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6270 Commits

Author SHA1 Message Date
Daniel Agar
ff16131874 icm42670p run at full speed 2022-05-17 08:14:22 -07:00
Daniel Agar
83daf648ef drivers/imu/invensense/icm42670p: cleanup and small fixes 2022-05-17 08:14:22 -07:00
Beat Küng
32df76ca8a dshot: handle DSHOT_MIN for reversible outputs 
Also ensures there's no deadband if dead_l == dead_h (the default).
 2022-05-13 14:04:01 -04:00
Beat Küng
9166b6953d output drivers: init SmartLock after exit_and_cleanup 
This fixes an invalid memory access when exiting the module:
exit_and_cleanup destroys the object, but lock_guard is destructed after
and accesses the lock.
 2022-05-12 08:16:35 -04:00
Alessandro Simovic
fb71e7587c failure_detector: add motor/ESC failure detection 2022-05-12 07:58:56 +02:00
Beat Küng
dfd934fbdb esc_report: add actuator_function 2022-05-12 07:58:56 +02:00
alexklimaj
0f69f8ced8 Fix uavcan battery causing immediate RTL time remaining low 2022-05-11 21:48:12 -04:00
Daniel Agar
fba7c972d1
drivers/rc_input: ensure RC inversion is disabled initially and latch RC_INPUT_PROTO conservatively 
- this allows jumping straight to a non-SBUS RC protocol
 - increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases.
 - only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds
 2022-05-11 14:30:41 -04:00
Peter van der Perk
0053aeec97 Cyphal restore O1Heap statistics 2022-05-11 09:49:18 -04:00
Daniel Agar
45e3fad3e0
Update submodule GPSDrivers to latest Tue May 10 12:38:49 UTC 2022 
- GPSDrivers in PX4/Firmware (3ac8fdbe2901dcd812c8e1944f72765ddff4c022): 6534b050ee
    - GPSDrivers current upstream: 58968922b7
    - Changes: 6534b050ee...58968922b7

    5896892 2022-04-26 Seppe Geuens - sbf: add heading support (#100)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-05-10 11:38:52 -04:00
Peter van der Perk
b1ad4e8864 Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal 
Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp
 2022-05-10 09:46:18 -04:00
Igor Mišić
ce4e9f6690
uavcan: use timer 6 by default on stm32f7 2022-05-06 19:45:53 -04:00
Beat Küng
8da02e2233 dshot: avoid using pwm failsafe params when dynamic mixing is enabled 2022-05-02 07:16:23 +02:00
ShiauweiZhao
4a6e958100 add tattu_can smart battery kconfig 2022-04-29 13:49:32 -04:00
Beat Küng
9e0a8050a9 fix dshot: remove setAllFailsafeValues 
Fixes a regression from c1e5e666f083f08ddca218aef86a22338c8020cd,
where with static mixers the dshot outputs would go to max instead of 0
in a failsafe case.
 2022-04-28 13:29:24 -04:00
Daniel Agar
a15432fac1
drivers/rc_input: RC_INPUT_PROTO parameter minimal implementation (#19539) 
Co-authored-by: chris1seto <chris12892@gmail.com>

Co-authored-by: chris1seto <chris12892@gmail.com>
 2022-04-27 21:06:43 -06:00
Daniel Agar
f390f52058 drivers/differential_pressure: remove lib/drivers/airspeed dependency and cleanup 
- split ms4525_airspeed into separate ms4515 and ms4525 drivers
 2022-04-26 08:39:19 -04:00
Daniel Agar
d1d15a6f6d differential pressure remove filters from drivers and average in sensors/airspeed 2022-04-26 08:39:19 -04:00
Daniel Agar
258f558fea apply differential pressure calibration (SENS_DPRES_OFF) centrally 
- remove drv_airspeed.h and ioctls
 2022-04-26 08:39:19 -04:00
Daniel Agar
8df3932d6a icm20948: disable debug output (_debug_enabled=true) 2022-04-24 15:45:51 -04:00
Daniel Agar
9073f3ccdf px4flow allow delayed background startup 2022-04-22 21:11:02 -04:00
mcsauder
fef47513f5 Add gyro and accel range register values to the icm42688p driver. 2022-04-22 21:03:01 -04:00
Daniel Agar
435a474dff
Update submodule GPSDrivers to latest Thu Apr 21 12:38:20 UTC 2022 
- GPSDrivers in PX4/Firmware (e9c07fac6f0d9f2c16c9145ffc5b3c58880e0270): ddb1825fe3
    - GPSDrivers current upstream: 6534b050ee
    - Changes: ddb1825fe3...6534b050ee

    6534b05 2022-04-19 Jonas Perolini - ubx: disable gps heading for in RTK float fix type (#104)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-04-21 11:41:24 -04:00
Daniel Agar
5e05d98fe2 output modules simplify locking for mixer reset and load 
- fixes the deadlock in px4io ioctl mixer reset
   - px4io Run() locks (CDev semaphore)
   - mixer load goes through px4io ioctl MIXERIOCRESET which calls MixingOutput::resetMixerThreadSafe()
   - MixingOutput::resetMixerThreadSafe() stores a Command::Type::resetMixer command in an atomic variable, schedules a work queue cycle, then sleep spins until the command is cleared
   - the execution of the cycle eventually calls back into PX4IO::updateOutputs(), which tries to lock (and waits forever)
 2022-04-19 08:52:17 +02:00
alexklimaj
6e0ac66c3c drivers/optical_flow: new PixArt PAA3905 optical flow driver 2022-04-14 16:47:53 -04:00
Alessandro Simovic
510ad00024 dronecan beeper: remove unneded var 2022-04-13 18:06:58 -04:00
Daniel Agar
c30475b04b
Update submodule GPSDrivers to latest Tue Apr 12 12:38:56 UTC 2022 
- GPSDrivers in PX4/Firmware (c04e66a890c75f57f5588d669eec45c8da8c3ed5): ad1094aaf1
    - GPSDrivers current upstream: ddb1825fe3
    - Changes: ad1094aaf1...ddb1825fe3

    ddb1825 2022-03-29 Daniel Agar - ubx: print relevent UBX-MON-VER output

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-04-12 10:12:46 -04:00
Daniel Agar
091fca701e
px4io: input_rc only publish new successful decodes 
- previously an invalid decode would continue to be transferred to the FMU (at 50 Hz) and published to the rest of the system as successfully decoded new RC data
 - by only publishing new successful decodes we can more effectively discard invalid data in downstream consumers
 2022-04-09 14:28:16 -04:00
alexklimaj
017f860f44 Add I2C retries in INA226 to prevent publishing 0's on a single read failure 2022-04-09 14:23:52 -04:00
Jacob Dahl
3bffe3087d use new safety_button topic for uavcannode Button publishing 2022-04-09 14:20:18 -04:00
Igor Misic
80aef942cd safety and safety button: refactoring #19413 2022-04-05 07:57:37 +02:00
Jacob Dahl
1f17a1470a uavcan: update safety button 
updated uavcannode/Publishers/SafetyButton.hpp
tested successfully
make format
revert cannode publishing
 2022-04-05 07:57:37 +02:00
Hovergames
457130fb69 Support for NXP UWB position sensor 
uwb_sr150 driver for the sensor, and some
modifications in precision landing to allow
landing on a platform using the UWB system.
 2022-04-04 17:26:52 +02:00
Daniel Agar
8a552fac78 uavcannode: publish RelPosHeading (from sensor_gnss_relative) 2022-03-29 07:59:41 +02:00
Daniel Agar
84e796c385 drives/gps: add new sensor_gnsss_relative msg 
- for ublox this corresponds to NAV_RELPOSNED
 2022-03-29 07:59:41 +02:00
Daniel Agar
0c31f63896 sensors: add baro calibration and cleanup 
- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting
 2022-03-26 16:08:41 -04:00
Daniel Agar
bc26b73c07 px4io: only publish valid input_rc 2022-03-25 10:56:24 -04:00
Daniel Agar
6135bb384b cleanup module callback registration failed errors 2022-03-23 20:44:50 -04:00
Daniel Agar
f4c3084c26 init adjustments to ensure used topics are advertised early (primarily for logging) 
- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
 2022-03-23 16:51:16 -04:00
wangwwno1
746c16400a Typo Fix: ChangeWorkQeue 
Fix the typo of 'WorkItem::ChangeWorkQeue' to 'WorkItem::ChangeWorkQueue'
 2022-03-15 13:31:52 -04:00
Daniel Agar
233c7fd293
goertek/spl06: parameters.c add copyright header and fix formatting 2022-03-15 10:14:46 -04:00
Ncerzzk
cb23179c50
Add Goertek SPL06 barometer driver (#19229) 
Signed-off-by: ncer <huangzzk@bupt.edu.cn>
 2022-03-15 10:13:03 -04:00
Daniel Agar
b66dd5ffa6 adis16470: fix gyro scaling 2022-03-09 23:00:54 -05:00
Jacob Dahl
3e21efb721
ina228: fix sign error on CURRENT reading (#19296) 2022-03-08 19:47:11 -05:00
Daniel Agar
5affa693f2 uavcan: increase ESC max rate 200->400 Hz 
- this should run synchronized with the rate controller and can be
limited by IMU_GYRO_RATEMAX
 2022-03-07 10:28:51 -05:00
Daniel Agar
44f0278d97
Update submodule GPSDrivers to latest Sat Feb 26 16:47:30 UTC 2022 (#19264) 
- GPSDrivers in PX4/Firmware (be9dbf6a077309c4c6bcf8d2de91b82502bf5d01): d6940d9c8c
    - GPSDrivers current upstream: fa275c3993
    - Changes: d6940d9c8c...fa275c3993

    fa275c3 2022-02-17 chalkytoast - ubx: ensure payloadRxDone does not return -1

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-02-26 15:38:43 -05:00
ShiauweiZhao
8549fadb6c add icm42670p driver kconfig 2022-02-25 12:21:06 -05:00
Jukka Laitinen
77f71e61d2 Add a generic hrt driver userspace interface 
This adds a nuttx userspace interface for hrt driver, communicating with
the actual px4 hrt driver via BOARDCTL IOCTLs

This is be used when running PX4 in NuttX protected or kernel builds

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-25 13:35:14 +01:00
Jukka Laitinen
9f049b4dca Inline ts_to_abstime and abstime_to_ts 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-25 13:35:14 +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