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Author SHA1 Message Date
Silvan Fuhrer
2eba1847fd HTE: add new parameter HTE_THR_RANGE to define range of estimated thrust 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-11 17:04:14 +01:00
Silvan Fuhrer
34805e43fd HTE: remove unused method setMeasurementNoiseStdDev() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-11 17:04:14 +01:00
bresch
493e35b72e ekf_terr: reset rng fault when on ground 2022-02-11 10:57:45 -05:00
bresch
502ec7ef46 ekf_terr: fix unit test 
the flags were valid ony because they were based on timeouts and when
starting the unit test, it takes a couple of seconds to actually timeout
 2022-02-11 10:57:45 -05:00
bresch
2fb7b35a8b ekf2_terr: refactor terrain estimator - flow aiding 2022-02-11 10:57:45 -05:00
bresch
33fd1849e0 ekf2_terr: refactor terrain estimator - rng aiding 2022-02-11 10:57:45 -05:00
bresch
5818974f0f ekf: add range finder "faulty" status 
When delclared faulty, the range finder cannot be used anymore
 2022-02-11 10:57:45 -05:00
bresch
a3b2550f07 mc_auto: only check for offtrack, infront and behind in XY-plane 
This fixes the issue when changing the altitude during a goto for
example, where the vehicle was going backwards and upwards to reach the
closest point to the line. Now the vehicle simply goes towards the
target waypoint.
 2022-02-11 16:14:48 +01:00
alessandro
1febba315a mantis: disable optical flow fusion in EKF2 
Above grass fields I can frequently observe position 
instabilities with the mantis due to the optical flow fusion.

Let's disable flow fusion for now.
 2022-02-11 15:33:34 +01:00
Daniel Agar
0b9f60a037 drivers/rc_input: always provide RC_PORT_CONFIG parameter 
- RC_PORT_CONFIG is disabled by default if the board doesn't have
CONFIG_BOARD_SERIAL_RC set
 - allows user facing custom RC configuration that overrides board
defaults
 2022-02-10 09:41:32 -05:00
Daniel Agar
97a75fc388 sensors: skip selection and failover checks during parameter update cycles 2022-02-10 09:31:23 -05:00
Beat Küng
b6607a7b78 battery_status: do not publish if no voltage channel is defined 
This is the case for boards with digital readout, like v5x, but still
enable the battery_status module for external analog driver options.

An alternative would be to not run battery_status depending on config.
 2022-02-09 16:54:45 -05:00
Nico van Duijn
10ad553f1d v5x: add battery_status module to enable analog bat sensing 2022-02-09 16:54:45 -05:00
Beat Küng
28c27f1b9a px4/fmu-v5x: add ADC_ADS1115_EN param to use external ADC 2022-02-09 16:54:45 -05:00
David Sidrane
fd1aa3cfb9 matek_gnss-m9n-f4:Use CONFIG_BOARD_SERIAL_GPSn for serial_passthru 2022-02-09 13:11:52 -05:00
David Sidrane
0c936e4fd2 serial_passthru:Move CONFIG_xxx to serial_passthru 2022-02-09 13:11:52 -05:00
Silvan Fuhrer
81b08a0168 FW Pos C: set position_sp type to position during VTOL backtransition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
Silvan Fuhrer
1d6396b418 Navigator: VTOL: track virtual WP 1m ahead of vehicle during backtransition in Land mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
Jukka Laitinen
dcde0d0559 src/drivers/sw_crypto: Late initialize tomcypt 
This saves a lot of flash space, in case functions from libtomcrypt
are not used (currently only RSA related).

When RSA is not used, the linker can now drop all libtomcrypt related things.
This is especially relevant for bootloaders using the SW crypto.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-09 10:28:06 -05:00
Daniel Agar
a95da715d5 Jenkins: HIL remove airframe 4018 test 2022-02-09 10:08:59 +01:00
Beat Küng
86860808e3 ROMFS: set CA_* geometry params for some of the generic airframes 
Not enabled, makes it easier to switch.
 2022-02-09 10:08:59 +01:00
Beat Küng
a2ba613254 ROMFS: remove 4018 + 6003 ctrlalloc airframes 2022-02-09 10:08:59 +01:00
PX4 BuildBot
33ce1b9b64 Update submodule mavlink to latest Wed Feb 9 00:39:13 UTC 2022 
- mavlink in PX4/Firmware (ed8c1dca2e792e95d9ab1ba72a22bc9658f10b79): 51abf3c82b
    - mavlink current upstream: 311eee010b
    - Changes: 51abf3c82b...311eee010b

    311eee01 2022-02-04 Peter Barker - common.xml: deprecate SET_HOME_POSITION message (#1791)
63d62522 2022-02-02 Julian Oes - minimal: add MAV_TYPE_WINCH (#1789)
 2022-02-08 21:50:55 -05:00
PX4 BuildBot
421ca2fc48 Update submodule sitl_gazebo to latest Wed Feb 9 00:39:03 UTC 2022 
- sitl_gazebo in PX4/Firmware (a088277fe866860272f1ef21773f5be1b6832b11): 2750fe233c
    - sitl_gazebo current upstream: 25138e803e
    - Changes: 2750fe233c...25138e803e

    25138e8 2021-07-16 Julian Oes - gimbal_controller: fix attitude status
 2022-02-08 20:52:12 -05:00
Daniel Agar
b24aa071b6 Jenkins: hardware always dump pyserial debug (silently) 2022-02-08 17:22:57 -05:00
Daniel Agar
6686736cff
drv_pwm_output.h fix dshot cmd typo 2022-02-08 17:11:49 -05:00
Daniel Agar
86f81680fb sensors: check uORB::SubscriptionData validity before use 2022-02-08 13:19:01 -05:00
Oleg Kalachev
21b78f9d05 Enable mpu9250’s magnetometer on fmu-v4 2022-02-08 13:18:39 -05:00
Steve Nogar
dce067df83 add configurable rtps rate parameter 2022-02-08 19:03:20 +01:00
Daniel Agar
133fe0cfb1 local_position_estimator: move to INS0 work queue (for significantly more stack) 2022-02-08 11:16:49 -05:00
Daniel Agar
be3da5089c uORB: uORBDeviceNode use px4_cache_aligned_alloc 2022-02-08 10:20:50 -05:00
Viktor Vladic
f4d02a2937
MatekH743 board_id, usb vid/pid changes, and MPU6000 delay before transfer - not after (#18733) 
* Make board_id compatible with ardupilot
 * Initialize outputs for CAM1/CAM2 and Vsw pad
 * Correct board type 1013 in bootloader to match AP
 * Change usb vendor string to "Matek"
 * Change cdcacm pid to 1013
 * Comment out FLASH_BASED_PARAMS because of #15331
 2022-02-07 19:55:49 -05:00
Julian Oes
490a0c473b Rename vmount to gimbal 2022-02-07 19:21:15 -05:00
Julian Oes
853047c643 Mantis: use gimbal auto input 
This allows RC and mavlink gimbal v2 input.
 2022-02-07 19:21:15 -05:00
Julian Oes
39f0e97245 vmount: refactor for v2 auto input, test command 
This is a bigger refactor of vmount to clean it up and plug some holes
in functionality.

The changes include:
- Fixing/simplifying the test command.
- Changing the dependencies of the input and output classes to just the
  parameter list.
- Adding a separate topic to publish gimbal v1 commands to avoid
  polluting the vehicle_command topic.
- Removing outdated comments and author lists.
- Extracting the gimbal v2 "in control" notion outside into control_data
  rather than only the v2 input.
 2022-02-07 19:21:15 -05:00
Julian Oes
f2216dff55 mavlink: don't send gimbal_device_attitude_status 
If we receive gimbal_device_attitude_status by mavlink we should not
re-send it as we are already supposed to be forwarding mavlink traffic
from the gimbal to the ground station.
 2022-02-07 19:21:15 -05:00
Julian Oes
7e7a99b542 mavlink: handle for GIMBAL_DEVICE_ATTITUDE_STATUS 
That way we can log it later.
 2022-02-07 19:21:15 -05:00
Daniel Agar
5b07398b3e Tools/HIL/test_airframes.sh: only attempt setting first 3 MAV_x_CONFIG 
- MAV_3_CONFIG doesn't exist
 2022-02-07 16:31:27 -05:00
Daniel Agar
f9d87fd97a sensors/vehicle_angular_velocity: improve error handling (especially during initial selection) 2022-02-07 12:47:02 -05:00
Daniel Agar
3a37fd92e6
Jenkins: HIL temporarily tolerate ERRORs during 'uorb top' (long running command) 
- on older boards if the sensor auto cal completes while this is
running it causes a brief sensor timeout
 2022-02-07 10:26:48 -05:00
Daniel Agar
052adfbfd9
borads: holybro_kakutef7 disable modules/events to save flash 2022-02-06 16:53:13 -05:00
Daniel Agar
3a741cb9c9
boards: bitcrazy_crazyflie disable gyro_fft to save flash 2022-02-06 16:53:13 -05:00
Thomas Debrunner
b4087ebd2b mc_pos_control: increase the default crawl speed for three-stage-landing approach for a more robust landing detection 2022-02-04 21:56:20 -05:00
Matthias Grob
4ef8cead3d mc_pos_control_params: correct crawl speed reference 2022-02-04 21:56:20 -05:00
Matthias Grob
1df9d6fca6 MulticopterLandDetector: fix crawl speed parameter fetching 2022-02-04 21:56:20 -05:00
Thomas Debrunner
fb8b9b647a land-detector: switch to crawl speed for intent detection 2022-02-04 21:56:20 -05:00
Thomas Debrunner
2a6d9bc1dd fligh-mode-manager: First implementation of a three-stage-landing for multirotos, in case LIDAR is available 2022-02-04 21:56:20 -05:00
Daniel Agar
893cdf8f38 ekf2: test external vision adjustments after lowering fake position fusion variance 2022-02-04 21:48:32 -05:00
Daniel Agar
6b1750d8be ekf2: lower fake position observation variance when at rest 2022-02-04 21:48:32 -05:00
Daniel Agar
c028b964e2 bmm150: minor changes to match reference driver 2022-02-04 19:57:24 -05:00