269ce07cb5
land detector: log more states in order to facilitate debugging ground contact state
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-05-04 16:43:33 +02:00
cd4378b8c6
vtol: init boolean consistently
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-05-03 18:58:26 -04:00
ab10e68a40
update Quadchute trigger from mavlink PR 1569
2021-05-03 21:44:27 +03:00
bf9758247b
add VEHICLE_VTOL_STATE_QC and remove hardcoding
2021-05-03 21:44:27 +03:00
d3ddbe8db5
Allow quadchute from external command
2021-05-03 21:44:27 +03:00
2c6b3eeb02
Navigator: NAV_CMD_DO_VTOL_TRANSITION: accept once in correct vtol state
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-05-03 08:40:54 +02:00
5579a1d789
Navigator: remove WORK_ITEM_TYPE_CMD_BEFORE_MOVE
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It was used to make the vehicle needing to accept the waypoint after a VTOL transition in the new VTOL mode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-05-03 08:40:54 +02:00
3c4b0c1b8c
tiltrotor: only allow increasing tilt during first part of transition
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-05-02 21:51:09 -04:00
fa9fdce6e6
sensors/vehicle_gps_position: Fix raw_dt and present_dt calculation in gps_blending
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If the GPS data is passed from companion computer, there may be inaccuracies
with timesync. This may cause time deltas to overflow.
Make the time delta calculation using floats directly, wich results in negative
numbers in case there are such inaccuracies.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-05-02 13:59:50 -04:00
feebb24106
logger: skip multi-EKF logging if CONSTRAINED_MEMORY
2021-05-02 13:47:28 -04:00
abee13df1a
mavlink: improve rx stats printf
2021-05-02 13:45:39 -04:00
d96ba2d88a
mavlink: use 4s for HITL
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This is more inline with SITL.
2021-05-02 13:45:39 -04:00
e9a1599355
mavlink: clang-tidy fix
2021-05-02 13:45:39 -04:00
aa0752ad86
mavlink: fix pthread usage
2021-05-02 13:45:39 -04:00
5784f1d951
mavlink: add detailed stats about rx messages
2021-05-02 13:45:39 -04:00
370d9ee409
mavlink: use px4::atomic instead of volatile
2021-05-02 13:45:39 -04:00
4498509426
mavlink: move thread handling into MavlinkReceiver
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In my opinion this makes it much cleaner and will allow mavlink main to
directly call the receiver.
2021-05-02 13:45:39 -04:00
71bd35fcaa
mavlink: keep track of seq for any component
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Instead of only keeping track of the sequence ID of specific "supported"
components, we now keep track of any sysid/compid of an incoming
message. Before this change, unknown components (such as jMAVSim) would
completely screw up the mavlink message stats and create confusion (at
least in my case).
With this change we currently keep track of up to 8 other components.
Once we reach the limit, we will print a warning.
2021-05-02 13:45:39 -04:00
6ae23e7b7b
mavlink: fix HITL battery status publication
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Without these fields the pre-arm check would complain and fail.
Also, the voltage is adjusted to be at around 70% rather than 30% which
would almost start to trigger warnings.
2021-05-02 13:45:39 -04:00
cfcc074e9d
mavlink: remove unused methods
2021-05-02 13:45:39 -04:00
18dc0e4900
update submodule micro-CDR
2021-05-02 13:05:16 -04:00
4eb758edf0
Alphabetize flight_mode_manager CMakeLists.txt list, and group/format types in FlightTask.cpp/hpp.
2021-05-01 10:46:27 -04:00
38c1ec6a9c
ekf2: check if ChangeInstance succeeded
2021-04-27 10:29:09 -04:00
171c26373b
land_detector: robustify land detection by using distance to ground info
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- if distance to the ground is available then hysteresis times will be increased
by a factor of 3 if vehicle is higher than 1m above ground
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-04-27 08:19:19 +02:00
f6a34e1e80
vtol_type: reset accel to pitch integrator
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-04-27 07:43:38 +03:00
3664d9e4ce
rover: publish actuator controls with rate of gyro
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Some ESC's with DShot don't initialize otherwise (as the 200Hz of the vehicle attitude rate is too low).
2021-04-26 08:53:20 +02:00
6e9e503ee6
sensors/vehicle_imu: accel clipping warning minor improvements
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- no warning if accel is disabled
- threshold increased 100 -> 1000 (only warn if severe ongoing clipping)
- more generic warning message (vehicle isn't necessarily in air flying)
2021-04-25 17:03:43 -04:00
8478d1ea37
sensors/vehicle_angular_velocity: properly handle filter reset on FIFO data scale changes
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For the sake of efficiency (at 8 kHz) all filtering is performed on the raw data before the calibration and rotation is applied to only the final output. As a result we have to be a bit more careful when switching between sensors or in cases where the gyro scale factor changes (eg icm42688p 20 bit data rescaled to fit in int16 output).
2021-04-25 14:20:32 -04:00
59b70a881d
commander: temporarily increase worker thread stack substantially
2021-04-23 22:13:12 -04:00
6df299738e
FlightTask: reactivate tasks on ground with empty setpoint
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Such that they properly reset and don't try to take over smoothly from
their own setpoints generated in the last loop iteration.
2021-04-23 21:57:27 -04:00
9e2375ab91
FlightTaskManualAcceleration: change reset order, check all components for NAN
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Just cleanup and completeness.
2021-04-23 21:57:27 -04:00
5e75f17680
StickAccelerationXY: fix acceleration reset using x component instead of y
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This entire feature only has an impact if the last mode set
a huge acceleration and we have to take over as smooth as possible.
But it's stil lworth fixing.
2021-04-23 21:57:27 -04:00
fee4728b1f
StickAccelerationXY: change function name feasibility limit -> jerk limit
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for clarity because it's more accurate.
2021-04-23 21:57:27 -04:00
112fc5c9cd
log battery status every 0.2sec instead of 0.3sec
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Battery status is logged every 0.3Sec.
but BMS data published every 0.25Sec, so there are many drops of data.
2021-04-23 16:46:02 -04:00
d631a5d39f
Commander: checking COM_ARM_CHK_ESCS param for ESCs telemetry
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COM_ARM_CHK_ESCS set to 0. The user will need to enable it manually.
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2021-04-22 13:46:08 +02:00
bff99f9794
Commander:esc_checks minor improvements
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-04-22 13:46:08 +02:00
371fa98579
Commander/preflight checks: Add monitoring to ESC failures
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-04-22 13:46:08 +02:00
789d91900d
commander_params: lower COM_DISARM_PRFLT but disable for fixed-wing
2021-04-21 14:55:04 +02:00
5e7ebbe47c
FlightTask: correct comment about setpoints
2021-04-20 18:18:21 +02:00
45ada2dd4c
MulticopterLandDetector: remove unnecessary newline
2021-04-20 18:18:21 +02:00
4865d027f9
StickAccelerationXY: factor in stricter tilt limit on takeoff
2021-04-20 18:18:21 +02:00
29e07b1e52
MulticopterPositionControl: publish stricter tilt limit during takeoff
2021-04-20 18:18:21 +02:00
38bc46fd1a
re-add RC_MAP_RATT_SW (unused) and mark active for QGC
2021-04-16 13:07:02 -04:00
3dad16bc40
RTPS client remove redundant baudrate check
2021-04-16 14:01:27 +02:00
42108eb4af
Fix microRTPS_client_main.cpp format
2021-04-16 14:01:27 +02:00
76e15b4a21
RTPS client get baudrate parameter if requested, and mark the device baud rate parameter as used so it shows up in QGC
2021-04-16 14:01:27 +02:00
2492fb35e4
rc_update: require consecutive valid input_rc before publishing
2021-04-15 16:40:54 -04:00
bd4839e855
commander: changed msg "connection to GCS lost" from critical to info
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update
2021-04-15 11:29:02 -04:00
047fb13922
IMU_GYRO_RATEMAX: enforce reasonable constraint and update metadata
2021-04-13 20:26:57 -04:00
2d15c96b9b
ekf2: Multi-EKF let new instance schedule itself immediately on successful init
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- this is to minimize missed sensor data (and unnecessary error output) between EKF2 construction and once it actually starts running
2021-04-13 14:24:46 -04:00
RomanBapst