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9219 Commits

Author SHA1 Message Date
Daniel Agar
0b8e88f476 fw_pos_control_l1 remove unnecessary ground_speed 2017-04-10 09:41:01 +02:00
Daniel Agar
dc30498c80 fw_pos_control_l1 control_position split position_setpoint_triplet 2017-04-10 09:41:01 +02:00
Daniel Agar
0b0c552dee fw_pos_control_l1 remove unused ground_speed arg 2017-04-10 09:41:01 +02:00
Daniel Agar
af7b2cd22f fw_pos_control_l1 cleanup init and uorb helpers 2017-04-10 09:41:01 +02:00
Daniel Agar
474ce2851e fw_pos_control_l1 using math constrain, max, min, radians 2017-04-10 09:41:01 +02:00
Daniel Agar
8b4877a6eb fw_pos_control_l1 delete unused terrain helper 2017-04-10 09:41:01 +02:00
Daniel Agar
c5e0bf1c2f uORB combine VTOL FW and MC virtual topics (#7008) 2017-04-09 13:17:20 -04:00
Lorenz Meier
19f0b0be3a Navigator: Altitude acceptance to switch to new waypoints should be more accurace than horizontal distance by default 2017-04-09 17:25:38 +02:00
Lorenz Meier
3b743fbbe9 MC position control: Smoother takeoff 
This patch ramps up the throttle to hover throttle instead of a fixed value and limits the vertical takeoff speed to the value set in the parameter. This should ensure smoother, slower takeoffs, in particular in autonomous flight modes.
 2017-04-09 17:22:58 +02:00
Lorenz Meier
61cd89efc1 Land detector: Since multicopters take off and land slower than 0.7 m/s, setting the default detection threshold to 0.5 m/s is a much safer default 2017-04-09 17:22:58 +02:00
Dennis Mannhart
4ff3fb4dee mc_pos_control: if takeoff setpoint in auto mode, then do not enter ground contact 2017-04-09 17:19:28 +02:00
Lorenz Meier
08cf97c687 Commander: indicate failsafe reasons more clearly 2017-04-09 12:40:34 +02:00
Lorenz Meier
f74d6e443e Navigator: Initialize RTL state properly 2017-04-08 07:58:37 +02:00
Pavel Kirienko
5788701cc7 Replaced warn() with PX4_WARN() 2017-04-06 12:05:57 +02:00
Pavel Kirienko
02a9ccc4f2 Removed dependency on <algorithm> 2017-04-06 12:05:57 +02:00
Pavel Kirienko
098b57534d UAVCAN GNSS bridge: proper handling of various time bases 2017-04-06 12:05:57 +02:00
Pavel Kirienko
8e61ed9b77 Republishing GNSS Fix2 if no GNSS publishers are available on the bus 2017-04-06 12:05:57 +02:00
Pavel Kirienko
14249d3318 UAVCAN GNSS bridge status output shows whether support for the old Fix message is active 2017-04-06 12:05:57 +02:00
Pavel Kirienko
75c45b62d7 UAVCAN GNSS Fix2 handling 2017-04-06 12:05:57 +02:00
Pavel Kirienko
32ac1288ba Libuavcan update 2017-04-06 12:05:57 +02:00
Beat Küng
044a767235 param: add PARAM_NO_AUTOSAVE: if defined, do not depend on LP work queue 
Some NuttX configs do not have the work queues enabled.
 2017-04-06 11:49:03 +02:00
Beat Küng
1be639ec46 temperature_calibration: turn off param autosave 2017-04-06 11:49:03 +02:00
Beat Küng
43afb8d41e sensor calibration: remove param_save_default() calls 2017-04-06 11:49:03 +02:00
Beat Küng
4b18f8ea46 LandDetector: remove param_notify_changes() 
not needed anymore because of autosave
 2017-04-06 11:49:03 +02:00
Beat Küng
dffba3e03b param: move variable definitions to the top of the file 2017-04-06 11:49:03 +02:00
Beat Küng
a0e2b0c5a2 param: add param_control_autosave to enable/disable autosave 2017-04-06 11:49:03 +02:00
Beat Küng
f3e9739ab0 param export: use writer lock 
to protect against concurrent writes to the same file
 2017-04-06 11:49:03 +02:00
Beat Küng
a5cdff06d5 param: implement rate-limited autosave 
- add a saving delay of 300ms
- save at most once every 2 seconds
 2017-04-06 11:49:03 +02:00
Beat Küng
7c43689ddc commander: remove param autosave 2017-04-06 11:49:03 +02:00
Beat Küng
f179049e95 replay: ignore the ULogMessageType::INFO message 
This got introduced the the addition of the perf counter to the log.

Fixes the error:
unknown log message type 73
 2017-04-06 11:48:35 +02:00
Beat Küng
c7d9a7a6d1 mavlink_log_handler: fix potential buffer overflow 2017-04-06 11:48:35 +02:00
Beat Küng
b0ee1579a9 local_position_estimator: fix typo in params 2017-04-06 11:48:35 +02:00
Beat Küng
04303dcf72 PreflightCheck: use orb_unsubscribe instead of px4_close 2017-04-06 11:48:35 +02:00
Daniel Agar
a6eb0053c5 TECS default FW_T_HRATE_FF 0.8 2017-04-05 09:31:20 +02:00
Daniel Agar
22d0e507c6 TECS fix height demand change 2017-04-05 09:31:20 +02:00
Sander Smeets
0158f1d506 VTOL Standard transition improvements (#6904) 
* FW actuators fully on the entirety of front and back transition
 * back transition ramp up to full MC weight half way through back transition
 * increase maximum front and back transition times
 *  navigator don't reset transition altitude
 2017-04-02 19:39:39 -04:00
Jonathan Lee
1d681b0356 Update URL in airspeed calibration error message 
When a FW/VTOL system detects a missing airspeed sensor, it produces an error message.
This patch uses the new relevant URLs in the PX4 documentation.

Fixes #4549
 2017-04-03 00:25:24 +02:00
Mohammed Kabir
e8e4e5be49 land detector : add stbs for altitude 2017-04-02 21:52:18 +02:00
Lorenz Meier
5f135acf33 Land detector: Add mode for rovers 2017-04-02 21:52:18 +02:00
FantasyJXF
d1c3b771ee Update navigator_main.cpp 
fix a spell error
 2017-04-02 12:15:10 +02:00
Beat Küng
2a175aa2f9 logger: use nullptr instead of NULL 2017-04-01 20:19:52 +02:00
Beat Küng
bfcbe4b6c3 log_writer_file: rename perf counters 
To be more consistent with the rest of the system
 2017-04-01 20:19:52 +02:00
Beat Küng
190c14c186 logger: add preflight & postflight process usage & perf counters to the log 
For the process usage: we need to measure over a certain period of time,
then we can use the results. To avoid blocking, this does:
- after log is started, initialze the load counters, then one second later
  add the results to the log
- after disarming: continue logging for one more second, then add the process
  load to the log and stop logging.
- to avoid a delay, 'logger stop' will stop immediately and not log
  postflight process usage.
 2017-04-01 20:19:52 +02:00
Beat Küng
e75f5a4642 perf_counter: add perf_print_counter_buffer & perf_iterate_all 
These can be used to print the perf counters to a buffer.
 2017-04-01 20:19:52 +02:00
Beat Küng
446c734edc perf_counter: use a mutex to protect concurrent access to the perf_counters linked list 
perf_counters is read from and written to by different threads and thus
requires synchronization. Without it we risk accessing invalid memory.

There are still remaining issues (see comment in code), they will not lead
to a crash however.
 2017-04-01 20:19:52 +02:00
Beat Küng
4b01e5b6b6 printload: add print_load_buffer() method 
Instead of printing to an fd, this prints to a buffer and calls a callback
for each line. To avoid code duplication, the print_load has been refactored
to print to a buffer first, then print to an fd. The overhead is not
noticable, and the behavior of print_load is unchanged.
 2017-04-01 20:19:52 +02:00
Beat Küng
9f3043f9ca printload: store total_runtime in a separate loop 
Because during the printf, the total_runtime could be changed by another
task. This is still not entirely race-free though.
 2017-04-01 20:19:52 +02:00
Beat Küng
23d0355979 printload: reduce memory usage of print_load_s 
assuming CONFIG_MAX_TASKS = 32, this saves 256B of RAM
 2017-04-01 20:19:52 +02:00
Beat Küng
c46274043f printload: use sched_lock to protect access to tcb 
what could have gone wrong before? A scheduling switch during the printload
could have led to a task exit, rendering the tcb invalid. After switching
back, printload would access invalid memory.

This keeps the sched_lock() section as small as possible, just grabbing the
tcb variables we need.
 2017-04-01 20:19:52 +02:00
Daniel Agar
4b8bedef48 avoid double promotions 2017-04-01 20:19:28 +02:00