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24614 Commits

Author SHA1 Message Date
Matthias Grob
fddcf342e9 Matrix: convert inverse test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
f5ec4b2339 Matrix: convert integral test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
7c9e28c168 Matrix: convert helper test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
0c4c3a917c Matrix: convert hat vee test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
8f695a5613 Matrix: convert filter test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
79e8152f05 Matrix: convert dual test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
62571b6984 Matrix: convert copy to test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
35b035e880 Matrix: convert attitude test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
c33bf5b705 Matrix: convert assignment test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
fa35635486 Matrix: change naming of sparse vector test 2022-03-17 13:02:22 +01:00
Jukka Laitinen
3d35929f3e Put gyro_fft in kernel by default in protected build 
It is a performance issue to run it on user side

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
543c7bd0c5 uORB: Build uorb systemcmd always in kernel side in memory protected build 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
d167f91eb8 logger/watchdog: Disable watchdog for NuttX protected/kernel builds 
It accesses kernel internal structures directly; this needs to be
worked out with some proper userspace-kernel interface

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
49b089f149 Add a simple way to launch kernel side modules 
Add launch_kmod command to start/execute px4 modules in kenel space
in NuttX protected build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
bresch
f3f09c1344 PreFlightCheck: add data timeout detection for mag, baro accel and gyro 2022-03-16 11:46:01 +01:00
bresch
75aa11c955 PreFlightCheck: refactor sensors preflight checks 2022-03-16 11:46:01 +01:00
bresch
b1c1163ee4 PreFlightCheck: remove unused device_id argument 2022-03-16 11:46:01 +01:00
bresch
5f1b577b6d PreFlightCheck: mark sensor required if used by an EKF2 instance 2022-03-16 11:46:01 +01:00
stmoon
6d0b11ca99 add custom target for uorb_sources_microcdr_gen 2022-03-15 17:59:22 -04:00
wangwwno1
746c16400a Typo Fix: ChangeWorkQeue 
Fix the typo of 'WorkItem::ChangeWorkQeue' to 'WorkItem::ChangeWorkQueue'
 2022-03-15 13:31:52 -04:00
Daniel Agar
233c7fd293
goertek/spl06: parameters.c add copyright header and fix formatting 2022-03-15 10:14:46 -04:00
Ncerzzk
cb23179c50
Add Goertek SPL06 barometer driver (#19229) 
Signed-off-by: ncer <huangzzk@bupt.edu.cn>
 2022-03-15 10:13:03 -04:00
KonradRudin
5f43be9d60 preflight checks: add check for distance sensor (via parameter) 2022-03-15 10:44:27 +01:00
Jukka Laitinen
0d31aadcc3 src/lib/paramters: Add a new interface library for protected build user side 
Implement an interface for protected build to access parameters.

The implementation only does IOCTL calls to the kernel, where the parameters
live.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-15 07:52:26 +01:00
Jukka Laitinen
41a7ae3db2 src/lib/parameters: Refactor common functions to an own file 
Put all functions which are commont to flat build and protected kernel and
userspace to an own source file

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-15 07:52:26 +01:00
Daniel Agar
7ef38112d2 ekf2: return saved mag bias variance when not in 3d magnetometer fusion 
- the estimated mag bias was requiring > 30 seconds of continuous 3d
mag fusion to be reported stable (and saved back to mag cal), this
restores the original intent requiring 30 seconds of accumulated valid
3d mag fusion
 2022-03-14 21:03:41 -04:00
Daniel Agar
5717434e93 ekf2: initialize GPS drift metrics to NAN rather than 0 2022-03-14 10:09:24 -04:00
alessandro
62d1058cc2 log irlock_report and landing_target_pose messages 
Need to log both, because on some systems the
information will come in directly as a 
landing_target_pose message, and on others
it's coming in as irlock_report and then filtered
in PX4 to produce the landing_target_pose message.
 2022-03-14 10:13:08 +01:00
Matthias Grob
f1e44c6e2a PreFlightCheck: only allow modes suitable for takeoff 2022-03-14 09:03:39 +01:00
Daniel Agar
a430f0ccae
ekf2: add simple zero velocity update when vehicle at rest (#19149) 
- further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates
 2022-03-12 12:56:31 -05:00
Daniel Agar
3d54d25867
sensor calibration delete temperature (CAL_ACCx_TEMP, CAL_GYROx_TEMP, CAL_MAGx_TEMP) 
- this was an experiment to casually monitor sensor offsets relative to temperature, but now that all calibration offsets can be adjusted post-flight the stored temperature can be misleading
 - deleting to save a little bit of flash (and storing the temperature wasn't useful)
 2022-03-12 11:38:49 -05:00
wangwwno1
aa64789792
sensors/vehicle_imu: Fix Integration Rate greater than Gyro Rate (#19318) 2022-03-12 11:29:23 -05:00
RomanBapst
58a4c38519 rtl: don't fly mission landing if we trigger rtl in hover 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-11 15:23:31 +03:00
Silvan Fuhrer
f4c300af25 FlightTaskAuto: Nudging: only set yawrate_sp if WV is disabled or stick out of dead-zone 
Otherwise the setpoint from weather vane is constantly overwritten by it,
even if the yaw stick is not moved.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-11 09:18:31 +01:00
Alex Klimaj
71850eeda6
mavlink: Add flow control parameters (#19254) 2022-03-10 08:22:00 -08:00
Daniel Agar
b66dd5ffa6 adis16470: fix gyro scaling 2022-03-09 23:00:54 -05:00
Roman Bapst
69560bd4f4
Compensate VTOL transition time for air density (#19293) 
* vtol: compensate front transition minimum time and front transiton openloop time
for air density

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-09 08:41:30 -05:00
bresch
182980526f commander: allow rearming grace period for arming switch only 2022-03-09 08:42:21 +01:00
wangwwno1
cd5a1e510a
ekf2: typo Fix: pub.advertised() -> pub.advertise() (#19302) 2022-03-09 08:39:08 +01:00
Jacob Dahl
3e21efb721
ina228: fix sign error on CURRENT reading (#19296) 2022-03-08 19:47:11 -05:00
Daniel Agar
b7e0f17c6a ekf2: minor position/velocity reset cleanup 
- try to use avoid resetVelocity() call where possible
 - reset timeouts centrally
 2022-03-08 11:16:35 -05:00
Daniel Agar
c10ea97967 ekf2: fusion helpers return success/fail and set pos/vel update timestamps centrally (if healthy) 2022-03-08 11:16:35 -05:00
Matthias Grob
c4bc062714 helper_functions: generalize unwrapping function 2022-03-08 10:56:32 +01:00
Matthias Grob
c86c2db07f helper_functions: simplify unwrap function 2022-03-08 10:56:32 +01:00
Thomas Stastny
5a3aba9c21 matrix: add angle unwrapping method 2022-03-08 10:56:32 +01:00
Matthias Grob
68a0414622 Quaternion: rename function to rotate vectors 2022-03-07 20:03:54 -05:00
Daniel Agar
5affa693f2 uavcan: increase ESC max rate 200->400 Hz 
- this should run synchronized with the rate controller and can be
limited by IMU_GYRO_RATEMAX
 2022-03-07 10:28:51 -05:00
Beat Küng
591c95ce2f mixer_module: print actual failsafe value 2022-03-04 08:02:11 -05:00
Matthias Grob
666cf2326d
mission_block: handle SET_ROI_LOCATION with absolute altitude correctly (#19258) 2022-03-03 13:25:00 +01:00
Daniel Agar
49df00c319
lib/mixer_module: check thrust factor range valid and minor optimization (#19272) 2022-03-03 08:10:09 +01:00