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22819 Commits

Author SHA1 Message Date
Matthias Grob
2e292abfff MulticopterLandDetector: Make land detection time configurable 
The tree stages used arbitrary 350, 250 300ms totally 900ms
So this changes it to each stage to a third of the parameter.
Default it is 1 second -> 333ms per stage.
 2021-05-04 16:43:33 +02:00
RomanBapst
269ce07cb5 land detector: log more states in order to facilitate debugging ground contact state 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-04 16:43:33 +02:00
Jari Nippula
04b7ee43bc
protocol_splitter: Sp2Header defined as union (#17511) 
Aligned with agent_protocol_splitter to make byte access easier
for checksum generation

Co-authored-by: Nuno Marques <n.marques21@hotmail.com>
 2021-05-04 10:09:24 +02:00
RomanBapst
cd4378b8c6 vtol: init boolean consistently 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-03 18:58:26 -04:00
Thomas
ab10e68a40 update Quadchute trigger from mavlink PR 1569 2021-05-03 21:44:27 +03:00
Thomas
bf9758247b add VEHICLE_VTOL_STATE_QC and remove hardcoding 2021-05-03 21:44:27 +03:00
Thomas
d3ddbe8db5 Allow quadchute from external command 2021-05-03 21:44:27 +03:00
Peter van der Perk
ecc5154a44 Reflect dynamically allocate block pointers instead of using heap 2021-05-03 14:04:02 -04:00
Silvan Fuhrer
2c6b3eeb02 Navigator: NAV_CMD_DO_VTOL_TRANSITION: accept once in correct vtol state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-03 08:40:54 +02:00
Silvan Fuhrer
5579a1d789 Navigator: remove WORK_ITEM_TYPE_CMD_BEFORE_MOVE 
It was used to make the vehicle needing to accept the waypoint after a VTOL transition in the new VTOL mode

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-03 08:40:54 +02:00
Silvan Fuhrer
3c4b0c1b8c tiltrotor: only allow increasing tilt during first part of transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-02 21:51:09 -04:00
Jukka Laitinen
fa9fdce6e6
sensors/vehicle_gps_position: Fix raw_dt and present_dt calculation in gps_blending 
If the GPS data is passed from companion computer, there may be inaccuracies
with timesync. This may cause time deltas to overflow.

Make the time delta calculation using floats directly, wich results in negative
numbers in case there are such inaccuracies.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-05-02 13:59:50 -04:00
Daniel Agar
e78a4287f9 parameters: attempt import multiple times 2021-05-02 13:48:16 -04:00
Daniel Agar
feebb24106 logger: skip multi-EKF logging if CONSTRAINED_MEMORY 2021-05-02 13:47:28 -04:00
Femtomes
783a780207
drivers/gps: add femtomes gps driver protocol 2021-05-02 13:46:39 -04:00
Julian Oes
abee13df1a mavlink: improve rx stats printf 2021-05-02 13:45:39 -04:00
Julian Oes
d96ba2d88a mavlink: use 4s for HITL 
This is more inline with SITL.
 2021-05-02 13:45:39 -04:00
Julian Oes
e9a1599355 mavlink: clang-tidy fix 2021-05-02 13:45:39 -04:00
Julian Oes
aa0752ad86 mavlink: fix pthread usage 2021-05-02 13:45:39 -04:00
Julian Oes
5784f1d951 mavlink: add detailed stats about rx messages 2021-05-02 13:45:39 -04:00
Julian Oes
370d9ee409 mavlink: use px4::atomic instead of volatile 2021-05-02 13:45:39 -04:00
Julian Oes
4498509426 mavlink: move thread handling into MavlinkReceiver 
In my opinion this makes it much cleaner and will allow mavlink main to
directly call the receiver.
 2021-05-02 13:45:39 -04:00
Julian Oes
71bd35fcaa mavlink: keep track of seq for any component 
Instead of only keeping track of the sequence ID of specific "supported"
components, we now keep track of any sysid/compid of an incoming
message. Before this change, unknown components (such as jMAVSim) would
completely screw up the mavlink message stats and create confusion (at
least in my case).

With this change we currently keep track of up to 8 other components.
Once we reach the limit, we will print a warning.
 2021-05-02 13:45:39 -04:00
Julian Oes
6ae23e7b7b mavlink: fix HITL battery status publication 
Without these fields the pre-arm check would complain and fail.

Also, the voltage is adjusted to be at around 70% rather than 30% which
would almost start to trigger warnings.
 2021-05-02 13:45:39 -04:00
Julian Oes
cfcc074e9d mavlink: remove unused methods 2021-05-02 13:45:39 -04:00
TSC21
18dc0e4900 update submodule micro-CDR 2021-05-02 13:05:16 -04:00
SalimTerryLi
514d4fd57b
drivers/distance_sensor: GY-SR04 sonar range finder driver 2021-05-02 12:09:35 -04:00
PX4 BuildBot
32d354e5fe Update submodule ecl to latest Sun May 2 12:39:08 UTC 2021 
- ecl in PX4/Firmware (cb999f37d4891ebfbbc21b4ce9b3851888b39ad4): 5d34d7a24e
    - ecl current upstream: a7b8afe420
    - Changes: 5d34d7a24e...a7b8afe420

    a7b8afe 2021-04-30 Eike - Allow rangefinder fusion in vision height mode (Fix for #994) (#999)
4ac57d3 2021-04-25 Daniel Agar - EKF: increase fault flags value size to fit current flag bits (> 16)
 2021-05-02 11:47:36 -04:00
PX4 BuildBot
8ef10c9b38 Update submodule public_regulated_data_types to latest Sat May 1 12:41:36 UTC 2021 
- public_regulated_data_types in PX4/Firmware (bb5225ddae32f3a85f6c01fa5957f1b30cb73a14): 309b251a7e
    - public_regulated_data_types current upstream: 1337b1c86f
    - Changes: 309b251a7e...1337b1c86f

    1337b1c 2021-04-23 Pavel Kirienko - Update the `nominal_voltage` in battery parameters (#114)
 2021-05-01 19:17:02 -04:00
PX4 BuildBot
199db72d5f Update submodule public_regulated_data_types to latest Sat May 1 12:41:39 UTC 2021 
- public_regulated_data_types in PX4/Firmware (d052cf4a6963d576e0e108b6c95b6fa4fab57584): 309b251a7e
    - public_regulated_data_types current upstream: 1337b1c86f
    - Changes: 309b251a7e...1337b1c86f

    1337b1c 2021-04-23 Pavel Kirienko - Update the `nominal_voltage` in battery parameters (#114)
 2021-05-01 19:16:42 -04:00
mcsauder
4eb758edf0 Alphabetize flight_mode_manager CMakeLists.txt list, and group/format types in FlightTask.cpp/hpp. 2021-05-01 10:46:27 -04:00
Daniel Agar
186bc2bda4
Update submodule GPSDrivers to latest Sat May 1 00:38:31 UTC 2021 2021-05-01 10:31:09 -04:00
TSC21
4f098a01bc drivers: protocol_splitter: some style updates 2021-04-29 11:57:35 +02:00
Jari Nippula
9980d2a556 Utilize header struct instead of control bytes directly 2021-04-29 09:37:48 +02:00
Jari Nippula
757f1df068 Protocol_splitter: 4-byte header with checksum 2021-04-29 09:37:48 +02:00
CUAVcaijie
b898aabfed Fix the repeated configuration of PWM rate after initialization 2021-04-28 00:22:07 +02:00
Kalyan Sriram
b2d73dca26 uavcan_v1: cmake: nunavut generation message 2021-04-27 10:30:33 -04:00
Beat Küng
38c1ec6a9c ekf2: check if ChangeInstance succeeded 2021-04-27 10:29:09 -04:00
Beat Küng
1a89f165fd fix bmi088: set correct accel scale 
This affected the clipping limit, which was set too low
 2021-04-27 10:27:57 -04:00
RomanBapst
171c26373b land_detector: robustify land detection by using distance to ground info 
- if distance to the ground is available then hysteresis times will be increased
by a factor of 3 if vehicle is higher than 1m above ground

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-04-27 08:19:19 +02:00
RomanBapst
f6a34e1e80 vtol_type: reset accel to pitch integrator 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-04-27 07:43:38 +03:00
Alex Mikhalev
cbf34109d1 paw3902: Default to using SENS_FLOW_ROT rotation 
This restores the behavior to what it was previous to #16338 (74083d6).

Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
 2021-04-26 15:14:17 -04:00
Daniel Agar
c266c3e43a parameters: remove unnecessary param_get_system_default_value() locking 2021-04-26 09:49:15 +02:00
benjinne
3664d9e4ce
rover: publish actuator controls with rate of gyro 
Some ESC's with DShot don't initialize otherwise (as the 200Hz of the vehicle attitude rate is too low).
 2021-04-26 08:53:20 +02:00
Daniel Agar
6e9e503ee6
sensors/vehicle_imu: accel clipping warning minor improvements 
- no warning if accel is disabled
 - threshold increased 100 -> 1000 (only warn if severe ongoing clipping)
 - more generic warning message (vehicle isn't necessarily in air flying)
 2021-04-25 17:03:43 -04:00
Daniel Agar
8478d1ea37
sensors/vehicle_angular_velocity: properly handle filter reset on FIFO data scale changes 
For the sake of efficiency (at 8 kHz) all filtering is performed on the raw data before the calibration and rotation is applied to only the final output. As a result we have to be a bit more careful when switching between sensors or in cases where the gyro scale factor changes (eg icm42688p 20 bit data rescaled to fit in int16 output).
 2021-04-25 14:20:32 -04:00
Daniel Agar
ed0fa99198 icm42688p: limit to 8 kHZ for now 2021-04-24 20:23:19 -04:00
Daniel Agar
59b70a881d
commander: temporarily increase worker thread stack substantially 2021-04-23 22:13:12 -04:00
Matthias Grob
6df299738e FlightTask: reactivate tasks on ground with empty setpoint 
Such that they properly reset and don't try to take over smoothly from
their own setpoints generated in the last loop iteration.
 2021-04-23 21:57:27 -04:00
Matthias Grob
9e2375ab91 FlightTaskManualAcceleration: change reset order, check all components for NAN 
Just cleanup and completeness.
 2021-04-23 21:57:27 -04:00