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24614 Commits

Author SHA1 Message Date
Silvan Fuhrer
26dba1407b
Commander: VTOL quadchuate also triggers a RTL in Loiter and VTOL_Takeoff modes, not just in Mission (#19123) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-03 14:18:28 +01:00
JaeyoungLim
f82c722653
Publish correct orbit status with goto (#19102) 
For fixedwings, the orbit status was publishing zero radius when a goto waypoint was being passed.

This commit corrects this by passing the default loiter radius as the guidance logic was using
 2022-02-03 10:16:39 +01:00
bresch
917910f3e2 ekf: pass a float by copy instead of a constant ref 2022-02-02 17:43:25 -05:00
bresch
3077f27821 ekf: use float instead of Vector2f for innov gate in pos/vel fusion 
We always use the same innovation gate for X and Y anyway
 2022-02-02 17:43:25 -05:00
Daniel Agar
5fb0084524 ekf2: remove unused shared fields for last velocity observation and variance 2022-02-02 17:43:25 -05:00
Daniel Agar
8a0581516c ekf2: don't store _auxvel_sample_delayed 2022-02-02 17:43:25 -05:00
Daniel Agar
452b5e94b4 ekf2: don't store _drag_sample_delayed 2022-02-02 17:43:25 -05:00
Daniel Agar
138ff7a316 sensors: ensure that best accel/gyro is in bounds 2022-02-02 17:14:46 -05:00
Daniel Agar
07c273fc31 sensors/vehicle_angular_velocity: print full sensor_selection if device id not found 2022-02-02 17:14:46 -05:00
Jaeyoung Lim
2fc95bb369 Rebase fix 
Use getnavspeed_2d for groundspeed
 2022-02-02 17:16:19 +01:00
Jaeyoung Lim
3a9c5c3178 Use acceleration to pass path curvature 2022-02-02 17:16:19 +01:00
Jaeyoung Lim
e2741f988a Add interface for passing path tangent and closest point directly 
This commit adds an interface to pass the path tangent and closest point directly to NPFG using the offboard interface
 2022-02-02 17:16:19 +01:00
David Sidrane
f460611098 Fix serial_test stack warning 2022-02-02 11:12:53 -05:00
Peter van der Perk
efd3bc1794 Serial_test move g_cl and g_mod from heap to stack to save memory by not preallocating them 2022-02-02 07:21:43 -08:00
Daniel Agar
88ffc177f7 ekf2: utils add getEulerYaw() that uses the best rotation sequence 2022-02-02 08:54:03 -05:00
Daniel Agar
c3e0b93fc8 ekf2: remove unnecessary inlines 2022-02-02 08:50:49 -05:00
Hamish Willee
26d5ac4f58 GPS_YAW_OFFSET param docs: use rover and moving base terminology 2022-02-02 07:39:01 +01:00
David Sidrane
3358712b92 UAVCAN Node Correct C to Kelvin conversion 2022-02-01 21:49:29 -05:00
David Sidrane
48c32f7795 Added serial passthru 
This addes the command serial_passthru which will pass data from one
   device to another. This can be used to use u-center connected to USB
   with a GPS on a serial port.

   Usage: serial_passthru [arguments...]
      -e <val>    External device path
                  values: <file:dev>
      -d <val>    Internal device path
                  values: <file:dev>
      [-b <val>]  Baudrate
                  default: 115200
      [-t]        Track the External devices baudrate on internal device

    With the -t option baudrate changes made on the PC connected to the USB
    will be set to the intrenal device.
 2022-02-01 21:49:29 -05:00
Daniel Agar
f3e2a197ad
move vehicle at rest detection ekf2 -> land_detector 
- move vehicle at reset detection ekf2 -> land_detector
 - ekf_unit: reduce init period
   - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
 - ekf_unit: reduce minimum vel/pos variance required after init
   - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.

Co-authored-by:: bresch <brescianimathieu@gmail.com>
 2022-02-01 17:50:19 -05:00
Daniel Agar
e387f302f9 mavlink: streams/COMMAND_LONG don't send internal vehicle_commands 2022-02-01 09:15:10 -05:00
Jukka Laitinen
f8a090e85e Remove HYGROMETERS from fmu-v5 stackcheck build and rename to COMMON_HYGROMETERS 
The stackcheck build flash space overflows after adding hygrometers.

Also follow the naming convention of other similar config flags, and rename the
config.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-01 08:56:25 -05:00
Beat Küng
a4206ba553 logger: log excluded optional topics 
Can be displayed with:
ulog_info <file> -m excluded_optional_topics
 2022-02-01 08:40:02 +01:00
Roman Dvořák
2b1229786e Multi instance SHT3x driver support 2022-01-31 21:38:26 -05:00
Roman Dvořák
ed475ca324 SHT3x driver 
SHT3x driver, clean code
changes leading to merge TFHT with CUAV hygrometer
Delete humidity_temperature.msg
Update CMakeLists.txt
rename 'atmosphefir_quantities' to 'hygrometers'
fix logging
removed cmake files
fix PR issues
 2022-01-31 21:38:26 -05:00
mcsauder
e554f0174d Format whitespace and group checkall() methods together in geofence class. 2022-01-31 21:01:03 -05:00
Matthias Grob
ae0bb8371d Commander: message planned battery action with warning together 2022-01-31 20:27:06 -05:00
Matthias Grob
973116c7a4 commander_params: clarify failsafe delay procedure description 2022-01-31 20:27:06 -05:00
Matthias Grob
cd560da57c Commander: correct battery failsafe message severity level 2022-01-31 20:27:06 -05:00
Matthias Grob
405852b5c8 Commander: only disallow RC override during battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob
5ec21835a4 Commander: ensure low battery failsafe flying unatended without GPS 2022-01-31 20:27:06 -05:00
Matthias Grob
1911ec0085 Commander: fix user messageing for low battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob
52a9040c62 BatterySimulator: recharge battery upon disarming 2022-01-31 20:27:06 -05:00
Matthias Grob
955aad0dfb Commander: consistent hysteresis initialization 2022-01-31 20:27:06 -05:00
Matthias Grob
d10f9030ad Commander: add delay before executing low battery failsafe action 2022-01-31 20:27:06 -05:00
Matthias Grob
3af315f2c3 Commander: change battery failsafe to return action instead of executing 2022-01-31 20:27:06 -05:00
Matthias Grob
8eed43b515 Commander: put battery warning and failsafe action in separate functions 2022-01-31 20:27:06 -05:00
Matthias Grob
367b6123e1 state_machine_helper: change main state directly also for low battery RTL 2022-01-31 20:27:06 -05:00
Matthias Grob
f49bd9956b state_machine_helper: reuse battery action conditions 2022-01-31 20:27:06 -05:00
Matthias Grob
95b5bc0d84 state_machine_helper: separate low battery warning from action 2022-01-31 20:27:06 -05:00
Daniel Agar
999737ddd5
ekf2: refactor mag control 
- remove class _mag_sample_delayed
 - update mag fusion call graph to use mag sample delayed functionally
 - Ekf::resetMagHeading()
   - use low pass mag directly, but check if valid (magnitude)
   - MAG_FUSE_TYPE_INDOOR treat like auto if heading required
 2022-01-31 11:47:10 -05:00
Daniel Agar
ad447ab223 commander: respect control mode for prearm requirements 
- preflight tolerate ekf2 warnings if not in an attitude/velocity/position mode (eg manual or acro)
 2022-01-31 09:48:37 -05:00
Daniel Agar
90358f078f add odometry reset counter (ekf2, mavlink, etc) 2022-01-31 09:19:36 -05:00
mcsauder
463ac8e8a1 Standardize method name style in navigator_main.cpp and whitespace formatting in navigator.h 2022-01-29 21:36:11 -05:00
murata
3b277667ff tfmini: If the distance is 0xFFFF, a negative value is returned 2022-01-28 17:31:12 -05:00
Daniel Agar
274d0d65c6 lib/cdev/posix: increase max FDs 256->512 2022-01-28 17:30:53 -05:00
Jukka Laitinen
058302ecdb Link px4iofirmware against nuttx_mm 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:30:13 -05:00
Jukka Laitinen
32c53ff2dd Link rc against nuttx_fs in nuttx builds 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:30:13 -05:00
Jukka Laitinen
9e999a39be Revert erroneous linking of drivers__device to px4_work_queue 
This was a mistake in commit 91b812fc4265e6e7d342c0d878de3a4dcaf5137d

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:30:13 -05:00
Jukka Laitinen
a2dc6e63cf Fix sdcard logging when crypto is used but algorithm is set to NONE 
If the board supports encrypting logfiles, but the parameter SDCARD_ALGORITHM is set to NONE,
the log should be written to the sdcard in plaintext format. This fixes a bug which caused
logger to hang in mutex instead.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:29:51 -05:00