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2676 Commits

Author SHA1 Message Date
Daniel Agar f25a70a674 mathlib: Notchfilter updates 
- merge NotchFilterArray into regular NotchFilter (apply vs applyArray)
 - only use direct form 1 to prevent reset confusion
 - safe default field initialization
 - update VehicleAngularVelocity usage
 2021-05-31 10:26:45 -04:00
Silvan Fuhrer 4b42a1639b TECS: in airspeed-less mode, set airspeed estimate to cruise airspeed 
In airspeed-less mode, instead of the average of min/max airspeed, take the cruise
airspeed (from param) for current airspeed estimate. A diff of the airspeed setpoint
from this value results in increased enegery demand (incerase of throttle) even
in airspeed-less mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-28 14:25:53 +02:00
PX4 BuildBot 187297653a Update submodule ecl to latest Mon May 24 12:39:12 UTC 2021 
- ecl in PX4/Firmware (17da6293aa8e32a0e41c8fe10b8ffbf4e3e922b3): https://github.com/PX4/PX4-ECL/commit/e57af44d71dea2da62055076f186b3d15278ae7e
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/71fc1b81612fa9b5184d5abb93b69d109e9d0e4b
    - Changes: https://github.com/PX4/PX4-ECL/compare/e57af44d71dea2da62055076f186b3d15278ae7e...71fc1b81612fa9b5184d5abb93b69d109e9d0e4b

    71fc1b8 2021-05-20 bresch - airspeed fusion: use yaw from 312 sequence when pitch is close to 90deg
 2021-05-24 18:59:56 -04:00
PX4 BuildBot 142d6f3dbc Update submodule ecl to latest Sat May 22 12:39:15 UTC 2021 
- ecl in PX4/Firmware (2a18b8feeb24dcb07c2dd141e6097e211f83e6bd): https://github.com/PX4/PX4-ECL/commit/85f5a935fe6095f585bfb12b584e0813126cbc2a
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/e57af44d71dea2da62055076f186b3d15278ae7e
    - Changes: https://github.com/PX4/PX4-ECL/compare/85f5a935fe6095f585bfb12b584e0813126cbc2a...e57af44d71dea2da62055076f186b3d15278ae7e

    e57af44 2021-05-18 Bazooka Joe - set parameters that doesn't change with const attribute, for clearification
 2021-05-22 13:34:31 -04:00
PX4 BuildBot 319cab6c2c Update submodule ecl to latest Tue May 18 00:50:43 UTC 2021 
- ecl in PX4/Firmware (4668ea5c32075aca28fd813881a349f765ad8d2a): https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/85f5a935fe6095f585bfb12b584e0813126cbc2a
    - Changes: https://github.com/PX4/PX4-ECL/compare/29243ac5cbb5d27ac71744e88afcd786df6f748d...85f5a935fe6095f585bfb12b584e0813126cbc2a

    85f5a93 2021-05-11 bresch - [AUTO COMMIT] update change indication
f7c687e 2021-05-11 bresch - GNSS yaw unit test: test fallback to non yaw aiding mode
a4fe2b1 2021-05-11 bresch - yaw_align: let the mag control logic do the alignement and resets
2cc0230 2021-05-11 bresch - mag control: select mag mode before doing the reset
fe943cf 2021-05-11 bresch - mag reset: force align in MC custom mode (aka. indoor mode)
cadcc58 2021-05-11 bresch - mag reset: do not stop the fusion from inside the reset function
6248646 2021-05-11 bresch - EV yaw: move EV yaw reset out of resetMagHeading function
48722a2 2021-05-07 bresch - control: inhibit EV yaw from restarting when GPS aid wants to start
a685987 2021-05-07 bresch - GNSS yaw: unset yaw_align if fusion stops before takeoff
7ee6970 2021-05-04 bresch - GNSS yaw: add test case when measurement jumps
7a11871 2021-05-04 bresch - GNSS yaw tests: adjust timing
51197a5 2021-05-03 bresch - GNSS yaw selection logic refactor
 2021-05-17 21:52:00 -04:00
Silvan Fuhrer 2f73115b54 translate ASPD_STALL to FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
PX4 BuildBot e265ebabc5 Update submodule ecl to latest Thu May 6 12:39:12 UTC 2021 
- ecl in PX4/Firmware (a300d32523e24df3f366a0d564b764261e1c1909): https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d
    - Changes: https://github.com/PX4/PX4-ECL/compare/a7b8afe420f438554ad90bcba0f1f4872325e75b...29243ac5cbb5d27ac71744e88afcd786df6f748d

    29243ac 2021-05-05 bresch - yaw_reset: reduce minimum vector length to compute yaw error
aad4840 2021-05-02 Kabir Mohammed - EKF: increase allowed difference between flow and gyro ODRs
 2021-05-06 13:53:40 -04:00
Daniel Agar 3ec40a5956 collision_prevention: fix CP_GO_NO_DATA parameter type 2021-05-04 16:41:32 -04:00
Daniel Agar e78a4287f9 parameters: attempt import multiple times 2021-05-02 13:48:16 -04:00
PX4 BuildBot 32d354e5fe Update submodule ecl to latest Sun May 2 12:39:08 UTC 2021 
- ecl in PX4/Firmware (cb999f37d4891ebfbbc21b4ce9b3851888b39ad4): https://github.com/PX4/PX4-ECL/commit/5d34d7a24ef72b826c320a3259ee0ec68b1936df
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b
    - Changes: https://github.com/PX4/PX4-ECL/compare/5d34d7a24ef72b826c320a3259ee0ec68b1936df...a7b8afe420f438554ad90bcba0f1f4872325e75b

    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
Daniel Agar c266c3e43a parameters: remove unnecessary param_get_system_default_value() locking 2021-04-26 09:49:15 +02:00
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
Beat Küng 1730cd1971 param: avoid warning for 'param show -c' or 'param show -a' 2021-04-23 16:44:55 -04:00
Matthias Grob ff67da1bb4 SlewRate: add getter for current state without update 2021-04-20 18:18:21 +02:00
PX4 BuildBot 96c7fe4978 Update submodule matrix to latest Thu Apr 15 12:39:10 UTC 2021 
- matrix in PX4/Firmware (501b463b36b07481181c15b734861704d9f27020): https://github.com/PX4/PX4-Matrix/commit/1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3
    - matrix current upstream: https://github.com/PX4/PX4-Matrix/commit/b8568a89db8455d0ab2e2e391e2149ba2e5e10dd
    - Changes: https://github.com/PX4/PX4-Matrix/compare/1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3...b8568a89db8455d0ab2e2e391e2149ba2e5e10dd

    b8568a8 2021-04-14 Daniel Agar - Euler: improve quaternion constructor
 2021-04-15 13:27:07 -04:00
Daniel Agar 5c4582ccce rc: dsm allow full range 2021-04-15 18:27:33 +02:00
Beat Küng 2219e096d7 cmake: embed param metadata if not CONSTRAINED_FLASH and not "test" LABEL 2021-04-15 08:16:51 +02:00
PX4 BuildBot 592dc65bae Update submodule matrix to latest Thu Apr 15 00:39:06 UTC 2021 
- matrix in PX4/Firmware (d9ebf2a842f611976d7ba5078d3f31ad8cde55a7): https://github.com/PX4/PX4-Matrix/commit/3679f7fd5160c7d2a8271b1134ca1e601f1a4254
    - matrix current upstream: https://github.com/PX4/PX4-Matrix/commit/1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3
    - Changes: https://github.com/PX4/PX4-Matrix/compare/3679f7fd5160c7d2a8271b1134ca1e601f1a4254...1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3

    1d0e7f1 2021-04-14 Daniel Agar - Matrix: use naive per element copy instead of memcpy call
1344ce0 2021-04-14 Daniel Agar - Euler: simplify DCM constructor
 2021-04-14 23:11:41 -04:00
Jukka Laitinen b99e597a73 flashparams: Fix a null-pointer dereference crash 
Fix a potential crash caused by calling erase_sector with a null
sector_descriptor (current_sector == 0).

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-04-14 07:55:33 -07:00
Daniel Agar 047fb13922 IMU_GYRO_RATEMAX: enforce reasonable constraint and update metadata 2021-04-13 20:26:57 -04:00
Daniel Agar f44f497e3f parameters: better handle export failures and retry 2021-04-12 21:26:50 -04:00
Daniel Agar edc445a1b2 parameters: tinybson fill total document length for bson compatibility 2021-04-12 21:26:50 -04:00
Lorenz Meier 991c07eef9 Global: Allow users to arm with USB 
This change reflects the medium-term experience with users using USB as data link or power source in R&D setups. While we still discourage this for volume products, not allowing it seems like a major hurdle and blocker in R&D setups.
 2021-04-12 19:11:22 -04:00
Hamish Willee 6fbb409e43 Param markdown - fix sensor param table 2021-04-07 08:46:11 +02:00
Daniel Agar 015849b402 mathlib: LowPassFilter2p and NotchFilter add magnitude response getter 2021-04-05 22:47:30 -04:00
Daniel Agar f9460107d0 cleanup PWM param naming inconsistencies 2021-04-05 22:41:06 -04:00
PX4 BuildBot 9a02141d0d Update submodule ecl to latest Fri Apr 2 12:39:10 UTC 2021 
- ecl in PX4/Firmware (744cd1182e183b62a0ab4b2f3e4e3c4aa6f5c15f): https://github.com/PX4/PX4-ECL/commit/6f2dec726adeedcb53aad9a77a8fcdfc8f7b3054
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/5d34d7a24ef72b826c320a3259ee0ec68b1936df
    - Changes: https://github.com/PX4/PX4-ECL/compare/6f2dec726adeedcb53aad9a77a8fcdfc8f7b3054...5d34d7a24ef72b826c320a3259ee0ec68b1936df

    5d34d7a 2021-03-31 Eike - Height source vision: Fallback to rangefinder if available (#994)
da06f25 2021-03-28 PX4BuildBot - [AUTO COMMIT] update change indication
85fcf93 2021-03-28 PX4 BuildBot - Update geo_lookup WMM  to latest Sun Mar 28 11:48:06 UTC 2021
 2021-04-02 11:46:19 -04:00
RomanBapst b66ae5f2d4 tecs: use raw inertial acceleration for true airspeed complementary filter 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-03-31 20:12:40 -04:00
Beat Küng 9dd6bef7f9 autostart scripts: remove SYS_PARAM_VER 
With the airframe defaults there's no use for that anymore
 2021-03-31 20:12:05 -04:00
Matthias Grob 5f4802a239 SlewRate: add back dummy file for mac build 2021-03-31 15:50:16 +02:00
Matthias Grob 34a5948692 Adapt SlewRate includes to convention 2021-03-31 10:03:08 +02:00
Beat Küng 416a663d11 params: add build dependency for *parameters.c 
Makes sure changes to these files trigger metadata rebuild
 2021-03-30 08:18:49 +02:00
Beat Küng 42a865f349 param json: ensure category is set to Standard if not set 
For xml this was previously done on the QGC side.
 2021-03-30 08:18:49 +02:00
Beat Küng 6a7688cbca component_information: rework to reflect mavlink message changes 2021-03-30 08:18:49 +02:00
bresch a124426541 ecl: apply same GNSS speed accuracy for EKF2 and yaw estimator 2021-03-25 12:57:36 -04:00
Beat Küng f528c5d206 github ci: push parameter metadata to s3 2021-03-24 10:08:41 -04:00
Beat Küng c3985709e4 version: add optional oem version tag (ext/oem-<version>) and log it 2021-03-24 10:08:41 -04:00
Beat Küng bac2a02a65 git: ignore git tags starting with 'ext/' when getting the version tag 
Allows for external/extra tags
 2021-03-24 10:08:41 -04:00
PX4 BuildBot 8c173b2e7f Update submodule ecl to latest Wed Mar 24 00:38:46 UTC 2021 
- ecl in PX4/Firmware (a730f0f5ce7a2cc909cb3d0dfab5f0106a9b3aeb): https://github.com/PX4/PX4-ECL/commit/bb950a1550ba55de36ed66877817ec7f2f47b349
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/e3d1ade66092d47478488c89e4a6f6d21f0435a4
    - Changes: https://github.com/PX4/PX4-ECL/compare/bb950a1550ba55de36ed66877817ec7f2f47b349...e3d1ade66092d47478488c89e4a6f6d21f0435a4

    e3d1ade 2021-03-12 Daniel Agar - EKF: use flow for vel test ratio if only active source of horizontal aiding
 2021-03-23 22:17:11 -04:00
Beat Küng 2dace0c9ea param: limit short description lenght to 150 for existing, 70 for yaml 2021-03-23 12:55:11 -04:00
Beat Küng 629f7ba15b params: ensure short description is only a single line 
So a UI can display it properly
 2021-03-23 12:55:11 -04:00
Daniel Agar e57aaaaa5e rotate accel/gyro FIFO before publish and fix angular velocity filter resets 
- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
     - to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
 - fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
      - in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
 2021-03-22 12:01:12 -04:00
PX4 BuildBot e79b3930f3 Update submodule ecl to latest Sun Mar 21 12:39:12 UTC 2021 
- ecl in PX4/Firmware (81e811997b8e611aff08fa25c81322e4b956425f): https://github.com/PX4/PX4-ECL/commit/4df005487379436dcdde10402d3cea7b78d76c19
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/bb950a1550ba55de36ed66877817ec7f2f47b349
    - Changes: https://github.com/PX4/PX4-ECL/compare/4df005487379436dcdde10402d3cea7b78d76c19...bb950a1550ba55de36ed66877817ec7f2f47b349

    bb950a1 2021-03-10 Morten Fyhn Amundsen - Expose terrain vpos reset counter
ab69681 2021-03-10 Morten Fyhn Amundsen - Add parameter for terrain timeout
 2021-03-21 10:42:43 -04:00
Dima Ponomarev e660b50021 uavcan: add IMU sensor support 2021-03-17 18:04:12 -04:00
Daniel Agar e7722b11eb pwm_out multi-instance support 
PX4 uses banks of 8 outputs as a logical structure. Boards that have
more outputs than 8 get multiple instances. This is an arbitrary choice
that helps with overall structure and enables the mixing of different
device classes (like FMU, IO or UAVCAN).
 2021-03-17 22:03:18 +01:00
Daniel Agar 0eac534b80 geo: purge globallocal_converter 2021-03-15 16:16:19 -04:00
Sander Smeets 517a1d0116 battery_status: factor in total current consumption in battery remaining estimation 2021-03-15 12:32:45 -04:00
RomanBapst 82a2126f97 TECS: add feedforward gain for total energy balance rate 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-03-15 11:47:07 -04:00
Daniel Agar 2257c3767e simple gyro auto calibration module 2021-03-15 09:46:47 +01:00
jciberlin 01c9a4f24d ghst: fix warning generated on PR (Clang Tidy) 
Fix warning generated on PR (Clang Tidy).
 2021-03-15 09:42:53 +01:00