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15201 Commits

Author SHA1 Message Date
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
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
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 68a0414622 Quaternion: rename function to rotate vectors 2022-03-07 20:03:54 -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 6224e11463 Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022 (#19262) 
* Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022
* [AUTO COMMIT] update change indication

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-02-26 15:39:37 -05:00
PX4 BuildBot d94ad5bd6d Update submodule mavlink to latest Sat Feb 26 16:47:38 UTC 2022 
- mavlink in PX4/Firmware (95358ae501e92687b00d2786bc8eadf28ff93930): https://github.com/mavlink/mavlink/commit/4ee1eebbd173a3a483b79088b58fef6ec0a4dfef
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/b568a60fca42599d9998434e606f6e38e0b5e298
    - Changes: https://github.com/mavlink/mavlink/compare/4ee1eebbd173a3a483b79088b58fef6ec0a4dfef...b568a60fca42599d9998434e606f6e38e0b5e298

    b568a60f 2022-02-24 Hamish Willee - Update pymavlink to latest (#1805)
b86834e0 2022-02-23 Hamish Willee - Component info - tidy descriptiosn (#1803)
79e9545a 2022-02-23 Hamish Willee - Remove external dialect doc and improve dialect pages (#1802)
fd7ccfbe 2022-02-23 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION - improve linking to command (#1774)
2b7de26c 2022-02-23 Hamish Willee - [Discuss.] MAV_PROTOCOL_CAPABILITY_FTP - supports FTP protocol not specific message (#1772)
a7541658 2022-02-18 Alessandro Ros - fix common.xml include in AVSSUAS (#1800)
5b4482fe 2022-02-17 Hamish Willee - RFC 0016 - Mavlink Standard Modes - Add to development.xml
 2022-02-26 15:07:42 -05:00
Beat Küng ddad4c31c9 control_allocator: compute thrust scaling individually per axis 
Before, adding the pusher to the same matrix as the upwards motors affected
the scaling for the upwards motors, resulting in values not equal to -1
anymore.
 2022-02-25 08:30:58 +01:00
Beat Küng 76d8d8cae6 control_allocator: generic motor configuration for standard vtols 
This adds the pusher/puller to the standard motors and makes the axis
configurable.
 2022-02-25 08:30:58 +01:00
Beat Küng b2dc9ee710 control_allocator: add title & help url to geometry UI 2022-02-25 08:30:58 +01:00
Beat Küng cbcae260e4 mavlink: update submodule 2022-02-25 08:30:58 +01:00
Beat Küng 9b629a9e95 hitl,sitl,sih: use separate actuator_outputs_sim for SYS_CTRL_ALLOC==1 
- removes the need to do type-specific rescaling of pwm to normalized values
- allows to run physical output drivers alongside HIL/SIH
 2022-02-25 08:30:58 +01:00
Charles Cross 1e32398217 Adds scheduling call to ControlAllocator initialization 2022-02-25 08:16:08 +01:00
Charles Cross aecfbef128 Enables 20Hz backup scheduling for ControlAllocator 2022-02-25 08:16:08 +01:00
Charles Cross 51c055832f Changes ControlAllocator to always publish actuator controls and status 2022-02-25 08:16:08 +01:00
Daniel Agar 8de2c80b34 mavlink: SCALED_IMU streams add temperature 
- preference for accel or gyro temperature before mag
 2022-02-23 14:05:31 -05:00
Daniel Agar 11f617ca9b ekf2: default to in air and not at rest 
- this is a more conservative default if a vehicle isn't set (no land detector running)
 - handled horizontal preflight failures in commander when disarmed
rather than overloading xy_valid and v_xy_valid flags
 - ekf2 no longer depend on arming or standby status
 2022-02-22 16:59:10 -05:00
Daniel Agar d6d529539d ekf2: consolidate and simplify gnd effect logic 2022-02-22 16:59:10 -05:00
Daniel Agar 1d7791dad6 commander: monitor GPS validity and EKF2 dead reckoning 
- ekf2: expose dead reckoning as control status flags
 - commander:
    - add GPS validity check
    - in AUTO MISSION if dependent on GPS then a loss of GPS will
 2022-02-22 09:46:21 -05:00
Julian Oes 6021b8efb3 navigator: only apply breaking for multirotors 2022-02-22 09:41:22 -05:00
Julian Oes fa6c051ae5 navigator: break smoothly when entering hold mode 
This uses the existing breaking functionality when hold/loiter mode is
activated.
 2022-02-22 09:41:22 -05:00
Julian Oes f88dd28e85 navigator: extract breaking functionality out 
This only moves the breaking functionality out from the reposition
command handling to a function, so that it can get re-used in other
places.
 2022-02-22 09:41:22 -05:00
bresch 0e0e0d8be7 [AUTO COMMIT] update change indication 2022-02-22 11:49:25 +01:00
bresch 4f0a959244 gps_hgt: add and improve unit tests 2022-02-22 11:49:25 +01:00
bresch edabfd2f0e ekf_hgt: call specific height reset function instead of generic one 
- Also use the delayed current data instead of newest that might not be
available (gps buffer is sometimes empty if the dt between samples is
larger than the delayed horizon).

- Separate "baro fault" from "baro intermittent": intermittent is a
  temporary failure and should prevent from switching to baro right now,
  but "fault" means that it should never be used anymore

- In case of height timeout, check for metrics but not for consistency
  as the filter is likely to have diverged already.
 2022-02-22 11:49:25 +01:00
bresch cba73585e1 use recorded last sensor timestamp for intermittent check 2022-02-22 11:49:25 +01:00
Daniel Agar f431b233f3 ekf2: preflight checker fix flow y innovation filter 2022-02-22 09:39:22 +01:00
Roman Dvořák 976c994156 Extend the PCF8583 driver to support multiple instances (#19232) 
* Add some restart events into pcf8583 driver

Co-authored-by: Vít Hanousek <vithanousek@seznam.cz>
 2022-02-21 16:47:16 -05:00
Beat Küng 960003a86a control_allocator: fix weak authority matrix check & update 
- use max(fabsf(val)) instead of max(val)
- use correct actuator count
 2022-02-21 11:17:00 -05:00
Daniel Agar 591b7b6934 ekf2: add new estimator_gps_status.msg 
- includes the estimator status check fail bits broken out as descriptive booleans
 - absorbs ekf_gps_drift.msg
 2022-02-21 08:58:59 -05:00
Daniel Agar f8d7574d3c ekf2: simplify global position publication validity check 2022-02-21 08:57:33 -05:00
fury1895 be92165c54 AirspeedSelector: fix messaging 2022-02-21 15:21:13 +03:00
Julian Oes 9b35b680f6 gimbal: fix input selection 
Once we have valid input we should use that and not overwrite our
update_result with the result from other inputs, otherwise the
automatic selection does not actually work.

This behavior means that only the first update will be used if there are
several sources updating in the same cycle.
 2022-02-21 08:38:16 +01:00
Igor Mišić 3c09448daf dataman: add silence flag for _file_initialize 2022-02-21 08:36:36 +01:00
Daniel Agar 09e36e6cb4 gimbal: new pitch limits [MNT_LND_P_MIN, MNT_LND_P_MAX] when landed 2022-02-20 16:04:09 -05:00
Daniel Agar d147ad3a9a gimbal: add parameter units 2022-02-18 14:15:58 -05:00
Daniel Agar 2a8aa17a81 mavlink: streams MOUNT_ORIENTATION populate time_boot_ms 2022-02-18 14:14:56 -05:00
Daniel Agar 1f77a3750e mavlink: don't reset _src_addr_initialized on parameter updates 2022-02-18 14:14:36 -05:00