actuator values on control group 3 aux{1, 2, 3}. A simple
deconfliction with rc_update is implemented: when a MAVLink command is
sent, RC is disabled for that channel until a major stick movement is
detected.
 2021-03-02 12:41:02 +01:00
Beat Küng ada05165f1 mc_pos_control_params: fix param descriptions for negative values 2021-03-02 08:29:58 +01:00
Daniel Agar 0ba1bc0ce1 MPC_POS_MODE remove old metadata and explicitly handle invalid configuration 2021-03-01 09:10:11 +01:00
Alex Mikhalev d01806a0c6 lib/battery: Fix cell voltages with >10S 
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
 2021-02-28 22:10:23 -05:00
Daniel Agar 9d0c966b15 sensors: publish sensor_selection initially regardless of SENS_IMU_MODE 
- in multi-EKF mode the EKF selector becomes repsonsible for sensor
selector rather than the sensors module
 - this updates the sensors module to still make the initial primary IMU
selection on startup before the EKF selector (including if the
estimators never fully initialize)
 2021-02-27 20:19:05 +01:00
Daniel Agar 9d47f7ecda simulator: make first accel/gyro simulated FIFO 2021-02-26 18:40:37 -05:00
Daniel Agar 6b1e7ffdb8 rc_input: fix possible string truncation (-Werror=stringop-truncation) 2021-02-26 17:56:14 -05:00
Daniel Agar e0ade94d25 platforms: add px4_udelay and px4_mdelay 
- NuttX: up_udelay and up_mdelay
 - Linux: usleep and msleep
 2021-02-26 17:56:14 -05:00
bresch be9b3404a2 lpf test: test several sampling frequencies 2021-02-26 14:06:45 -05:00
bresch 3277648959 lpf test: move to common function 2021-02-26 14:06:45 -05:00
bresch 844602c961 Add unit tests for Butterworth 2nd order low-pass filter 2021-02-26 14:06:45 -05:00
Matthias Grob c2151cb4fa Commander: remove unused arm mode command residue 2021-02-26 07:38:02 -05:00
Daniel Agar 94bcda7c57 navigator: poll mission to run feasibility checks immediately 2021-02-26 10:28:49 +01:00
Igor Mišić 5f9a98e316 drivers/gps: update RTC only if time drift for 5s 
Add interrupt pause comment to help future code archeologists
 2021-02-26 08:36:41 +01:00
Daniel Agar fd1fff89d4 dataman: remove flash backend 2021-02-26 00:28:48 +01:00
Daniel Agar a63e25f581 mavlink: GPS_GLOBAL_ORIGIN on by default, but only send on change or when requested 2021-02-25 12:43:30 -05:00
garfieldG 8db37225d6 Added rc.mavlink_override to test the new parameters with sitl 2021-02-25 08:52:38 -08:00
garfieldG 3cd9b3c2cf Added support in Mavlink Ethernet channel parameters 
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
 2021-02-25 08:52:38 -08:00
Daniel Agar b66a9629e0 ekf2: update to latest ecl with new global origin helpers 2021-02-25 10:43:07 -05:00
斯东Stone e5b689e33c Add TCBP001TA Barometer Driver (#14774) 2021-02-25 07:11:58 -08:00
Daniel Agar 6482120d9a sensors/vehicle_angular_velocity: use full raw FIFO data (sensor_gyro_fifo) if available 2021-02-25 10:06:17 -05:00
Beat Küng 0e8c73f4af drivers: remove snapdragon_pwm_out 
- it would need to be refactored to use mixer_module
- rather than having a separate driver it should use linux_pwm_out
 2021-02-25 09:28:37 -05:00
Beat Küng 3fa825bf88 boards: remove intel/aerofc-v1 
it's discontinued
 2021-02-25 09:28:37 -05:00
Beat Küng 7e33d03470 drivers: remove tap_esc 
- it's not used anymore
- it would need a refactoring to use mixer_module
 2021-02-25 09:28:37 -05:00
Beat Küng f0cc8a344b linux_pwm_out: refactor to run on a work queue and use mixer_module 2021-02-25 09:28:37 -05:00
Beat Küng 439fb00aed linux_pwm_out: move protocols to board-specific directories 
This also removes the pca9685 output, which was unused, and there's also
pca9685_pwm_out.
 2021-02-25 09:28:37 -05:00
斯东Stone b0a5d431d3 optical_flow/thoneflow: update the data timespan 2021-02-24 21:28:29 -05:00
Jacob Crabill 4cca86b5d6 uavcan_v1: Apply feedback from Pavel Kirienko 
Co-authored-by: Pavel Kirienko <pavel.kirienko@gmail.com>
 2021-02-24 19:22:11 +01:00
JacobCrabill a7a7e33614 uavcan_v1: Rename Subscription --> Subscriber 2021-02-24 19:22:11 +01:00
JacobCrabill b5ac6f1eb8 uavcan_v1: Refactor Pub/Sub class constrctors 
Each class now sets the 'subject name', and the base class looks for a
parameter following the format uavcan.pub/sub.SUBJECT_NAME.INSTANCE.id
 2021-02-24 19:22:11 +01:00
JacobCrabill c8e66a2f5c uavcan_v1: Rename Publication --> Publisher 2021-02-24 19:22:11 +01:00
JacobCrabill e654fe71f5 uavcan_v1: Fix 'unset' port ID (use 65535) 2021-02-24 19:22:11 +01:00
JacobCrabill 935bf75b61 uavcan_v1: Fix bugs in MixingOutput / EscClient 
Also add commented-out code for use with PR-16808
(MixingOutput + output_control)
Bench-tested PWM output on a Pixracer via UAVCANv1 ESC commands from a
Pixhawk 4.
 2021-02-24 19:22:11 +01:00
JacobCrabill 04ea1cf5c6 uavcan_v1: Add to EscClient implementation 
Add outline of EscServer implementation
Add some comments and cleanup
 2021-02-24 19:22:11 +01:00
JacobCrabill 4b73566b76 uavcan_v1: Add Publisher base; Gnss Publisher 2021-02-24 19:22:11 +01:00
JacobCrabill 216a66b535 uavcan_v1: Remove unused vars 2021-02-24 19:22:11 +01:00
JacobCrabill 35f822fca6 uavcan_v1: Working ESC setpoint pub/sub 2021-02-24 19:22:11 +01:00
JacobCrabill 170345040a uavcan_v1: Add rough ESC Client; Reorg Subscribers 2021-02-24 19:22:11 +01:00
JacobCrabill 00814815f4 uavcan_v1: Reorganize uavcan params and Subscriber 2021-02-24 19:22:11 +01:00
JacobCrabill 088014c2e1 uavcan_v1: Basic subscriber working 2021-02-24 19:22:11 +01:00
JacobCrabill b88e8b6684 uavcan_v1: Increase stack size 
Also increases stack frame size limit, which was what the compiler was
throwing an error on.
 2021-02-24 19:22:11 +01:00
JacobCrabill 70ff6703b7 uavcan_v1: More work on subscribers and reg access 
Now running into issues with running out of stack frame memory
For now I'm going to leave the relevant code in so it's at least
readable, but in its current state it will not compile
 2021-02-24 19:22:11 +01:00