1719ff9892
simulator: fix after px4_task_spawn_cmd change
...
argv[0] now contains the task name, so everything moves by one.
2020-12-14 09:26:18 +01:00
314b5e721f
src: remove NuttX ifdefs around args
...
It doesn't look like they are required anymore.
2020-12-14 09:26:18 +01:00
e51000c5be
fix syntax of prev commit
2020-12-11 22:00:56 +01:00
eec64c5c0f
More compact if statement
...
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-11 22:00:56 +01:00
d025787334
replace _vehicle_status
2020-12-11 22:00:56 +01:00
db58269577
Add support for set_position_target_local_ned message
2020-12-11 22:00:56 +01:00
1e6976234f
Remove reset_offb_cruising_speed(). Make more explicit that this PR only affects offboard mode.
2020-12-11 22:00:56 +01:00
f1524fe27d
renaming the new functions
2020-12-11 22:00:56 +01:00
9cc9e4f89f
Handle MAV_CMD_DO_CHANGE_SPEED command for FW Offboard global position control.
2020-12-11 22:00:56 +01:00
0433f4d33c
land_detector: decrease default LNDFW_AIRSPD_MAX 8 -> 6 m/s
2020-12-11 21:58:43 +01:00
ae2b1a265c
commander: POSCTL optical flow aiding continue updating GPOS validity
...
- updating the global position validity should happen regardless of
being in manual position control mode with only optical flow
- condition_global_position_valid needs to be accurate to adjudicate
main state changes (eg going into AUTO MISSION)
2020-12-11 15:33:50 -05:00
6bda8af97c
commander: merge duplicated position and velocity validity checks
2020-12-11 15:33:50 -05:00
5cd4a9c73f
commander: global position validity respect local position xy_valid
2020-12-11 15:33:50 -05:00
ef6209ba03
new manual_control_switches msg (split out of manual_control_setpoint) ( #16270 )
...
- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2020-12-11 12:11:35 -05:00
25ef76b3b8
navigator: fix LOITER_TO_ALT
...
- this was overzealously removed in https://github.com/PX4/PX4-Autopilot/pull/15677
2020-12-11 16:28:08 +01:00
c5a6a60903
Also log transponder_report and satellite_info
...
* log full data rate transponder_report message by default
* log satellite_info (GPS_STATUS) as part of debug topics
2020-12-11 12:44:23 +01:00
fd18ba6496
tiltrotor: allow to finish transition if groundspeed is below cruise speed
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-12-11 09:40:47 +03:00
d44e537084
ekf2: update to new ecl to fix fault status getter
...
- estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits
2020-12-10 12:45:41 -05:00
72420dfff3
mavlink_receiver: remove unused _param_com_flight_uuid
2020-12-10 08:47:04 +01:00
c316af6ec7
update to match new feature as a new mavlink command Oblique Survey 260
2020-12-09 17:54:53 +01:00
7e2da11d67
reenable WV after FT alignment
2020-12-09 17:36:20 +01:00
a1b54eb655
mavlink: check index for out-of-bounds
...
If a MAP_RC_PARAM message is sent with an index > 2, this would lead
to undefined behaviour or a segfault/hardfault.
2020-12-09 08:59:57 +01:00
cd1ffa63cd
commander: auto transition to LOITER if disarmed with no RC only requires a valid global position
2020-12-08 18:26:03 -05:00
82746af07a
ekf2: use new IMU and mag bias and variance getters in ecl/EKF
...
- reset IMU bias on calibration change (only works with multi-ekf)
- standardize PX4_INFO/PX4_WARN/PX4_ERR output for multi-ekf with instance number
- https://github.com/PX4/PX4-ECL/pull/924
2020-12-08 16:06:18 -05:00
8f5f564c05
commander: preflightcheck only report failure once per sensor type
...
- either way the user action is to recalibrate, so we might as well try
to minimize the noise/annoyance
2020-12-08 13:18:22 -05:00
edaf9f2bb6
FW Position Controller: consolidate mission throttle adaptions for position and loiter waypoints
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-08 12:08:36 -05:00
6d255df0a8
airspeed selector: disable beta fusion when not in fixed-wing mode
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-08 11:43:27 -05:00
59564af860
wind_estimate message: add identifier for source
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-08 11:43:27 -05:00
681590c510
ekf2: multi-ekf force initial selection (and sensor_selection publication)
...
- depending on the particular sensor configuration and startup timing we were getting an initial sensor_selection publication without valid accel & gyro device ids (only applies to Multi-EKF)
- fix faulty accel and gyro device ids
- initialize unused test ratio fields to NAN for logging clarity
2020-12-07 21:37:24 -05:00
3276916df9
HomePos: check corresponding validity before using data
2020-12-07 10:24:23 -05:00
711bd2ce87
Commander: use helper to set home position
2020-12-07 10:24:23 -05:00
f3e5b86b06
Commander: set home position in air
...
en/dis-able in-air home position via parameter COM_HOME_IN_AIR
2020-12-07 10:24:23 -05:00
a2ff53b018
mavlink: remove typedef of anonymous struct
...
Clang doesn't seem to like these.
2020-12-06 23:55:59 -05:00
8900c6200d
commander: remove typedef of anonymous struct
...
Clang doesn't seem to like these.
2020-12-06 23:55:59 -05:00
e6992db1ca
Use enums for set attitude setpoint typemasks for offboard mode ( #16327 )
...
This commit switches the typemask comaparision to enums for better readability
2020-12-04 17:44:33 +01:00
01620420fa
ekf2: update to latest ecl with RingBuffer minor improvements
...
- includes https://github.com/PX4/PX4-ECL/pull/938
2020-12-03 21:17:22 -05:00
c305774fae
commander: move vehicle_status into class
2020-12-02 10:20:50 +01:00
b7de10fca3
commander: move vehicle_status_flags to class
2020-12-02 10:20:50 +01:00
dc435c4c90
commander: control_status_leds() use _armed directly
2020-12-02 10:20:50 +01:00
8ac2581d7b
commander: handle_command() use _armed directly
2020-12-02 10:20:50 +01:00
741a0b43e8
commander: move mavlink_log_pub into class
2020-12-02 10:20:50 +01:00
a03b91c01e
commander: move answer_command() to class
2020-12-02 10:20:50 +01:00
d5dc7e2873
commander: move actuator_armed state into class
2020-12-02 10:20:50 +01:00
de66616341
MulticopterPositionControl: don't switch out of Orbit task
...
when it got started via vehicle_command
2020-12-01 10:00:46 -05:00
8f40558f41
MulticopterPositionControl: reset task when switching mode
...
to make sure the state is clean between auto mode switches.
2020-12-01 10:00:46 -05:00
85f3ab1960
rc_update: only decode if RC input is stable (channel count and source)
2020-12-01 09:40:24 -05:00
bd943d872c
Use explicit typemasks for offboard position setpoints ( #16296 )
...
This uses enums of the POSITION_TARGET_TYPEMASK in order to separate typemasks that are part of the mavlink specs more explicitly
2020-11-30 22:12:06 +01:00
a63e8cc149
fix mavlink: ensure vehicle_command topic exists
...
If the first publisher publishes multiple commands right after each other
(e.g. on 'commander takeoff'), mavlink would miss the first and print an
error like 'vehicle_command lost, generation 0 -> 2'.
This is due to a recent uORB behavior change.
2020-11-30 11:53:22 -05:00
05a3492174
commander: remove low priority thread, run tasks in a worker thread on demand
...
- removes race conditions
- removes dependencies on static data & methods
- reduces RAM usage by ~3.8KB
2020-11-30 11:53:22 -05:00
419b336a15
commander: fix ModuleBase usage, remove volatile flag
2020-11-30 11:53:22 -05:00
Julian Oes