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11905 Commits

Author SHA1 Message Date
Roman
2bd8b517c5 FwPositionControl: don't do takeoff help for vtol 
- takeoff help is used for fixed wings, it increases the altitude setpoint
after a launch. A vtol does not need this as it's already sufficiently
high up in the air.

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-04-30 02:45:49 -04:00
Matthias Grob
56591954ad Commander: reevaluate RC mode on altitude lock 2019-04-29 13:24:29 -04:00
Daniel Agar
f032d0d9fc
SYS_MC_EST_GROUP mark LPE unsupported and update airframes (#11925) 2019-04-29 11:50:36 -04:00
Daniel Agar
2142459027 Revert "simulator: remove hack for diff_pressure noise" 
This reverts commit 4a71984f77249230787b7d263d866d6cfa78a7ac.
 2019-04-29 10:46:38 -04:00
Julian Oes
4a71984f77 simulator: remove hack for diff_pressure noise 
The noise for airspeed is now applied on the Gazebo side and we can
remove this hack.
 2019-04-28 18:22:21 -04:00
Matthias Grob
3bf5d6af12 commander: fix RC mode switch not getting applied after boot 
the condition to enter the rc mode switch evaluation was neglecting
the first connection of an RC when "no RC switch changed". this means
depending on the actual initialization values of _last_sp_man and the
desired mode preselected on the RC while connecting it would not get
evaluated.
 2019-04-26 21:04:10 +02:00
Matthias Grob
f177a68da9 commander: negate main_state_rc entering condition 
pure refactor using De Morgan's law to make the condition more intuitive
since you think about when should I enter and not when should I skip
 2019-04-26 21:04:10 +02:00
Matthias Grob
1f3ebd98b1 commander: split up set_main_state_rc entering condition 
pure refactor of the huge condition into smaller const bool junks
 2019-04-26 21:04:10 +02:00
bresch
89bc68e12b Auto - Rename MC_YAWRAUTO_MAX -> MPC_YAWRAUTO_MAX 2019-04-26 12:43:26 +02:00
bresch
581d25f77f Auto mode traj - limit yaw setpoint rate of change when generated in the flight task instead of clamping the yaw rate in the controller 
Move yaw setpoint slew rate from AutoLineSmoothVel to Auto. The slew rate is now applied consistently to all the auto FlightTasks
 2019-04-26 12:43:26 +02:00
mcsauder
e6b427022a Add missing underscore prefix to a member variable in mavlink_main.cpp.h and delete unnecessary struct specifiers in mavlink_main.h. 2019-04-26 11:33:17 +02:00
mcsauder
73fb30f251 Migrate an additional set of 16 variable initilializations from the Mavlink class constructor list to their respective declarations. 2019-04-26 11:33:17 +02:00
bresch
903deb7579 RTL - Skip descend state if no delay is set between descend and land 2019-04-25 18:24:04 +02:00
Julian Oes
c95394f57f navigator: fix uninitalized param values 
By declaring the params above the navigator modes inheriting from
mission block we make sure the params in navigator are set before
read in the constructor of mission block.
 2019-04-24 11:15:43 -04:00
Julian Oes
90ee26dd2d mavlink_mission: properly initialize padding 
This prevents uninitialized padding from being written to dataman.
 2019-04-24 11:15:43 -04:00
Julian Oes
4c56994d7a mavlink_system: set update_counter for safe points 
This variable was not set and lead to uninitialized memory being written
to dataman.
 2019-04-24 11:15:43 -04:00
Julian Oes
bf32ff32f8 dataman: make _file_write more readable 
This should not be any functional change. The only difference are the
variable scopes, and early return versus nested ifs.
 2019-04-24 11:15:43 -04:00
Julian Kent
dc3341db59 Fix uninitialized memory found using Valgrind 2019-04-24 11:15:43 -04:00
Roman
42d0522cdd FixedWingAttitudeControl: removed check for negative airspeed and slew rate 
on airspeed scaling

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-04-24 14:27:37 +02:00
Daniel Agar
36aeb9defc WIP: FW attitude control limit airspeed scaling changes per iteration 2019-04-24 14:27:37 +02:00
Paul Riseborough
0f346af226 ekf2: Improve parameter description 
Inhibiting bias estimation using the EKF2_AID_MASK parameter only applies to the delta velocity bias states.
 2019-04-24 06:55:54 +02:00
Daniel Agar
d8a1a79f69 Mavlink: SYS_STATUS trivial style check fix 2019-04-23 08:48:11 -04:00
jdzerve
2e9d0f0751 Mavlink: Get full sensor status even if only subset has changed when composing SYS_STATUS message (#11886) 2019-04-23 08:31:13 -04:00
Roman
463b8a7528 vtol_att_control: respect min pwm values 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-04-17 09:13:27 +02:00
Mark Sauder
74bc6870ed simulator: uorb and initialization cleanup (#11825) 
* Cherry pick the vehicle_imu PR #9756 src/modules/simulator directory work to submit as standalone PR.

* Modify the accelsim init method mag_report usage to match usage in measure() and mag_measure() methods in the class.

* Incorporate review comments in the accelsim.cpp init() method and also make the same modifications in gyrosim.cpp.

* Delete unneeded mag_report initialization from accelsim init() method.

* Deprecate unneeded measure() call from accelsim.cpp init() and gyrosim.cpp init().
 2019-04-16 08:29:53 +02:00
Gabriel Moreno
f9324fb76a mavlink: set correct distance_sensor timestamp. Fixes #11840 
When PX4FLOW is connected to PX4 through MAVLink (e.g., through a USB
port), the timestamp assigned to the distance_sensor was wrong. This fix
uses the same timestamp assigned to the optical_flow message created from
the same OPTICAL_FLOW_RAD MAVLink message.

Signed-off-by: Gabriel Moreno <gabrielm@cs.cmu.edu>
 2019-04-15 20:31:15 +02:00
Daniel Agar
d36b06f779 fw_pos_control_l1: FW_LND_EARLYCFG disable by default 
- change to boolean param
 2019-04-13 17:35:12 +02:00
Beat Küng
3135f9f0d2 sih: avoid static variable + style fixes 2019-04-12 09:25:07 +02:00
romain
65f623bd73 acceleration added when hitting the ground 2019-04-12 09:25:07 +02:00
romain
7be1cc389e removed arguments from constructor 2019-04-12 09:25:07 +02:00
Beat Küng
744b50b478 send MAVLink GROUND_TRUTH at 25 Hz, only in SIH mode. And minor cleanup 2019-04-12 09:25:07 +02:00
romain
9adb4410bd newline added at the end of files 2019-04-12 09:25:07 +02:00
romain
8b6480c1cf sih.msg removed, serial port communication removed 2019-04-12 09:25:07 +02:00
romain
e8c5d85525 sih param names cleanup 2019-04-12 09:25:07 +02:00
romain
e1d9438f79 sih: remove SYS_SIH parameter and extend SYS_HITL 2019-04-12 09:25:07 +02:00
romain
a9660d9da0 white noise generator updated 2019-04-12 09:25:07 +02:00
romain
cdd7e95a92 added a call to px4_sem_destroy() 2019-04-12 09:25:07 +02:00
romain
6ff228c2ff sih module implemented with hrt_call_every and semaphore_wait 2019-04-12 09:25:07 +02:00
Beat Küng
914a9b78b6 new airframe for sih, HIL_STATE_QUATERION sent through MAVLink 2019-04-12 09:25:07 +02:00
romain
c09e9ec97f simulator in hardware, new module added that allows to run a simulator in the hardware autopilot, for more documentation visit https://github.com/romain-chiap/PX4_SIH_QuadX 2019-04-12 09:25:07 +02:00
mcsauder
9540869c20 Alphabetize a few methods and variable orders in mavlink_receiver.h. 2019-04-11 08:31:30 +02:00
Alessandro Simovic
4127adf73c addressing comments from #11796 2019-04-10 09:38:53 +02:00
Alessandro Simovic
482a46ab36 Standardising mavlink message strings 2019-04-10 09:38:53 +02:00
Daniel Agar
0206375de6 logger reduce default topics 2019-04-09 10:14:49 -04:00
Julian Oes
95ab984f4c commander: fix toggling datalink lost and regained 
When using QGC and/or the Dronecode SDK it was possible to get in a
state where the two mavlink instances were both publishing their last
heartbeat_time and cause commander to consistently toggle between
data link lost and regained. With this fix, we only ever look at the
very last heartbeat time and therefore seem to avoid this issue.
 2019-04-05 09:25:40 -04:00
Martina Rivizzigno
34b0f33098 move all obstacle avoidance interfaces to the ObstacleAvoidance library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno
8c24ba9255 move injection of avoidance setpoints to flight task library 2019-04-04 16:41:26 +02:00
Daniel Agar
6648937789 logger increase stack 3600 -> 3700 bytes 2019-04-03 14:32:45 -04:00
bresch
986c1a37d1 Parameter update - Rename variables in modules/ekf2 
using parameter_update.py followed by a make format
 2019-04-03 15:38:50 +02:00
bresch
da2deaa0b2 Parameter update - Rename variables in modules/mavlink 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00