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13786 Commits

Author SHA1 Message Date
Matthias Grob
28b89b024f MulticopterPositionControl: fix Takeoff ramp use 
- guard against NAN speed_up limit as input to ramp see #14339
- allow negative speed_up limit for ramp to work
 2021-03-03 18:53:56 +01:00
Daniel Agar
0eb327743e move min/max distance to ground limits to FlightTask ManualAltitude 2021-03-03 18:53:56 +01:00
Daniel Agar
ecd5e57ab5 remove debug 2021-03-03 18:53:56 +01:00
Daniel Agar
0ada59e57b ekf reset remove NAN checks 2021-03-03 18:53:56 +01:00
Daniel Agar
7a7d316a32 Update src/modules/mc_pos_control/PositionControl/CMakeLists.txt 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar
87f835710b Update src/modules/flight_mode_manager/FlightModeManager.hpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar
c891db19f9 Update src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar
266ea377da move takeoff state machine flight_mode_manager -> mc_pos_control 2021-03-03 18:53:56 +01:00
Daniel Agar
c9a2d0ed34 IMU_GYRO_RATEMAX set system default to 400 Hz 
- MC default is still 800 Hz
 2021-03-02 10:08:49 -05:00
Kalyan Sriram
b257f9d1fd actuator: add support for MAV_CMD_DO_SET_ACTUATOR 
Adds support for using the MAVLink command MAV_CMD_DO_SET_ACTUATOR to
update the actuator values on control group 3 aux{1, 2, 3}. A simple
deconfliction with rc_update is implemented: when a MAVLink command is
sent, RC is disabled for that channel until a major stick movement is
detected.
 2021-03-02 12:41:02 +01:00
Beat Küng
ada05165f1
mc_pos_control_params: fix param descriptions for negative values 2021-03-02 08:29:58 +01:00
Daniel Agar
0ba1bc0ce1 MPC_POS_MODE remove old metadata and explicitly handle invalid configuration 2021-03-01 09:10:11 +01:00
Daniel Agar
9d0c966b15 sensors: publish sensor_selection initially regardless of SENS_IMU_MODE 
- in multi-EKF mode the EKF selector becomes repsonsible for sensor
selector rather than the sensors module
 - this updates the sensors module to still make the initial primary IMU
selection on startup before the EKF selector (including if the
estimators never fully initialize)
 2021-02-27 20:19:05 +01:00
Daniel Agar
9d47f7ecda simulator: make first accel/gyro simulated FIFO 2021-02-26 18:40:37 -05:00
Matthias Grob
c2151cb4fa Commander: remove unused arm mode command residue 2021-02-26 07:38:02 -05:00
Daniel Agar
94bcda7c57 navigator: poll mission to run feasibility checks immediately 2021-02-26 10:28:49 +01:00
Daniel Agar
fd1fff89d4 dataman: remove flash backend 2021-02-26 00:28:48 +01:00
Daniel Agar
a63e25f581 mavlink: GPS_GLOBAL_ORIGIN on by default, but only send on change or when requested 2021-02-25 12:43:30 -05:00
garfieldG
8db37225d6 Added rc.mavlink_override to test the new parameters with sitl 2021-02-25 08:52:38 -08:00
garfieldG
3cd9b3c2cf Added support in Mavlink Ethernet channel parameters 
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
 2021-02-25 08:52:38 -08:00
Daniel Agar
b66a9629e0 ekf2: update to latest ecl with new global origin helpers 2021-02-25 10:43:07 -05:00
Daniel Agar
6482120d9a
sensors/vehicle_angular_velocity: use full raw FIFO data (sensor_gyro_fifo) if available 2021-02-25 10:06:17 -05:00
Beat Küng
46b9acac6d mag_calibration: fix typo 2021-02-24 17:27:31 +01:00
Beat Küng
836c7c6575 StickAccelerationXY: brake a bit faster 
The drag is based on max_acc/max_vel, which means that increasing the
maximum velocity leads to slower braking (at the same starting speed).

Especially a combination of small max_acc (slow responsiveness) with high
max_vel led to an exceedingly high braking distance.
This improves that while still being smooth.
 2021-02-24 17:27:31 +01:00
Beat Küng
1be4163506 mc_pos_control_params: increase velocity limits a bit 
I hit those on my vehicle
 2021-02-24 17:27:31 +01:00
Beat Küng
ad9688e63c mc: remove unused param definitions MPC_JERK_MIN and MPC_DEC_HOR_SLOW 2021-02-24 17:27:31 +01:00
Beat Küng
14bf9cf753 mc: add SYS_VEHICLE_RESP param to configure vehicle responsiveness 2021-02-24 17:27:31 +01:00
Daniel Agar
5f3e883f2c
sensors/vehicle_imu: vehicle_imu_status include accel/gyro full raw FIFO sample rate 2021-02-24 08:13:53 -05:00
Nicolas MARTIN
d65d06f82d SIH/gps: express gps position noise in meters and reduce noise value 
Previous horizontal position noise was a white Gaussian noise with std=0.8m
It results in a noise with high frequencies too high making some ekf
position tests fail (test ratio to allow arming).

The new noise values are below real GPS errors but as theses errors are
generally low frequency, so they cannot be modeled with a white noise.
 2021-02-23 13:27:28 -05:00
Nicolas MARTIN
80a73ab5b5 SIH: add distance sensor fault simulation 2021-02-23 12:57:40 -05:00
Nicolas MARTIN
ab41319009 SIH: add distance sensor 2021-02-23 12:57:40 -05:00
brad112358
d53fcb0bab
mavlink: use RADIO_STATUS to regulate parameter sending 2021-02-22 18:57:29 -05:00
Daniel Agar
7cc4aa6fe2 vtol_att_control: fix code style 2021-02-22 12:09:39 -05:00
Nicolas MARTIN
50ec809fdf SIH: add mag offset from parameters 
An absolute value superior to 10000 block mag publication
 2021-02-22 11:56:16 -05:00
Nicolas MARTIN
8f54dc402d SIH: add baro offset (or pressure change) from parameters 
An absolute value superior to 10000 block barometer publication
 2021-02-22 11:56:16 -05:00
Nicolas MARTIN
1df63cb6b1 SIH: add gps fix loss simulation from parameters 
A new parameter allows to change the SIH number of gps satellites used
If it is below 4, fix is lost
 2021-02-22 11:56:16 -05:00
Sander Smeets
a8a9832b59 Allow new modes for forward thrust 2021-02-22 11:18:49 -05:00
Lorenz Meier
1b8a3079e6 Update commander_params.c 
Better documentation boolean settings, removed duplicate boolean.
 2021-02-22 11:17:16 -05:00
Lorenz Meier
90f5d7338c Commander: Relax pre-arm check for EKF 
The previous testing ratios could lead to extremely tight pre-arm acceptance.
 2021-02-22 11:17:16 -05:00
Lorenz Meier
f12d368a64 Commander: Document arming check params 2021-02-22 11:17:16 -05:00
Lorenz Meier
87f98f096f Commander: Respect position circuit breaker 
This ensures that commander respects the position check circuit breaker and allows arming without position.
 2021-02-22 11:17:16 -05:00
David Jablonski
ed7a5314d8 rtl: head towards home location after descend 2021-02-22 16:37:08 +01:00
David Jablonski
aeccb621c5 rtl: added loiter radius for descending 2021-02-22 16:37:08 +01:00
Daniel Agar
30e8a14be3 logger: update SDLOG_PROFILE comment to reflect current default 
- closes https://github.com/PX4/PX4-Autopilot/issues/16904
 2021-02-22 08:45:10 +01:00
Daniel Agar
bbc721917c
mavlink: mission ignore takeoff pitch error 
- this mission rejection was only added recently in https://github.com/PX4/PX4-Autopilot/pull/16792
 - causing QGC compatibility issues https://github.com/mavlink/qgroundcontrol/pull/9464
 2021-02-21 16:40:38 -05:00
Silvan Fuhrer
0ea8104344
select single system-wide wind estimate message (current best) 
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
 - rename message wind_estimate to wind
 - publish wind from currently used ekf instance (ekf2selector)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-20 13:15:01 -05:00
Daniel Agar
711a69854b uthash: move remaining utarray usage to parameters and delete unused 
- this is to discourage further use until utarray can be dropped entirely
 2021-02-20 11:28:22 +01:00
Daniel Agar
9ed959402e mavlink: store instances in array 
- simplify mavlink header writes that go back through the mavlink module
 - add locking around mavlink command line usage (start, stop, status, etc)
 2021-02-20 11:28:22 +01:00
Beat Küng
9d11d94e7e px4iofirmware: guard against parsing multiple RC protocols 
It was for example possible that DSM got parsed, and in the next iteration
SBUS got parsed, leading to multiple PX4IO_P_STATUS_FLAGS_RC_ flags set.
input_rc::input_source was then incorrectly set to DSM.

Partially guarding was already done: if SBUS got parsed, DSM and others
were skipped.

The IO will still clear all PX4IO_P_STATUS_FLAGS_RC_* flags on RC loss.
 2021-02-19 09:28:46 -05:00
Daniel Agar
5e188b3cd7 ekf2: populate local_position dist_bottom_sensor_bitfield 2021-02-18 10:37:02 -05:00