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20336 Commits

Author SHA1 Message Date
Timothy Scott 11bbc8ae34 Code cleanup 2019-12-12 04:39:53 -08:00
Silvan Fuhrer 1617997dde VTOL: instantly do VTOL mode changes if landed and disarmed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-12-11 20:10:25 -05:00
bresch d6ffdc09b8 FlightTaskManualPosition: use new Matrix available functions to cast 
from a vector of 4 elements to Vector2f and from Vector2f to Vector3f.
 2019-12-11 17:21:57 +02:00
bresch d0bdd80129 FlightTaskManualPosition: Remove MPC_ACC_HOR_ESTM parameter. This was 
used back in time when no soothing was done to avoid large steps when
the estimator stops sending a maximum velocity (e.g.:GPS gained during
optical flow flight). Since smoothing is applied later, this is not
required anymore.
 2019-12-11 17:21:57 +02:00
Matthias Grob a3d30fc970 mc_pos_control/FlightTask: apply nit-pick review findings 2019-12-11 14:03:16 +01:00
bresch 82b4e766a5 AutoMapper2: re-introduce gradual vertical speed limitation during landing between alt1 and alt2 2019-12-11 14:03:16 +01:00
bresch 4d0786d5b4 FlightTask: use centralized _dist_to_ground computed in FlightTask instead of 
recomputing it in AutoMapper, AutoMapper2 and AutoLine
 2019-12-11 14:03:16 +01:00
bresch 4ba672a7ba ManualPosition: Limit horizontal speed during landing 2019-12-11 14:03:16 +01:00
David Jablonski 944bf54d84 Use correct params for DO_MOUNT_CONTROL 
If MAV_MOUNT_MODE is GPS_POINT, the mavlink documentation recommends to
use params4-6. In the current implementation params1-3 were used
instead.
 2019-12-11 09:00:17 +01:00
PX4 BuildBot 4e75f54fcf Update submodule matrix to latest Tue Dec 10 00:39:17 UTC 2019 
- matrix in PX4/Firmware (478a27ee8843a9bd91a0254f6b01a6a9c01946a4): https://github.com/PX4/Matrix/commit/a8009a36a3668da0cbab0cb028b6997cd8179dc1
    - matrix current upstream: https://github.com/PX4/Matrix/commit/4f3565da94d00c4cd1feb560f1f72a81296522f8
    - Changes: https://github.com/PX4/Matrix/compare/a8009a36a3668da0cbab0cb028b6997cd8179dc1...4f3565da94d00c4cd1feb560f1f72a81296522f8

    4f3565d 2019-12-09 kritz - Add asserts (#115)
2f63981 2019-12-06 kritz - Add several functions that are useful for coavriance matrices: (#114)
5cbcf60 2019-12-05 kritz - Set Matrix's col amd row to single value (#113)
ef442fa 2019-12-05 kritz - Getter function for the diag elements of slice (#112)
de6a2d3 2019-12-04 kritz - Slice assign value (#111)
 2019-12-09 20:42:39 -05:00
Daniel Agar b4fa915c86 uORB_tests: fix queue simulation and cleanup initializations 2019-12-09 16:50:33 -05:00
David Sidrane 1298f6840f px4io:Lower Police light activation 2019-12-09 16:23:16 -05:00
Julian Oes abf174282f navigator: fix VTOL RTL corner case 
This fixes a corner case for VTOL RTL with RTL_TYPE 1.
RTL_TYPE 1 means that the VTOL skips all waypoints on RTL and jumps to
the land waypoint at the end.

During a mission in fixedwing mode it will continue to fly in fixedwing
mode and then do a transition before landing.

However, if RTL is engaged right at the moment of the front transition,
the transition waypoint is not inserted and the VTOL will try to land in
fixedwing mode at the mission land location.

This corner case is fixed in this patch by also considering the
"transition after takeoff" state.
 2019-12-09 12:27:46 -05:00
Matthias Grob 904ab16558 Fix trailing whitespace, EOF newline, indentation 2019-12-09 13:22:19 +01:00
Morten Fyhn Amundsen 1d3da86abb mavlink_receiver: Set distance_sensor id field equal to mavlink msg 
The id field should be copied from the mavlink message, not
simply set to MAV_DISTANCE_SENSOR_LASER (which is 0).
 2019-12-09 09:53:32 +01:00
Julian Oes 2c73aefafe tests: workaround against astyle 3.1 bug 
This prevents astyle 3.1 from changing these 3 matrices without a good
reason.
 2019-12-09 09:28:27 +01:00
Beat Küng fbcc6a96bc fix mavlink: fixes for mavlink on USB instance 
Open the UART after adding the instance: mavlink_open_uart() might block,
and in that case the parent task waiting for mavlink to be started times
out.

And while waiting for the USB UART device to come up:
- check for _task_should_exit
- check for check_requested_subscriptions()

Side-effects when USB is not plugged in during boot:
- reduces boot duration by 100ms
- fixes duplicate instance name in 'top':
 201 mavlink_if0                     1  0.000  1328/ 2572 100 (100)  w:sig  3
 204 mavlink_if0                   572  4.221  1632/ 2540 100 (100)  w:sig  4
- 'mavlink stop-all' now stops the usb instance as well
 2019-12-06 01:00:06 -05:00
Beat Küng e003b1ce79 mavlink: remove unused get_uart_fd(unsigned index) method 2019-12-06 01:00:06 -05:00
Timothy Scott 993fa5bd37 Refactored to work with new battery_status module 2019-12-05 16:38:04 +01:00
Timothy Scott d7bb5d46bb Created new AnalogBattery class 2019-12-05 16:38:04 +01:00
Timothy Scott bff1df7080 Refactored battery library for multiple instances 2019-12-05 16:38:04 +01:00
kamilritz d7b95870b9 Update to merged ECL commit 2019-12-05 11:29:29 +01:00
kamilritz 24efc1b79c Set not yet supported estimator_innovations fields to zero 2019-12-05 11:29:29 +01:00
kamilritz 5d0965e83a Log height innovation sensor specific 2019-12-05 11:29:29 +01:00
kamilritz 61b569245b Reorder innovations in LPE 2019-12-05 11:29:29 +01:00
kamilritz b73c80428e ECL: Clean velPos logging, deprecate ekf2_innovations msg 2019-12-05 11:29:29 +01:00
Daniel Agar 22e4e85eeb collision_prevention: don't unadvertise mavlink_log in destructor 2019-12-05 07:04:50 +01:00
Daniel Agar 709961ec8c InvenSense ICM20602 and ICM20608-G: new standalone optimized drivers 
- uses the FIFO and SPI DMA to transfer full raw data (8 kHz gyro, 4 kHz accel)
 - new sensor messages for better visibility
   - sensor_{accel, gyro}_fifo: full raw data for optional logging and analysis
   - sensor_{accel, gyro}_status: metadata, clipping, etc
 - currently not enabled by default
 2019-12-03 23:21:32 -05:00
David Sidrane 2badea316f systemcmds/serial_test: linux-serial-test ported to run on nuttx (#13662) 2019-12-03 20:51:17 -05:00
dino 34f53c14bf Fixed sensor orientation 2019-12-03 16:16:49 -05:00
dino 0dbd6d70d5 Fixed gyro com errors. Error check was triggering if board was not moved 2019-12-03 16:16:49 -05:00
Daniel Agar 1a395fb6d9 ST ISM330DLC IMU driver 2019-12-03 16:16:49 -05:00
Beat Küng e2a2654628 level calibration: speedup & check for motion 
- instead of resetting existing calibration on start and having to wait
  until the estimator converges, keep existing calibration applied and
  subtract it.
- reduce calibration time from 5s to 500ms, and check for motion during
  that time.
- repeat if there was motion
- fix an uorb resource leak
 2019-12-03 13:58:38 -05:00
Beat Küng b4eaa6696e refactor accelerometer_calibration: using namespace matrix 2019-12-03 13:58:38 -05:00
Daniel Agar 9b66cbd2d9 Infineon DPS310 Barometer 
- used as the primary barometer on the mRo Control Zero F7
 2019-12-02 00:51:01 -05:00
Daniel Agar fd72e5e795 mRo ctrl zero updates 
- add ICM20602 and ICM20648 data ready interrupts
 - enable Bosch BMI088 IMU
 - move HRT_TIMER to TIM3 (same timer as PPM channel)
 2019-12-01 17:43:15 -05:00
Daniel Agar 97c6a28a70 replace unnecessary perf_alloc_once usage 2019-11-30 21:17:15 -05:00
Daniel Agar cceec434f2 Revert "linux_pwm_out update orb usage" 
This reverts commit 25acd40ef0.
 2019-11-30 21:16:49 -05:00
Daniel Agar dc06e644d8 simulator: fix distance_sensor ORB_ID() 2019-11-30 20:17:17 -05:00
Daniel Agar 22a005c9f4 delete module's redundant print_status() 
- we can already get the running status from ModuleBase and the other misc information is already available through perf or uORB
 2019-11-30 18:22:19 -05:00
PX4 BuildBot db904839c3 Update submodule matrix to latest Sat Nov 30 21:21:29 UTC 2019 
- matrix in PX4/Firmware (572fb4751b6e01512ec358b00aa795b234179d85): https://github.com/PX4/Matrix/commit/dba84236cb55cf30a8730f77c71a000babf6d204
    - matrix current upstream: https://github.com/PX4/Matrix/commit/a8009a36a3668da0cbab0cb028b6997cd8179dc1
    - Changes: https://github.com/PX4/Matrix/compare/dba84236cb55cf30a8730f77c71a000babf6d204...a8009a36a3668da0cbab0cb028b6997cd8179dc1

    a8009a3 2019-11-26 Daniel Agar - Quaternion multiply inline return
 2019-11-30 17:58:08 -05:00
Daniel Agar faae5feecc vmount update orb usage 2019-11-30 15:52:53 -05:00
Daniel Agar c04713f4a8 simulator update orb usage 2019-11-30 15:52:53 -05:00
Daniel Agar b418f937a3 sih update orb usage 2019-11-30 15:52:53 -05:00
Daniel Agar c1c9895462 rpi_rc_in update orb usage 2019-11-30 15:52:53 -05:00
Daniel Agar 7306767a9d roboclaw update orb_publish usage to uORB::PublicationMulti<> 2019-11-30 15:52:53 -05:00
Daniel Agar 55a3128c7d qshell update orb usage 2019-11-30 15:52:53 -05:00
Daniel Agar 7759a5dc82 voxlpm update orb usage 2019-11-30 15:52:53 -05:00
Daniel Agar fca029c84a ina226 update orb_publish_auto usage to uORB::PublicationMulti<> 2019-11-30 15:52:53 -05:00
Daniel Agar 92933d988b px4flow update orb_publish usage to uORB::PublicationMulti<> 2019-11-30 15:52:53 -05:00