2c5b8a9491
mavlink: handle stream not updated
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Our answer does not just depend on whether the stream was found but
whether we actually were able to send out an update.
2020-06-03 17:57:12 +02:00
efb10a2fbc
mavlink: address review comments
2020-06-03 17:57:12 +02:00
7d1b451e39
mavlink: add missing copyright header, pragma once
2020-06-03 17:57:12 +02:00
afafc541d8
mavlink: use send() instead of using reset flag
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I think we can just directly use send() and don't need to use the
workaround of resetting the send flag to trigger one send.
Also, we don't need to override it if we don't need to check any params.
2020-06-03 17:57:12 +02:00
b54c44bd37
mavlink: don't send streams with interval 0
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We only need to send them immediately if the interval is < 0 meaning
unlimited.
2020-06-03 17:57:12 +02:00
3815e608f4
mavlink: create stream if needed and trigger once
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Instead of creating the stream and deleting it again, we now create it
with a rate of 0 and trigger it once.
This should avoid heap fragmentation by continous allocations.
2020-06-03 17:57:12 +02:00
acdc15e2cd
mavlink: create stream even if rate is 0
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This allows to send a message exactly once if requested.
2020-06-03 17:57:12 +02:00
bb032a9c46
mavlink: remove incorrect outdated comment
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Default is -2, so the comments seems wrong.
2020-06-03 17:57:12 +02:00
80f91b0f6a
mavlink: add support for legacy requests back in
2020-06-03 17:57:12 +02:00
b4cbd93b7c
mavlink: new args to request message, omit param1
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We can omit param1 because it is already used for the message_id, so
it's basically duplicate information and won't get used anywhere.
2020-06-03 17:57:12 +02:00
27b6c209e0
mavlink: Move request message logic to function
2020-06-03 17:57:12 +02:00
62bf0a6cf8
added streams to mavlink messages
2020-06-03 17:57:12 +02:00
edbe7e3ef0
added FLIGHT_INFORMATION stream
2020-06-03 17:57:12 +02:00
e1f4a70c0e
added AUTOPILOT_VERSION and PROTOCOL_VERSION streams
2020-06-03 17:57:12 +02:00
aef2a5755e
moving storage_information stream to separate file
2020-06-03 17:57:12 +02:00
9ce9fe38de
use storage_id 1
2020-06-03 17:57:12 +02:00
fd09198c7e
implemented MAV_CMD_REQUEST_MESSAGE for STORAGE_INFORMATION
2020-06-03 17:57:12 +02:00
9e509a4bec
navigator: RTL minor whitespace and style fixes
2020-06-02 22:08:55 -04:00
aca6be8b5c
navigator: RTL destination throttle dataman access
2020-06-02 22:08:55 -04:00
11585dfb67
ekf2: decrease default GPS horizontal velocity noise
2020-06-02 08:18:12 -04:00
08fdc90175
mission: keep current heading if close to ROI while heading sp is invalid
2020-06-02 12:04:23 +02:00
a9dacae57e
sensors/vehicle_angular_velocity: limit scheduling to IMU_GYRO_RATEMAX
2020-06-01 15:08:50 -04:00
96f043cd62
sensors/vehicle_acceleration: limit scheduling to IMU_INTEG_RATE
2020-06-01 15:08:50 -04:00
b36845330e
ms5611: prevent starting as ms5607 type on ms5611 hardware
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- an ms5611 using the ms5607 calculations will return impossibly high barometric pressure (~2000 mbar)
2020-06-01 11:31:55 -04:00
b139f48fef
sensors: throttle mavlink emergency log messages
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- in rare situations sending these messages multiple times in close succession can actually cause a loop of additional sensor timeouts
2020-06-01 11:25:12 -04:00
51a36f0b61
sensors/vehicle_imu: improve initial sensor interval monitoring
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- add perf counters for monitoring
2020-05-31 21:41:37 -04:00
e34bdb4be9
move IMU integration out of drivers to sensors hub to handle accel/gyro sync
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- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu
- sensors: voted_sensors_update now consumes vehicle_imu
- delete sensor_accel_integrated, sensor_gyro_integrated
- merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
- sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
2020-05-30 11:07:54 -04:00
43279f18ba
bmp388: fix variable shadowing warning
2020-05-29 09:54:18 -04:00
1f57d63503
precland: set the previous position setpoint to invalid, in the position setpoint triplet
2020-05-29 09:18:43 +02:00
7eee9deb4c
mission: handle precision landing inactivation properly
2020-05-29 09:11:01 +02:00
a758ea1220
RTL: enable precision landing at the end of RTL, configurable by parameter
2020-05-29 09:11:01 +02:00
ed9e504695
precland: add a method to check if precland is activated
2020-05-29 09:11:01 +02:00
ad4d4287fa
mavlink odometry: properly set the frame id fields
2020-05-28 15:45:13 +01:00
562d57fee8
mavlink: fix odometry frames of reference setup
2020-05-28 15:45:13 +01:00
0ec48cfef3
ekf2: increase default baro noise 2 -> 3.5 m
2020-05-28 08:35:07 -04:00
07b39ec7c0
bmp388: some cleanup
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- avoid unnecessary sensor readout cycle during init
- check status register for data ready
2020-05-28 08:34:38 -04:00
14853539e3
CBRK_FLIGHTTERM: Does not affect takeoff failure safety detection ( #14972 )
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* CBRK_FLIGHTTERM: Clarify does not affect takeoff failure safety detection
* FD_FAIL_P FD_FAIL_R - clarify apply on takeoff
* Improve param text
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2020-05-28 08:30:48 +02:00
664c79742b
navigator_main.cpp: don't reset wv enable status ( #14901 )
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* navigator_main.cpp: don't reset wv enable status
* fix review
2020-05-27 15:49:04 +03:00
c0bf5cc94c
systemcmds/gpio: add module documentation
2020-05-27 07:35:27 +02:00
094fe269dc
systemcmds/gpio: move usage description to bottom and fix formatting
2020-05-27 07:35:27 +02:00
d92e66863a
mc_pos_control: migrate MPC_*_VEL_* parameter to acceleration scaling
...
Before #14212 the velocity control gains used in the multicopter
position controller were defined as a scale between velocity error in
one axis (or it's integral and derivative respectively) and the unit
thrust vector. The problem with this is that the normalization of the
unit thrust vector changes per vehicle or even vehicle configuration
as 0 and 100% thrust get a different physical response. That's why
the gains are now defined as scale between velocity error
(integral/derivative) and the output acceleration in m/s².
2020-05-26 14:44:41 +02:00
e482081f91
mc_att_control: grab attitude setpoint before processing estimate reset
2020-05-26 15:07:45 +03:00
12ee75700a
mc_att_control: adapt setpoint on estimation reset
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There was a gap where the attitude controller already used the estimate
with a new reference but the last known attitude setpoint was still based
on the old reference. This leads to a big glitch on reset because until
the attitude setpoint gets updated the error is wrong and as large as the
attitude delta of the reset.
2020-05-26 15:07:45 +03:00
cf658494ad
mc_attitude_control: keep last attitude setpoint as member
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The last attitude setpoint that is known from the position controller
is now kept inside the AttitudeControl class such that we don't
keep the whole vehicle_attitude_setpoint struct and always copy over from
there to run an update step.
2020-05-26 15:07:45 +03:00
bd154bf33c
FixedWingAttitudeControl: removed parachute from gimbal control group
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- parachute is handled separately based on flight termination in px4io
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-05-25 11:44:35 -04:00
ade8a13203
commander: CMD_COMPONENT_ARM_DISARM don't block disarm if maybe_landed
2020-05-25 11:43:14 -04:00
7b41ce4711
simulator: rename parameter variable according to convention
2020-05-25 11:04:24 +02:00
88c21337fa
Make all battery sensor drivers report their sample interval
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To make use of the time abstraction in the leaky integrator.
2020-05-25 11:04:24 +02:00
4dc9ca69ab
battery: use AlphaFilter class
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Replace the filtered value calculations with calls to the class.
This will allow time abstraction.
2020-05-25 11:04:24 +02:00
cd8850b43b
mavlink: bring class LogListHelper into MavlinkLogHandler ( #14452 )
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This is in order to avoid dynamic allocation of LogListHelper when downloading logs.
2020-05-25 10:08:25 +02:00
Julian Oes