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Author SHA1 Message Date
Daniel Agar 2f3cb97872 sensors/vehicle_magnetometer: don't advertise vehicle_magnetometer instance if mag has been disable 
- if using multi-EKF across all magnetometers then an instance of
vehicle_magnetometer is advertised immediately for every sensor_mag
instance
 - this can become problematic if EKF2 multi-mag is enabled, but with
only 1 IMU (EKF2_MULTI_MAG) because you will be stuck with no magnetometer data
 2022-07-20 01:18:19 -04:00
Daniel Agar e5be0e776e ekf2: if multi-mag disabled (EKF2_MULTI_MAG <= 1) properly re-enable sensors hub selection (SENS_MAG_MODE) 
- this prevents potential misconfiguration if trying to disable ekf2 multi mag
 2022-07-20 01:16:55 -04:00
Daniel Agar 8ccd8fbed1 px4io: minimal backup scheduling regardless of dynamic mixing 
- even if there's no configured output we still need to run to grab RC
data
 2022-07-20 01:15:36 -04:00
Daniel Agar 8f8615e6c2 delete CBRK_RATE_CTRL 2022-07-20 01:14:53 -04:00
Daniel Agar 14df1ee917 boards: px4_fmu-v5x_rtps disable systemcmds/gpio to save flash 2022-07-20 01:05:28 -04:00
Daniel Agar 2ece92abd0 sagetech_mxs: module.yaml remove invalid default 2022-07-20 01:00:15 -04:00
Daniel Agar ace80e2b9d fw_att_control: add simple backup scheduling if vehicle_attitude unavailable (or stops) 2022-07-20 00:53:37 -04:00
Daniel Agar 39453405a0 ekf2: cleanup zero innovation heading fusion 
- refactor updateQuaternion() to compute the yaw jacobian directly (respecting  the rotation sequence determination)
 - fuseHeading()/fuseYaw321()/fuseYaw312() helpers are eliminated and now mag heading fusion and EV yaw fusion compute the innovation in place
 - clear up logic for performing zero innovation heading fusion when quaternion variance exceeds threshold (no more _is_yaw_fusion_inhibited flag manipulation)
 - when at rest continue fusing last static heading with very low variance even if other heading sources are active
 2022-07-19 11:58:27 -04:00
Daniel Agar 1a513153be ekf2: update range sample fix ekf2_timestamps 
- this is necessary to use distance_sensor data in replay
 2022-07-18 14:39:12 -04:00
Daniel Agar c71cc5b815 drivers/imu/bosch: new BMI085 driver 
- very similar to the BMI088 with minor differences in accel range
 2022-07-14 18:20:13 -04:00
Daniel Agar 077547f31e rm3100: fix trivial whitespace style failure 2022-07-14 14:44:59 -04:00
Daniel Agar ea4a1bfb6a sagetech_mxs: don't run by default 2022-07-14 10:20:20 -04:00
Daniel Agar a2f83269e9 airspeed_selector: don't consider vehicle_local_position valid if dead_reckoning 2022-07-13 09:01:33 +02:00
Daniel Agar ac209c2e78 ekf2: vehicle_local_position add dead_reckoning flag 2022-07-13 09:01:33 +02:00
Daniel Agar e99da22cbe delete CBRK_VELPOSERR circuit breaker 2022-07-12 13:51:13 -04:00
Daniel Agar 19b9b052ab uavcan: GNSS optionally publish RTCMStream or MovingBaselineData 2022-07-12 08:15:15 -04:00
Daniel Agar a73efd9c4f NuttX carry minimal c++ cmath (replacing Matrix stdlib_imports.hpp) 2022-07-12 08:05:06 -04:00
Daniel Agar fe22167512 differential_pressure/sdp3x: sdp3x_main fix 'keep running' regression 2022-07-12 09:11:57 +02:00
Daniel Agar e1933f6ade ROMFS: execute rc.autostart (airframes) before starting dataman 2022-07-07 11:37:39 -04:00
Daniel AgarTravis Bottalicoakushley
 		f591988f32 drivers/actuators: modalai_esc driver 
Co-authored-by: Travis Bottalico <travis@modalai.com>
Co-authored-by: akushley <akushley>
 2022-07-07 10:32:52 -04:00
Daniel Agar fe9af6769c commander add GPS warnings (GPS invalid if flying and jamming critical) 2022-07-07 10:24:11 -04:00
Daniel Agar 15223009d2 combine sensor_gps + vehicle_gps_position msgs (keeping separate topics) 2022-07-07 10:24:11 -04:00
Daniel Agar efde738826 ekf2: update EKF2_EV_DELAY default to 0 2022-07-04 11:44:53 -04:00
Daniel Agar c9b6047124 platforms/nuttx/CMakeLists.txt add STM32H743VI SVD/debug 2022-07-03 11:38:01 -04:00
Daniel Agar 7f76761657 uavcannode: schedule to run on log_message publications 
- this is a precaution to minimize message latency and potential lost messages
 2022-07-01 09:18:17 -04:00
Daniel Agar ab4e10dc26 paa3905: update scaling from datasheet 2022-06-21 16:59:14 -04:00
Daniel Agar 07e28fda7a paw3902: update scaling from datasheet 2022-06-21 16:59:14 -04:00
Daniel Agar dc8ed97809 ekf2: optical flow control limits constrain speed using HAGL max 2022-06-21 12:52:25 -04:00
Daniel AgarandMatthias Grob 15747239c1 mc_pos_control: always respect position estimate vxy_max if set 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-06-21 12:52:25 -04:00
Daniel Agar 5d2dfadb0e boards: px4_fmu-v5_uavcanv0periph disable modules to save flash 2022-06-20 21:31:27 -04:00
Daniel Agar e5f081d9ac drivers/optical_flow/paa3905: cleanup/overhaul 
- remove internal accumulation and publish every valid raw sample synchronized with sensor
 - store timestamp_sample from motion interrupt
 - improve timing requirements from datasheet (minimum delays after register read/write)
 2022-06-20 20:56:56 -04:00
Daniel Agar 1fbe3c4ab3 drivers/optical_flow/paw3902: cleanup/overhaul 
- remove internal accumulation and publish every valid raw sample synchronized with sensor
 - store timestamp_sample from motion interrupt
 - improve timing requirements from datasheet (minimum delays after register read/write)
 2022-06-20 20:56:56 -04:00
Daniel Agarandalexklimaj d5839e2dd5 optical flow sensor pipeline overhaul 
- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
 2022-06-20 20:56:56 -04:00
Daniel Agar 450fcca8b8 drivers/differential_pressure/Kconfig: remove ets and ms4515 from common sensors to save flash 2022-06-20 13:04:19 -04:00
Daniel Agar 8d2e8ef422 boards: px4_fmu-v5_test disable gyro_fft module to save flash 2022-06-20 13:04:19 -04:00
Daniel Agar 73f45fee6e boards: px4_fmu-v5_test disable fake_gps module to save flash 2022-06-19 14:25:06 -04:00
Daniel Agar 902b789292 boards: px4_fmu-v5_protected disable gyro_fft module to save flash 2022-06-19 14:25:01 -04:00
Daniel Agar b81a5b3efa ekf2: request mag yaw reset after calibration or sensor change 2022-06-17 21:04:05 -04:00
Daniel Agar c7cec4252c sensors: add CONFIG_SENSORS_VEHICLE_AIRSPEED for airspeed/differential pressure 
- disable CONFIG_SENSORS_VEHICLE_AIRSPEED on boards only used for multicopter
 2022-06-17 19:31:45 -04:00
Daniel Agar 10deb7019e enable gyro_calibration for CAN nodes 
- allow saving initial gyro cal if very close to 0
 2022-06-17 19:31:45 -04:00
Daniel Agar db4e09d529 Tools/kconfig: delete old migration helpers 
- people are updating this without really understanding the purpose,
and it's generally no longer useful
 2022-06-17 19:31:45 -04:00
Daniel Agar c46fa01195 sensors: add kconfig mechanism to optionally exclude sensor types 2022-06-17 19:31:45 -04:00
Daniel Agar dea404a9a3 boards: disable modules to save flash 
- px4_fmu-v5x_rtps disable common barometers to save flash
 - px4_fmu-v6x_default disable telemetry drivers to save flash
 2022-06-16 16:14:57 -04:00
Daniel AgarandPX4 BuildBot c1c2858341 Update submodule GPSDrivers to latest Thu Jun 16 12:38:52 UTC 2022 
- GPSDrivers in PX4/Firmware (1069570a2a90fdc7f0e081b6c2c4b418446d65d7): https://github.com/PX4/PX4-GPSDrivers/commit/016c37cd1f18c716427e2465d8daa6aa1054b0f1
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/8c09c5426d23ea4db4e462c1f4e3a1de33d253cc
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/016c37cd1f18c716427e2465d8daa6aa1054b0f1...8c09c5426d23ea4db4e462c1f4e3a1de33d253cc

    8c09c54 2022-06-15 Daniel Agar - sbf trivial whitespace fix

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-06-16 12:21:06 -04:00
Daniel Agar 1980b5c5e8 ekf2: setEkfGlobalOrigin() reset baro and hgt sensor offsets if necessary 
- handle uninitalized _gps_alt_ref
 - add basic lat/lon/alt sanity checks
 2022-06-16 00:59:54 -04:00
Daniel Agar ce70b6f4ac sensors/vehicle_angular_velocity: add IMU_GYRO_RATEMAX constraints 2022-06-07 15:45:47 -04:00
Daniel Agar 01f0992f49 sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX 2022-06-07 15:45:47 -04:00
Daniel Agar cb2738e187 Update submodule GPSDrivers to latest Sat Jun 4 12:38:49 UTC 2022 (#19766) 
- GPSDrivers in PX4/Firmware (6e77a084cd43830c8b13018b7fd5470da9bc4ff5): https://github.com/PX4/PX4-GPSDrivers/commit/181fae1a4b5e33576d786755782adb2f195ecc48
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/016c37cd1f18c716427e2465d8daa6aa1054b0f1
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/181fae1a4b5e33576d786755782adb2f195ecc48...016c37cd1f18c716427e2465d8daa6aa1054b0f1

    016c37c 2022-06-01 Julian Oes - sbf: fix overrun on invalid length
 2022-06-04 15:58:56 -04:00
Daniel Agar 21b1c933dc ekf2: EKFGSF_yaw delete unnecessary internal state 2022-06-01 13:16:06 -04:00
Daniel Agar 3889b79342 ekf2: yaw estimator add yaw_composite_valid boolean 2022-06-01 13:16:06 -04:00
Daniel Agar 002579b3e0 Jenkins: reboot after ostest completes 
- temporary workaround to ostest apparently leaving the system in a bad state
 2022-05-31 01:41:07 -07:00
Daniel Agar 5b6e5a0968 boards: NuttX update all boards to preallocated sem holder list 
- CONFIG_SEM_PREALLOCHOLDERS=32
 - CONFIG_SEM_NNESTPRIO=16 (default)
 2022-05-31 01:41:07 -07:00
Daniel Agar 132a07f53c boards: test boards add NuttX ostest and run on Jenkins test rack 2022-05-29 13:41:16 -04:00
Daniel Agar 0420d697e5 update NuttX and apps to latest with sem holder fixes and updated ostest 2022-05-29 13:41:16 -04:00
Daniel Agar cb8b5ae872 mavlink: MavlinkStatustextHandlerTest ignore Wcast-align 2022-05-29 09:44:48 -04:00
Daniel Agar d97bb168cf lib/motion_planning: VelocitySmoothingTest delete set but not used variable 2022-05-29 09:44:48 -04:00
Daniel Agar 095e0f0604 ekf2: sensor_simulator fix enum shadow 2022-05-29 00:21:08 -04:00
Daniel Agar c27b9f3b1e boards: reduce SPI DMA buffers on older STM32F4 boards 
- on common IMUs like the mpu6000, mpu9250, icm20602, etc each FIFO
sample is only 12 bytes so this is still more than large enough for the
worst case transfer
 2022-05-27 16:27:41 -04:00
Daniel Agar 4561cf2ce6 boards: pixhawk 2 cube skip starting low quality l3gd20 gyro to save memory and cpu 
- free memory is getting tight on these older boards (depending on
configuratoin) and the pixhawk 2 cube still has 2 other superior IMUs, so this is just
dropping dead weight
 2022-05-27 16:27:41 -04:00
Daniel Agar 1ba3610cfc boards: delete omnibus_f4sd_ekf2 due to flash overflow 2022-05-27 09:46:07 -04:00
Daniel Agar 98354ba10a Update submodule GPSDrivers to latest Wed May 25 12:38:58 UTC 2022 
- devices in PX4/Firmware (7cc84e0f9e44697475b0f355df9a29de6ea6b9ff): https://github.com/PX4/PX4-GPSDrivers/commit/58968922b718176be8756f11113d16b2cfbc4022
    - devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/181fae1a4b5e33576d786755782adb2f195ecc48
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/58968922b718176be8756f11113d16b2cfbc4022...181fae1a4b5e33576d786755782adb2f195ecc48

    181fae1 2022-05-23 numan - README: add information for definition.h
 2022-05-25 09:56:40 -04:00
Daniel Agar 58ea6235fe ekf2: estimator aid source status (range height) 2022-05-25 09:25:12 -04:00
Daniel Agar 1e25aee6fa ekf2: estimator aid source status (baro height) 2022-05-25 09:25:12 -04:00
Daniel Agar 376201e64d boards: px4_fmu-v5/v5x init all I2C pins 2022-05-24 11:02:03 -04:00
Daniel Agar 639222dd65 ekf2: estimator aid source status (GPS pos, GPS vel) 2022-05-23 16:21:49 -04:00
Daniel Agar 1ae467e9cd ekf2: estimator aid source status (starting with fake position) 2022-05-23 16:21:49 -04:00
Daniel Agar d25a784a3a icm42688p: only check configured registers periodically (as intended) 2022-05-23 14:58:23 -04:00
Daniel Agar b800600a6c boards: px4_fmu-v2_fixeding disable fw_autotune_attitude_control to save flash 2022-05-22 12:32:24 -04:00
Daniel Agar 61d5a23445 Jenkinsfile: hardware test rack skip runing HITL airframes 2022-05-22 12:31:08 -04:00
Daniel Agar db4545e442 Update world_magnetic_model to latest Sat May 21 11:14:10 UTC 2022 2022-05-21 14:57:55 -04:00
Daniel AgarandMatthias Grob c40631c136 commander: handle RC loss timeout if manual_control_setpoint stops publishing (#19680) 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-05-20 19:37:30 -04:00
Daniel Agar fd4b62032e commander: publish actuator_armed first on any change 2022-05-19 12:47:50 -04:00
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
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
Daniel Agar c772e5230f commander: remove compile time dependencies on non-commander parameters 
- this allows builds with mavlink fully disabled
 - move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control
 2022-05-11 10:14:23 -04:00
Daniel Agar a71d101869 ROMFS: delete 3037_parrot_disco_mod airframe 2022-05-10 16:23:20 -04:00
Daniel Agar 42d7fb0b66 ROMFS: delete 3035_viper airframe and mixer 2022-05-10 16:23:20 -04:00
Daniel Agar 61c5d11375 ROMFS: delete 3034_fx79 airframe 2022-05-10 16:23:20 -04:00
Daniel Agar f1a1ed4958 ROMFS: delete 3030_io_camflyer airframe 2022-05-10 16:23:20 -04:00
Daniel Agar b00d0720cd ROMFS: delete 13010_claire airframe 2022-05-10 16:23:20 -04:00
Daniel Agar 451cc5058d ROMFS: delete minimal DJI airframes 2022-05-10 16:23:20 -04:00
Daniel Agar fa1891ace2 ROMFS: delete steadidrone airframes 2022-05-10 16:23:20 -04:00
Daniel Agar af5e903b82 .vscode/.gitignore ignore all log files 2022-05-10 11:39:55 -04:00
Daniel Agar b77bb6d88d Makefile: bootloaders_update add all Matek targets 2022-05-10 11:39:54 -04:00
Daniel AgarandPX4 BuildBot 45e3fad3e0 Update submodule GPSDrivers to latest Tue May 10 12:38:49 UTC 2022 
- GPSDrivers in PX4/Firmware (3ac8fdbe29): https://github.com/PX4/PX4-GPSDrivers/commit/6534b050ee1a48af7932c46a9a87277eed1cc997
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/58968922b718176be8756f11113d16b2cfbc4022
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/6534b050ee1a48af7932c46a9a87277eed1cc997...58968922b718176be8756f11113d16b2cfbc4022

    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
Daniel Agar 371a551f05 github actions: add all matek targets and sort 2022-05-10 11:33:01 -04:00
Daniel Agar 73f4c3ea87 Jenkins: compile add all matek targets and sort 2022-05-10 11:32:52 -04:00
Daniel Agar 6d390f393c boards: matek_h743-mini_bootloader fix NuttX CONFIG_ARCH_BOARD_CUSTOM_DIR 2022-05-10 11:28:26 -04:00
Daniel Agar 5778553508 boards: matek_h743_bootloader fix NuttX CONFIG_ARCH_BOARD_CUSTOM_DIR 2022-05-10 11:26:15 -04:00
Daniel Agar a80a74af79 Jenkins: compile update uavcanv1 -> cyphal 2022-05-10 11:23:22 -04:00
Daniel Agar 858292209d boards: px4_fmu-v5_uavcanv0periph disable common differential pressure sensors to save flash 2022-05-10 11:17:24 -04:00
Daniel Agar 15296ab453 cmake: NuttX check that CONFIG_ARCH_BOARD_CUSTOM_DIR is in PX4_BOARD_DIR 2022-05-09 15:23:18 -04:00
Daniel Agar 2e1cdc9e75 boards: modalai_fc-v1 enable dshot on all outputs 2022-05-09 11:31:31 -04:00
Daniel AgarandMathieu Bresciani 7f1bb556e9 Update src/modules/mc_pos_control/MulticopterPositionControl.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-05-04 02:22:18 -07:00
Daniel Agar ad6592f669 mc_pos_control: require current trajectory setpoint to run controller 2022-05-04 02:22:18 -07:00
Daniel Agar 7784cd1f40 boards: mro_ctrl-zero-classic updates to sync with ctrl-zero-h7-oem 2022-04-30 09:40:52 -04:00
Daniel Agar 6fc857772d ekf2: remove unnecessary const references 2022-04-29 21:39:02 -04:00
Daniel Agarandchris1seto 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 fc7e979d84 boards: px4_fmu-v5_uavcanv0periph disable modules to save flash 2022-04-26 08:39:19 -04:00