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Author SHA1 Message Date
Daniel Agar 2d816e0b3e [WIP] manual_control selector hacks 2021-11-09 16:05:25 +01:00
Daniel Agar e18cf3da3e sensors/vehicle_imu: use WelfordMean for online mean and variance 2021-11-09 15:19:35 +01:00
Daniel Agar a8c3bcca32 boards: disable CONFIG_STM32H7_SPI_DMATHRESHOLD 2021-11-08 19:20:47 -05:00
Daniel Agar cb34ff1292 posix-configs/SITL/init/test/test_imu_filtering enable gyro dynamic notch filtering by default 2021-11-08 19:14:32 -05:00
Daniel Agar e0d9ccdc18 sensors/vehicle_angular_velocity: small FFT notch update simplification 2021-11-08 19:14:32 -05:00
Daniel Agar 47afab62e7 gyro_fft: limit noise floor to configured range (IMU_GYRO_FFT_MIN/MAX) 2021-11-08 19:14:32 -05:00
Daniel Agar dd3e0b723a gyro_fft: add IMU_GYRO_FFT_SNR parameter 2021-11-08 19:14:32 -05:00
Daniel Agar 66ab7e50df github actions increase NuttX compile ccache limit slightly 2021-11-07 20:37:58 -05:00
Daniel Agar 3b68f8e510 Tools/check_submodules.sh revert attempted submodule improvements 
- this wasn't helping break out of submodule issues
 2021-11-07 20:36:47 -05:00
Daniel Agar 4627f5514e boards: holybro_kakutef7_default disable load_mon to save flash 2021-11-07 20:36:47 -05:00
Daniel Agar f43adaeeb5 Tools/check_submodules.sh disable parallel jobs 
- this is already run separately for each submodule (potentially in parallel)
 2021-11-07 18:12:30 -05:00
Daniel Agar 2f8cb5a1c2 mavlink: initial support for MAG_CAL_REPORT stream 2021-11-07 16:03:34 -05:00
Daniel Agar 24b00317b5 Tools/check_submodules.sh attempt update before sync to handle changes 2021-11-07 16:00:13 -05:00
Daniel AgarandPaul Riseborough 68026eadeb save significant IMU bias changes learned by the EKF 
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-11-07 15:34:27 -05:00
Daniel Agar 9c15be22d6 mc_autotune_attitude_control: add new MC_AT_EN parameter to enable 
- only enabled by default on boards that aren't memory constrained
 2021-11-05 09:52:07 -04:00
Daniel Agar c73a1b4c68 update UAVCAN-v0 dsdl to DroneCAN 2021-11-04 21:36:13 -04:00
Daniel Agar 67437396f1 mpu6000: add USER_CTRL I2C_MST_EN bit to checked registers 2021-11-04 21:22:14 -04:00
Daniel Agar 8fbb241c2e mpu6000: add gyro/accel self test bits to checked registers 2021-11-04 21:22:14 -04:00
Daniel Agar bffcdd6fad boards: modalai_fc-v2 fix bootloader board type 2021-11-04 15:43:29 -04:00
Daniel Agar 8f6fd5f37b sensors/vehicle_angular_velocity: gyro RPM dynamic notch filter handle negative RPM 
- some UAVCAN ESCs report negative RPM for reverse rotation
 - lower hard coded safety limit RPM limit to 10 Hz (600 RPM)
 - avoid disabling notch filters that weren't configured
 2021-11-02 09:36:02 -04:00
Daniel Agar fec0d6c5ed ekf2: change indication further reduce data precision 2021-11-02 10:21:54 +01:00
Daniel Agar 1461eb0e32 logger: increase optimization to ${MAX_CUSTOM_OPT_LEVEL} 
- ${MAX_CUSTOM_OPT_LEVEL} is -O2 on boards that aren't flash constrained
 2021-11-01 09:13:12 +01:00
Daniel Agar be5c5856e7 cmake: px4_add_module always add module to PX4_MODULE_PATHS so that parameters aren't pruned 2021-10-27 23:00:40 -04:00
Daniel Agar 6d0c6bb6ce lib/world_magnetic_model: cmake remove helper target BYPRODUCTS 
- otherwise ninja will try to rebuild these
 2021-10-26 18:52:12 -04:00
Daniel Agar 88a979cf1d lib/world_magnetic_model: add cmake helpers for updating tables 
- `world_magnetic_model_update` to fetch latest geo_magnetic_tables.hpp
 - `world_magnetic_model_tests_update` to fetch latest test_geo_lookup.cpp
 2021-10-26 14:39:58 -04:00
Daniel Agar a548c94230 boards: holybro_durandal-v1_default disable modules to save flash 2021-10-25 13:41:31 +02:00
Daniel Agar 93eb0162e5 drivers/uavcan_v1: fix Kconfig trailing whitespace 2021-10-25 08:15:46 +02:00
Daniel Agar 19952768fb boards: try to keep test boards in sync 2021-10-21 15:59:15 -04:00
Daniel Agar 6fb1c79ef0 mixer_module: reject mixer load and reset when dynamic mixing is enabled 2021-10-21 11:27:33 -07:00
Daniel Agar f1016dc32c boards: add systemcmds/topic_listener to CAN nodes 2021-10-21 14:06:11 -04:00
Daniel Agar 17328bef69 Jenkins attach GDB and print back trace on failure 2021-10-21 14:04:33 -04:00
Daniel Agar ea9c64dcd9 drivers/uavcan: add new UAVCAN_SUB_* parameters to enable subscriptions 
- only GPS and mag are enabled by default
 2021-10-21 09:55:04 -04:00
Daniel Agar 4247e1320b px4io: allow switching to rate ctrl wq 2021-10-20 09:56:42 -04:00
Daniel Agar 757424c2c0 clang-tidy ignore modernize-raw-string-literal for now 2021-10-20 08:10:05 +02:00
Daniel Agar 4cf8eb8226 ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics 2021-10-18 21:39:40 -04:00
Daniel Agar 33954a904f lib/tunes: never play tunes if circuit breaker is set 2021-10-18 21:37:09 -04:00
Daniel Agar b08f20806b ROMFS: rcS don't play startup tune until after UAVCAN and px4io 
- fixes potential duplicate startup tune
 2021-10-18 21:37:09 -04:00
Daniel Agar 9d7c4596f7 navigator: increase stack 1800 -> 1864 bytes 2021-10-18 20:31:35 -04:00
Daniel Agar b20d8207a7 Jenkins: compile delete obsolete px4_fmu-v5_ctrlalloc 2021-10-18 20:11:58 -04:00
Daniel Agar 2ed623c8ae boards: px4_fmu-v6x_default disable modules to save flash 2021-10-18 18:45:19 -04:00
Daniel Agar be868aae92 boards: px4_fmu-v5_uavcanv0periph disable modules to save flash 2021-10-18 18:45:19 -04:00
Daniel Agar a7a2aa3b74 boards: px4_fmu-v3_test disable modules to save flash 2021-10-18 18:45:19 -04:00
Daniel Agar 435e5515df github actions: increase nuttx and linux ccache max size to 100M 2021-10-14 19:45:29 -04:00
Daniel Agar 7e71b7eafc github actions: compile nuttx archive bin files and remove duplicate nuttx cannode builds 2021-10-14 19:45:29 -04:00
Daniel Agar 12c7056ae5 drivers/imu: icm20602/icm20649/icm20948 remove timestamp_sample adjustments 2021-10-14 16:37:11 -04:00
Daniel Agar 56823b5ac9 ekf2: EKF control don't allow invalid flow gyro to propagate 2021-10-14 16:31:22 -04:00
Daniel Agar e8a064af02 github actions: try increasing nuttx ccache limit 2021-10-14 11:54:19 -04:00
Daniel Agar b88c8eb245 Jenkins: hardware stop commander before sensors module to avoid errors 
- this is only done to silence timeouts during small benchmarks
 2021-10-14 09:17:50 -04:00
Daniel Agar d35cf78e4a commander: PX4_ERR if attitude or angular velocity become invalid 2021-10-14 09:17:50 -04:00
Daniel Agar 4559230de6 drivers/imu/invensense: adjust icm20602/icm20649/icm20948 rescheduling logic 
- this handles the case where the driver might be more than one full
transfer cycle behind
 2021-10-14 09:17:11 -04:00
Daniel Agar ef4d4c3093 sensors/vehicle_imu: fix timestamp_sample increasing check 2021-10-14 09:12:45 -04:00
Daniel Agar 7de00469a6 platforms: nuttx px4_init fix USB serial mavlink autodetect 2021-10-13 16:34:45 -04:00
Daniel Agar 41a4045630 boards: nxp_fmuk66 fix serial_dma_poll 2021-10-13 13:45:39 -04:00
Daniel Agar 49a4283d0d boards: px4_fmu-v5x restore rc.board_mavlink 
- this was unintentionally removed in https://github.com/PX4/PX4-Autopilot/pull/16180
 2021-10-13 17:34:20 +02:00
Daniel Agar fab053d33b mavlink: receiver battery_status prevent out of bounds access 
- fixes https://github.com/PX4/PX4-Autopilot/issues/18385
 2021-10-12 09:20:40 -04:00
Daniel Agar 12670b70f4 Jenkins: hardware quick cal skip sleeps 2021-10-11 15:21:43 -04:00
Daniel Agar 4be45229bf fw_pos_control_l1: fix launch detector dt update 
- fixes https://github.com/PX4/PX4-Autopilot/issues/18354
 2021-10-08 17:34:14 -04:00
Daniel Agar 089f96f800 lib/drivers/{accelerometer,gyroscope} skip obselete Vector3f construction 
- FIFO clip count only check if value is INT16_MIN/MAX rather than abs() call
 2021-10-08 17:33:27 -04:00
Daniel Agar cb6b1bd427 boards: delete unused test and debug variants 2021-10-07 10:09:01 -04:00
Daniel Agar dc9e072e83 github actions ccache set hash_dir=false 2021-10-06 17:55:50 -04:00
Daniel Agar bbfaa4694c boards: cleanup serial RX DMA hrt_call_every 
- remove ts_to_abstime dependency
 2021-10-06 14:39:59 -04:00
Daniel Agar 3e6ff2451b github actions increase newly added timeouts 2021-10-06 13:47:12 -04:00
Daniel Agar 6e057a644b github actions remove ccache from deploy metadata and low priority builds 
- this is an attempt to preserve our limited amount of github actions
cache storage
 2021-10-06 13:46:20 -04:00
Daniel Agar 0bdcd54184 mavlink: reciever trajectory_representation_waypoints resepect valid_points 
- fixes https://github.com/PX4/PX4-Autopilot/issues/18369
 2021-10-06 13:45:15 -04:00
Daniel Agar 10bc778651 boards: freefly_can-rtk-gps delete unused include 2021-10-06 10:41:36 -04:00
Daniel Agar b5d401b20c drivers/imu: ensure timestamp_sample adjustment isn't done as float (continued) 2021-10-06 10:19:01 -04:00
Daniel Agar e31dd34388 lib/led: replace subscription missed error with perf count 2021-10-06 09:31:44 -04:00
Daniel Agar 113ea5ea26 github actions add timeout to all_variants nuttx compile job 2021-10-06 09:28:27 -04:00
Daniel Agar 6edb1fa1f8 github actions add timeout to SITL tests run 2021-10-06 09:28:27 -04:00
Daniel Agar ad27d2c49a github actions enable ccache hash_dir for SITL tests 2021-10-06 09:28:27 -04:00
Daniel Agar 52fccb1e75 github actions decrease ccache max_size selectively 2021-10-06 09:28:27 -04:00
Daniel Agar d002002ceb github actions increase ccache compression level 2021-10-06 09:28:27 -04:00
Daniel Agar ddd1dea4f0 ekf2: avoid uint64 timestamp conversion to float 2021-10-06 09:27:06 -04:00
Daniel Agar dc1b423721 drivers/imu: ensure timestamp_sample adjustment isn't done as float 
- larger HRT timestamps can't be represented exactly when cast to float
 2021-10-06 09:26:26 -04:00
Daniel Agar 51758bd7e6 boards: delete unused variants 2021-10-05 23:14:04 -04:00
Daniel Agar 3570e5a4f0 boards: cuav_nora_test disable attitude_estimator_q to save flash 2021-10-05 20:43:43 -04:00
Daniel Agar 02aed782e3 boards: px4_fmu-v6x_default disable sd_stress to save flash 2021-10-05 18:17:22 -04:00
Daniel Agar beb358a344 px4_work_queue: adjust status formatting to accommodate longer names (eg mc_autotune_attitude_control) 2021-10-05 18:09:00 -04:00
Daniel Agar 578d57a060 Jenkins: hardware disable sd_stress temporarily 
- currently failing intermittantly when run on the test rack
 2021-10-05 17:55:52 -04:00
Daniel Agar b4d33a36f8 boards: px4_fmu-v6x_default disable examples/fake_gps to save flash 2021-10-05 17:11:47 -04:00
Daniel Agar 2b9ebb7ed6 boards: holybro_kakutef7 disable systemcmds/work_queue to save flash 2021-10-05 17:10:30 -04:00
Daniel Agar 896ad3a627 cmake: fix find_program ozone 2021-10-04 18:27:50 -04:00
Daniel Agar a519916d79 systemcmds/sd_stress: return -1 on FAIL 2021-10-04 17:38:31 -04:00
Daniel Agar c271a9e3e6 add sd_stress to all boards and run on test rack 2021-10-04 17:38:31 -04:00
Daniel Agar c35f68b49d boards: px4_fmu-v5 sync UAVCAN_TIMER_OVERRIDE across all variants 2021-10-04 15:27:15 -04:00
Daniel Agar 00b15798da Tools/HIL/run_tests.py - temporarily disable flaky dataman test until it can be reviewed 2021-10-04 12:54:01 -04:00
Daniel Agar 1325b9c876 Jenkins: hardware retry checkout if necessary 2021-10-04 12:54:01 -04:00
Daniel Agar cc4152e10d gyro_fft: require higher SNR for initially tracking a peak 
- initial frequency peak tracking SNR increased from 10->15 db
 - after initial detection the threshold decreases to SNR 5db
 - gyro_fft large method refactored into smaller pieces
 - sensors/vehicle_angular_velocity: dynamic notch FFT make sample rate
check a percentage and relax lower bound safety threshold
 2021-10-04 10:17:16 -04:00
Daniel Agar 6d78054f50 mavlink USB auto start/stop on boards with VBUS 
- no longer start sercon or mavlink usb by default
 - on USB connection (VBUS) monitor serial USB at low rate and start Mavlink if there's a HEARTBEAT or nshterm on 3 consecutive carriage returns
 - the mavlink USB instance is automatically stopped and serdis executed if USB is disconnected
 - skipping Mavlink USB (and sercon) saves a considerable amount of memory on older boards
 2021-10-03 15:32:54 -04:00
Daniel Agar c1c86bc349 Jenkins: hardware clear ccache stats before compiling 2021-10-01 20:31:29 -04:00
Daniel Agar a53946649a sensors/vehicle_magnetometer: only check if sensor enabled after parameters loaded 2021-10-01 20:30:46 -04:00
Daniel Agar 3c8f1f2a50 Jenkins: reduce build agent cpu share 2021-10-01 18:18:51 -04:00
Daniel Agar f3a904c109 Jenkins: HIL increase timeout 
- occasionally we have a considerable backlog
 2021-09-29 20:37:07 -04:00
Daniel Agar c39a21aa54 ekf2: selector remove special timeout condition 
- this mainly produces false positives when disarmed and bench testing
 2021-09-29 09:59:08 -04:00
Daniel Agar 03bd5e0f48 lib/led: move drivers/lights/rgbled LED_RGB_MAXBRT -> SYS_RGB_MAXBRT 2021-09-28 10:09:55 -04:00
Daniel Agar 333f539900 mavlink: add simple incoming message stats to status 2021-09-27 09:48:00 -04:00
Daniel Agar 592885480e boards: ark_can-gps_debug disable perf to save flash 2021-09-26 12:29:11 -04:00
Daniel Agar 9a3fa6199b uorb top report total publication rate 2021-09-26 12:29:11 -04:00
Daniel Agar e4b0fa25a2 systemcmds/tests: remove px4io conv test 2021-09-25 19:15:05 -04:00
Daniel AgarandBeat Küng 089c962d92 px4io: moving mixing to FMU side 
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-09-25 19:15:05 -04:00