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2b80a6958a1b69f647bd52fc662cb2343acd6bc4
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23318 Commits

Author SHA1 Message Date
Thomas Stauber 2b80a6958a fix disable airspeed check with negative ASPD_FS_INTEG (#18186) 
* fix disable airspeed check with negative ASPD_FS_INTEG

* improve logic when nav velocity data is not good

* simplify logic. Reset integrator state when the check is not run.
 2021-09-14 12:13:56 +02:00
Matthias Grob e7a90bf367 PositionControl: correct horizontal margin calculation 
It was using the already reduced vertical thrust to do
the horizontal limitation resulting in no margin.
 2021-09-14 10:57:38 +02:00
Matthias Grob d1f1e02afb Refactor mode button changes 2021-09-14 09:52:32 +02:00
Claudio Micheli 05d40f40d4 Handle rc toggle mode buttons to initialize flight modes 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-14 09:52:32 +02:00
Claudio Micheli c50daae4a3 rc_update: introduce support for toggle buttons via RC channels 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-14 09:52:32 +02:00
Daniel Agar e6552370ab imu/invensense: adjust scheduling dynamically if not using data ready interrupt 2021-09-12 17:34:35 -04:00
Claudio Micheli fa4fc5f347 esc_report: change esc_temperature field to allow negative values 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-11 15:14:49 -04:00
David Jablonski 7d7200cf2f Added yaw to CMD_DO_SET_HOME 2021-09-11 15:14:01 -04:00
Hamish Willee ce206d992b RC_FAILS_THR and RC_MAP_FAILSAFE improve parameter description 2021-09-11 15:12:54 -04:00
bresch f09b34007e CA: reload CA matrix to newly created CA class properly 
Also remove the dependency of ActuatorEffectivenessMultirotor
to param update uORB topic; the CA module
sends a "force" parameter when needed
 2021-09-11 15:07:49 -04:00
bresch cf5917d188 control_allocator: restructure param update 
recompute effectiveness on param change
clear update at the end
 2021-09-11 15:07:49 -04:00
David Jablonski 9d974062d0 replay: improved logging for format mismatchs 2021-09-11 14:37:52 -04:00
Beat Küng 1a743e1117 collision_prevention: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng 5b70fd4a1d airspeed_selector: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng 5fb16e4395 fw_pos_control_l1: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng 0a1ae37c1a logger: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng 38eca0c64b logger: start session & log index at 100 
To avoid leading zeros, as the events interface does not support that (yet)
 2021-09-11 14:08:41 -04:00
Beat Küng b31276a4f5 mavlink: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng 90940c3672 mc_pos_control: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng 79a0edafb5 vehicle_air_data: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng a8cc2f9ef6 vehicle_imu: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng acb73fde14 vehicle_magnetometer: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng f8dc915789 vtol_att_control: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng 1f73294ad7 navigator: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng 5ac43e7236 commander: switch to events 2021-09-11 14:08:41 -04:00
Daniel Agar 8866215d1d sensors/vehicle_imu: add protections for bad sensor data 
- check for inconsistent timestamps, zero samples, and numerical issues in online mean
 2021-09-11 13:04:46 -04:00
Beat Küng ae8733c2d4 pwm_input: remove 'test' command and use 'status' instead 2021-09-08 16:10:24 -04:00
Beat Küng f1aafe83b3 pwm_out: cleanup, remove _output_mask & only update owned channels 
_pwm_mask reflects the actually owned channels.
 2021-09-08 16:10:24 -04:00
Beat Küng a8e75d174c boards: remove BOARD_HAS_PWM and use DIRECT_PWM_OUTPUT_CHANNELS 2021-09-08 16:10:24 -04:00
Beat Küng 1ee423e3c8 pwm_out, dshot: remove mode_* handling and capture ioctl's 
They now use all unused pins, whereas camera_capture, camera_trigger and
pwm_input modules start before to reserve their pins.
 2021-09-08 16:10:24 -04:00
Beat Küng 062dd28f4d camera_capture: use up_input_capture_set directly 
It reserves the channel and pwm_out will not use it
 2021-09-08 16:10:24 -04:00
Beat Küng 847bd120fa io_timer: reserve pins & timers on first use 
This allows modules to do a first-come-first-serve pin/timer reservation
on bootup.
E.g. camera trigger reserves any of the pins, and then PWM/DShot output
will just use the rest of the available pins.
 2021-09-08 16:10:24 -04:00
bresch aad11ecc65 PreFltCheck: do not force to report ekf2 failures on GCS connection 
EKF2 has a grace period of 10 seconds after boot where it doesn't need
to warn the user while the sensors (especially GNSS) are still
converging.
A connection to a GCS shouldn't skip this grace period but
an arming request should.
 2021-09-08 14:41:26 -04:00
Matthias Grob 58ea97a699 MulticopterPositionControl: add horizontal margin for saturation cases 2021-09-08 19:55:27 +02:00
benjinne 06a91ec752 Improve offboard failsafe (#18160) 
* state_machine_helper: improve offboard failsafe

* state_machine_helper: add missing parameter to set_link_loss_nav_state

* state_machine_helper: fix no rc and offboard reason

* Fix offboard test by enabling rcl_except

* mavros_test fix offboard_posctl_test with rcl_except

* autopilot_tester make RcLossException bits explicit

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester change rcl_except to rc_loss_exception

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester fix rc_loss_exception renaming errors

Co-authored-by: Julian Oes <julian@oes.ch>
 2021-09-08 18:19:53 +02:00
ShiauweiZhao 686bcff8a7 new TDK ICM42670p IMU driver support (#18141) 
Co-authored-by: zhaoxiaowei <zhaoxiaowei@efy-tech.com>
 2021-09-08 10:24:22 -04:00
Daniel Agar 29a91306b5 lib/led: error if dropping ORB_ID(led_control) messages 2021-09-08 10:21:09 -04:00
Daniel Agar 5c7882b787 icm42688p: properly disable anti-aliasing and notch filter 2021-09-08 10:20:57 -04:00
Daniel Agar 4b5a91bf7d experimental driver for the Tattu 12S 16000mAh Smart Battery on /dev/can0 (#18164) 
-  This driver is highly specific to this model of Tattu battery and cannot work with other models without code changes. 
 - The driver simply reads CAN frames using the NuttX CAN character device interface and converts the data into the proper format as specified in the Tattu datasheet

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2021-09-08 10:20:14 -04:00
Beat Küng 291ca246d2 matrix: update submodule (improves matrix inversion) 2021-09-05 23:18:28 -04:00
Beat Küng 73ab153fe0 fix test_microbench_math: don't try to measure single instructions 
The clock is simply not accurate enough to do that.
Plus the measuring overhead is much higher than the executed instruction.

Remaining issue: memory transfers (due to volatile) add non-negligible
overhead and distort the result. Could be solved by using inline assembly.
 2021-09-05 23:18:28 -04:00
RomanBapst 93075ad5e8 rtl: fixed computation of return altitude if destination is not home 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-09-05 10:26:24 +02:00
xdwgood c35293107d tailsitter.cpp:If transition timeout,abort transition 2021-09-03 13:41:40 +02:00
RomanBapst 92abf0545a GeofenceBreachAvoidance: fixed bug which caused min vertical distance to fence 
not to be calculated

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-09-02 15:45:19 +03:00
Daniel Agar 99d7cf4255 parameters: only warn on invalid parameter import 2021-09-01 15:16:00 -04:00
Daniel Agar 478cc576ee commander: warn on offboard mission init 
- this could happen because the SD card was formatted
 2021-09-01 15:16:00 -04:00
Daniel Agar e7607b858d sensors: use vehicle_imu timestamp_sample instead of timestamp 2021-09-01 15:16:00 -04:00
Daniel Agar a5a457d744 sensors: relax default data_validator timeout 20->40ms 2021-09-01 15:16:00 -04:00
Daniel Agar bd8937642f lib/sensor_calibration: only warn if external rotation resetting 
- this also happens with the actual default parameter value (-1)
 2021-09-01 15:16:00 -04:00
Daniel Agar 40e5477edb NuttX boards fix mkfatfs and rcS logic 2021-09-01 15:16:00 -04:00