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328 Commits

Author SHA1 Message Date
Julian Oes 8ddda0a8fa mavlink: move the msg id from uint8_t to uint16_t 
With mavlink2 new messages are added with msg IDs greated than 255.
Therefore the msg ID types needed to be raised everywhere.
 2016-11-09 10:23:34 +01:00
Julian Oes 62603bee45 simulation: SITL outputs from 0..1 
Instead of sending actuator controls from -1..1 for SITL, we should send
0..1 like we already do for HIL. This will enable negative thrust in the
future, e.g. for pusher props that spin backwards, or for vehicles with
variable pitch propellers.
 2016-10-28 23:56:46 +02:00
Lorenz Meier a12780c88f Remove attitude setpoint matrix from attitude setpoint topic 2016-10-19 10:17:41 +02:00
Roman a978d61d9a attitude message cleanup: more cleanup 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
tumbili 5e0e522903 adapted to new vehicle attitude message 2016-10-18 20:46:08 +02:00
Paul Riseborough bef4850ae3 mavlink: Publish estimator solution status flags 2016-10-11 08:52:35 +02:00
Paul Riseborough b6d69ca3aa mavlink: Add ESTIMATOR_STATUS accuracy data 2016-10-11 08:52:35 +02:00
Paul Riseborough bc530ea992 mavlink: add missing data to ESTIMATOR_STATUS message 2016-10-11 08:52:35 +02:00
Beat Küng d297d31c23 input_rc.msg: remove timestamp_publication, use timestamp instead 2016-09-19 13:02:31 +02:00
Andreas Antener 8c9f4e8ab8 added which transition the vtol is in to vehicle status 2016-09-13 14:32:00 +02:00
Bart Slinger 79d8d580b1 Append AUX mixer for HITL simulation (#5457) 2016-09-07 12:09:22 +02:00
Beat Küng 010c9e937b SITL: switch to HIL_ACTUATOR_CONTROLS mavlink message & add pwm_out_sim support for 16 outputs 2016-09-06 11:33:18 +02:00
Miguel Arroyo f999fbe440 Publishes LPE GPS epv and eph as estimator status. (#5413) 
* Publishes LPE GPS epv and eph as estimator status.

* Adds timestamp
 2016-09-03 22:00:51 +02:00
James Goppert 6b08e8ce1f Improvements to lpe for flow and gps. (#5401) 2016-08-27 23:50:24 -04:00
Lorenz Meier 720c445f21 MAVLink: Code style 2016-08-26 23:43:33 +02:00
Lorenz Meier 7cc0b32e74 Make altitude more efficient and estimator status safe in terms of memory overflow 2016-08-15 19:53:21 +02:00
Sebastian Quilter 3b7ba915a8 small refactor (#5155) 2016-07-28 14:49:37 -07:00
Beat Küng 0f6a6f7150 mavlink_messages.cpp: only warn once, when MAVLink log opening fails 
This happens for example if no SD card is present.
 2016-07-20 13:07:32 +02:00
Beat Küng 9a8c092116 mavlink_messages.cpp: fix coding style: prepend _ to class members 2016-07-20 13:07:32 +02:00
Julian Oes eda2915f0b mavlink: whitespace fix 2016-07-13 10:10:45 +02:00
tommises 4fa2c54485 Mocap timestamp cleanup (#5021) 2016-07-11 12:46:29 +02:00
Lorenz Meier 71d150f6ec MAVLink app: Fix rate handling 2016-07-10 17:05:33 +02:00
Lorenz Meier 8b3045baa2 MAVLink: clean up vision timestamps 2016-07-10 12:43:47 +02:00
tommises f69e9a3d37 Fixed VISION_POSITION_ESTIMATE.usec 
Fixed units to be microseconds and not milliseconds.
 2016-07-10 12:29:19 +02:00
Beat Küng 9c73eae941 sensor_combined: replace accel & gyro integral with value, use float for dt 
Reason: the value is easier to read & handle (for example plotting). In
most places the value is needed, not the integral.

Note that this breaks the replay format for sdlog2 replay
 2016-07-07 11:35:50 +02:00
Beat Küng c5ea4b43be sensor_combined.msg: make timestamps relative 
This is needed for the new logger & saves some space as well.
 2016-07-07 11:35:50 +02:00
Beat Küng d846ad5dac sensors: move voting into sensors module 
- voting is now at a central place instead of duplicated within the
  estimators
  -> this also means that estimators that did not do voting so far,
     now have voting, like ekf2
- estimators requiring more than that can still subscribe to the raw
  sensors
- allows sensors_combined to be 3 times smaller
  - reduces logger, memcpy (cache) & RAM overhead
- all modules requiring only 1 or 2 sensor values now automatically get
  the voted result
- this also adds voting to baro
 2016-07-07 11:35:50 +02:00
Beat Küng b4ecc5a8d9 sensor_combined cleanup: remove many unneeded fields 
Decreases the message size from 780 to 280 bytes.
In particular, all modules using sensor_combined must use the integral now.
The sensor value can easily be reconstructed by dividing with dt.

Voters now need to be moved into sensors module, because error count and
priority is removed from the topic.

Any module that requires additional data from a sensor can subscribe to
the raw sensor topics.

At two places, values are set to zero instead of subscribing to the raw
sensors (with the assumption that no one reads them):
- mavlink mavlink_highres_imu_t::abs_pressure
- sdlog2: sensor temperatures
 2016-07-07 11:35:50 +02:00
Beat Küng c407123a72 cleanup sensor_combined: remove adc & differential_pressure fields 
These are not really used. differential_pressure is just copied from the
topic with the same name.

for sdlog2 we assume no one needs the diff pressure fields and set it to 0.
We plan to switch to the new logger soon anyway.
 2016-07-07 11:35:50 +02:00
Daniel Agar 050eedc4f8 mavlink publish WIND_COV (#4913) 
* mavlink publish WIND_COV

-closes #4678

* px4fmu-v2_default disable logger and sync configs
 2016-06-27 16:16:24 +02:00
Beat Küng 89f5bd27e8 vehicle_gps_position: use timestamp field instead of timestamp_position 
timestamp was unused. This allows to remove timestamp_position.
 2016-06-24 00:22:01 +02:00
Chris Lovett 534e10c96a Implement code review feedback. Add get_id_static to MavlinkStream items. Add implementation of MAV_CMD_SET_MESSAGE_INTERVAL, MAV_CMD_GET_MESSAGE_INTERVAL. Add deprecation message to REQUEST_DATA_STREAM. 2016-06-21 10:10:50 +02:00
Daniel Agar 7bbfa5d94b cleanup px4_custom_mode 2016-06-15 20:35:16 +02:00
Daniel Agar e322359b27 get_mavlink_mode_state remove unused pos_sp_triplet (#4613) 2016-06-10 10:33:56 -04:00
Lorenz Meier 0a597d0d62 MAVLink: Update to version 2 compaat API 2016-05-19 20:13:32 +02:00
Lorenz Meier 6eccfe3d14 MAVLink 2.0: Take a first stab at integration, enable heartbeat packets 2016-05-19 20:13:32 +02:00
Lorenz Meier 55c879a0ab MAVLink: Use valid flag to initialize fields 2016-05-15 15:38:01 +02:00
Daniel Agar 27cd3af7fb mavlink fix missing MavlinkStreamNavControllerOutput (#4538) 2016-05-14 00:39:17 +02:00
Daniel Agar eae726e345 FW add mavlink NAV_CONTROLLER_OUTPUT 2016-05-13 12:56:04 +02:00
Julian Oes afbdec1742 mavlink: whitespace 2016-05-12 08:16:36 +02:00
Jonathan Challinger 7ec37d5ffd mavlink: subscribe to and use cpuload message instead of vehicle_status 2016-05-12 08:16:36 +02:00
Lorenz Meier 165f75589b MAVLink app: Use proper C99 NaN define 2016-05-11 12:59:57 +02:00
Lorenz Meier 34baf01d7e Fix altitude estimate 2016-05-11 10:02:03 +02:00
sander e0a8571254 Use filtered voltage and current values for mavlink sys message 2016-05-10 21:34:11 +02:00
Mark Whitehorn 1a5040b9d2 only call fsync in NUTTX builds 2016-04-25 21:51:09 +02:00
Mark Whitehorn 6f20b9e1df fix unused variable error 2016-04-25 21:51:09 +02:00
Mark Whitehorn 4cf427510e fix problem with log_file_path and add msg timestamps 2016-04-25 21:51:09 +02:00
Julian Oes f454d74a51 mavlink: fix Snapdragon build 2016-04-25 15:35:22 +02:00
Lorenz Meier 14a20e3112 MAVLink streams: Better log file handling 2016-04-25 14:46:15 +02:00
Lorenz Meier 25f327c4ac Set RSSI to zero if we loose signal 2016-04-23 16:33:25 +02:00