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13414 Commits

Author SHA1 Message Date
Julian Oes
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
Julian Oes
314b5e721f src: remove NuttX ifdefs around args 
It doesn't look like they are required anymore.
 2020-12-14 09:26:18 +01:00
Thomas
e51000c5be fix syntax of prev commit 2020-12-11 22:00:56 +01:00
Thomas Stauber
eec64c5c0f More compact if statement 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-11 22:00:56 +01:00
Thomas
d025787334 replace _vehicle_status 2020-12-11 22:00:56 +01:00
Thomas
db58269577 Add support for set_position_target_local_ned message 2020-12-11 22:00:56 +01:00
Thomas
1e6976234f Remove reset_offb_cruising_speed(). Make more explicit that this PR only affects offboard mode. 2020-12-11 22:00:56 +01:00
Thomas
f1524fe27d renaming the new functions 2020-12-11 22:00:56 +01:00
Thomas
9cc9e4f89f Handle MAV_CMD_DO_CHANGE_SPEED command for FW Offboard global position control. 2020-12-11 22:00:56 +01:00
Daniel Agar
0433f4d33c land_detector: decrease default LNDFW_AIRSPD_MAX 8 -> 6 m/s 2020-12-11 21:58:43 +01:00
Daniel Agar
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
Daniel Agar
6bda8af97c commander: merge duplicated position and velocity validity checks 2020-12-11 15:33:50 -05:00
Daniel Agar
5cd4a9c73f commander: global position validity respect local position xy_valid 2020-12-11 15:33:50 -05:00
Daniel Agar
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
Daniel Agar
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
Jannik Beyerstedt
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
RomanBapst
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
Daniel Agar
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
Beat Küng
72420dfff3
mavlink_receiver: remove unused _param_com_flight_uuid 2020-12-10 08:47:04 +01:00
Igor Campos
c316af6ec7 update to match new feature as a new mavlink command Oblique Survey 260 2020-12-09 17:54:53 +01:00
Thomas
7e2da11d67 reenable WV after FT alignment 2020-12-09 17:36:20 +01:00
Julian Oes
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
Daniel Agar
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
Daniel Agar
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
Daniel Agar
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
Silvan Fuhrer
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
Silvan Fuhrer
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
Silvan Fuhrer
59564af860 wind_estimate message: add identifier for source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 11:43:27 -05:00
Daniel Agar
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
bresch
3276916df9 HomePos: check corresponding validity before using data 2020-12-07 10:24:23 -05:00
bresch
711bd2ce87 Commander: use helper to set home position 2020-12-07 10:24:23 -05:00
bresch
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
Julian Oes
a2ff53b018 mavlink: remove typedef of anonymous struct 
Clang doesn't seem to like these.
 2020-12-06 23:55:59 -05:00
Julian Oes
8900c6200d commander: remove typedef of anonymous struct 
Clang doesn't seem to like these.
 2020-12-06 23:55:59 -05:00
JaeyoungLim
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
Daniel Agar
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
Daniel Agar
c305774fae commander: move vehicle_status into class 2020-12-02 10:20:50 +01:00
Daniel Agar
b7de10fca3 commander: move vehicle_status_flags to class 2020-12-02 10:20:50 +01:00
Daniel Agar
dc435c4c90 commander: control_status_leds() use _armed directly 2020-12-02 10:20:50 +01:00
Daniel Agar
8ac2581d7b commander: handle_command() use _armed directly 2020-12-02 10:20:50 +01:00
Daniel Agar
741a0b43e8 commander: move mavlink_log_pub into class 2020-12-02 10:20:50 +01:00
Daniel Agar
a03b91c01e commander: move answer_command() to class 2020-12-02 10:20:50 +01:00
Daniel Agar
d5dc7e2873 commander: move actuator_armed state into class 2020-12-02 10:20:50 +01:00
Matthias Grob
de66616341 MulticopterPositionControl: don't switch out of Orbit task 
when it got started via vehicle_command
 2020-12-01 10:00:46 -05:00
Matthias Grob
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
Daniel Agar
85f3ab1960
rc_update: only decode if RC input is stable (channel count and source) 2020-12-01 09:40:24 -05:00
JaeyoungLim
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
Beat Küng
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
Beat Küng
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
Beat Küng
419b336a15 commander: fix ModuleBase usage, remove volatile flag 2020-11-30 11:53:22 -05:00