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23175 Commits

Author SHA1 Message Date
Beat Küng 61e3ec53b0 mixer_module: check for motor test after topic update 
Otherwise if a module restricts the update rate via setMaxTopicUpdateRate()
and then motor_test is used, the module might run faster than expected.
 2021-08-11 12:06:32 -04:00
Claudio Micheli a6d88cad18 mavlink_main: add ESC_INFO & ESC_STATUS to onboard_lowbandwith configuration 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-08-11 17:20:08 +02:00
Oleg Evseev a93f8dade4 mavlink: receiver fix geo include 2021-08-10 08:18:28 -04:00
PX4 BuildBot e9a21ee911 Update submodule devices to latest Mon Aug 9 00:39:11 UTC 2021 
- devices in PX4/Firmware (48b31124a4cdab9f7f91dba14649206f41c30c97): https://github.com/PX4/PX4-GPSDrivers/commit/f51267815db3331723b880ab20afc5a67a87c22b
    - devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/6815e1d3b294cd6ea583294ebadf191321e4beba
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/f51267815db3331723b880ab20afc5a67a87c22b...6815e1d3b294cd6ea583294ebadf191321e4beba

    6815e1d 2021-08-04 zhangft - femtomes: add UAVSTATUS and fall back to 10Hz rate if 20Hz not supported
 2021-08-08 22:31:14 -04:00
alexklimaj a904bb506f Fix afbrs50 high cpu load from switching 2021-08-08 11:42:30 -04:00
bresch 741f9c6d1a Commander: change attitude quaternion check to avoid numerical issues 2021-08-08 11:41:23 -04:00
Daniel Agar fb4ac0f08c ekf2: remove redundant IMU vibration metrics 
- consume IMU vibration metrics from vehicle_imu_status
 2021-08-08 06:26:03 -07:00
Daniel Agar a397004bf8 adis16448: add additional delay after transfer in case of back to back transcations 
- add verified register read method
 2021-08-08 06:25:16 -07:00
Julian Oes 0033c0fc51 navigator: fix param description 2021-08-05 15:18:55 +02:00
bresch 01d0b8800e commander: report GNSS yaw fault to user 2021-08-05 11:10:02 +02:00
bresch 44219e9f45 EKF: add GNSS yaw to emergency yaw fallback test 2021-08-05 11:10:02 +02:00
bresch 11cd51c132 EKF: allow emergency reset in GNSS yaw and EV yaw aiding modes 2021-08-05 11:10:02 +02:00
bresch 4ebfbc6eab GNSS yaw: use NIS sequence to detect bias in state 
A constant large value in the (signed) normalized innovation test ratio is a sign
of bias in the state estimate. This metric can be used to trigger a
covariance boost or reset
 2021-08-05 11:10:02 +02:00
bresch 3fe04a91f6 GNSS yaw: add observation jump on ground 
Some receivers are initializing to some heading and then resetting to
the correct one after a couple of seconds. EKF2 should detect that and
reset to the new value
 2021-08-05 11:10:02 +02:00
bresch 30c7a596af GNSS yaw: allow unlimited resets on ground 2021-08-05 11:10:02 +02:00
bresch e90e1c7e2a GNSS yaw: use dedicated observation noise 2021-08-05 11:10:02 +02:00
romain-chiap 718e5b5b5d sih: add fixed-wing support 2021-08-05 09:16:14 +02:00
PX4 BuildBot 6060ec8c9a Update submodule matrix to latest Thu Aug 5 00:39:10 UTC 2021 
- matrix in PX4/Firmware (6be58a88905d2ef63bc3aaa1a01c82346c181742): https://github.com/PX4/PX4-Matrix/commit/b8568a89db8455d0ab2e2e391e2149ba2e5e10dd
    - matrix current upstream: https://github.com/PX4/PX4-Matrix/commit/3d1c9b988dff1d95f36cdd1df3e84d7a2365501c
    - Changes: https://github.com/PX4/PX4-Matrix/compare/b8568a89db8455d0ab2e2e391e2149ba2e5e10dd...3d1c9b988dff1d95f36cdd1df3e84d7a2365501c

    3d1c9b9 2021-08-05 romain-chiap - quaternion exponential (#164)
 2021-08-04 21:59:01 -04:00
Daniel Agar be2f65be35 drives/tap_esc: refactor to use OutputModuleInterface 2021-08-04 17:15:24 -04:00
Daniel Agar 2e02ad7c4e atl_mantis-edu front and rear status LEDS 2021-08-04 17:15:24 -04:00
Daniel Agar fb3b7a4649 mavlink: receiver handle RC_CHANNELS if from MAV_COMP_ID_SYSTEM_CONTROL 2021-08-04 17:15:24 -04:00
Daniel Agar 5d06ef8256 drivers/barometer/mpc2520: MaierTek MPC2520 barometer support 
- used in the Advanced Technolgy Labs (ATL) Mantis EDU
 2021-08-04 17:15:24 -04:00
Daniel Agar 6ab8153f32 drivers/tap_esc: Advanced Technology Labs (ATL) Mantis EDU ESC support 
Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-08-04 17:15:24 -04:00
Daniel Agar e900f2ea54 boards: Advanced Technology Labs (ATL) Mantis EDU support and airfarme (SYS_AUTOSTART 4061) 
Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-08-04 17:15:24 -04:00
David Sidrane 8f64f7ce90 uavcan_1:Fixed hardfault on stop 2021-08-04 10:40:34 -04:00
Hamish Willee 6aa4e12b5f Typo in LTEST_MEAS_UNC docs 2021-08-04 08:01:39 +02:00
Hamish Willee f5dd0edc9f LTEST_VEL_UNC_IN typo in docs 2021-08-04 08:01:39 +02:00
Hamish Willee b157bc407e Typo in docs for LPE_VIS_DELAY 2021-08-04 08:01:39 +02:00
Hamish Willee b82464f0ef Parameter typo PLD_MAX_SRCH 2021-08-04 08:01:39 +02:00
Beat Küng ca454c93d1 component_information: add debug instrumentation for FileNotFoundError exception 
The following exception occurs in some rare cases (but only with make build: NO_NINJA_BUILD=1 px4_sitl_default):
Traceback (most recent call last):
  File "/__w/PX4-Autopilot/PX4-Autopilot/src/lib/component_information/generate_component_general.py", line 79, in <module>
    save_compressed(filename)
  File "/__w/PX4-Autopilot/PX4-Autopilot/src/lib/component_information/generate_component_general.py", line 33, in save_compressed
    with open(filename, 'r') as content_file:
FileNotFoundError: [Errno 2] No such file or directory: '/__w/PX4-Autopilot/PX4-Autopilot/build/px4_sitl_default/component_general.json'
make[3]: *** [src/lib/component_information/CMakeFiles/component_information_header.dir/build.make:68: component_general.json] Error 1
 2021-08-03 10:36:25 +02:00
InspiredBrandon b2def13d6f NCP5623c RGB LED driver I2C address auto detect 
* Enables the LED on mRobotics GPS receivers
 * Probes I2C addresses and sets colors accordingly
 2021-08-02 20:36:09 -04:00
Daniel Agar 93aa6e3f78 ekf2: baro bias publish minor cleanup 
- naming consistency (estimator prefix as "namespace")
 - only publish if baro is available and bias is changing as a small logging optimization
 - avoid unnecessary copying (get const reference to status directly)
 - trivial code style fixes
 2021-08-02 13:59:38 -04:00
Daniel Agar d997a8d308 mavlink: receiver fix HIL_STATE_QUATERNION map projection init 
- fixes https://github.com/PX4/PX4-Autopilot/issues/17977
 2021-08-02 09:59:09 -04:00
David Jablonski 9c36236565 ekf2: increase stack size to 3600 2021-08-02 09:47:38 -04:00
murata e33d2141ec px4io: Changing the timeout time description (NFC) 2021-08-01 20:27:25 -04:00
Daniel Agar 54918f650b Update world_magnetic_model to latest Sun Aug 1 16:57:37 UTC 2021 2021-08-01 13:53:53 -04:00
Igor Mišić af2247bd94 mavlink: use dynamic camera comp id instead of hardcoded value 2021-07-31 12:41:49 -04:00
Dima Ponomarev d08d0443bc Add internal combustion engine status uavcan bridge and mavlink EFI_STATUS stream 2021-07-30 22:31:43 -04:00
Sam Chamberlin 7764183f89 Broadcom AFBR-S50LV85D Distance Sensor Driver: Automatic Range Mode Switching 2021-07-30 22:27:27 -04:00
bresch 1016600ded Revert "mc_pos_control: omit initial warning" 
This reverts commit 446598d003.

The first warning was due to a race condition that is fixed by the previous commit;
don't omit the first warning anymore
 2021-07-30 21:39:18 -04:00
bresch e7a2c1d88e MCPosControl: fix invalid setpoint race condition 
Only modify the _setpoint for takeoff when there is a new uORB message
to avoid a race condition where both vel_sp(2) and accel_sp(2) can be
NAN at the same time.
 2021-07-30 21:39:18 -04:00
Daniel Agar 713a1d08a3 sensors: add accel/gyro current priority to sensors_status_imu 
- later the sensor priorities (user configurable) can be factored into the estimator selection criteria
 2021-07-30 21:20:01 -04:00
leonardosimovic e6166dfc76 AirspeedSelector: Improve wording of sensor failure message 2021-07-28 07:37:38 +02:00
bresch 521b9f5dcc control: do not constantly ask for mag reset if yaw not aligned 
This also prevents triggering the `_mag_yaw_reset_req` flag in magless
mode; preventing the GNSS fustion from starting.
 2021-07-27 13:34:53 +02:00
bresch 639e0a39cf EKF2: add yaw estimator alignment test 2021-07-27 13:34:53 +02:00
Mathieu Bresciani 17ebcd2456 mag_control: fuse fake heading during leveling fine alignment (#17964) 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-07-27 11:50:50 +02:00
Daniel Agar f2ae8ae814 sensors/vehicle_imu: vibration metrics use acceleration and angular velocity 
- this avoids any jitter in the integration timespan from impacting the vibration metrics
 - vehicle_imu_status vibration metrics are not consumed by anything
(yet), so changing the scaling of the metric shouldn't matter
 2021-07-26 13:55:47 -04:00
Daniel Agar e01b631465 ekf2: change indication test limit float precision to minimize false positives 2021-07-26 13:54:36 -04:00
Daniel Agar e9f84ba708 keep minimal legacy battery parameters for older QGC usability 
- BAT_V_EMPTY, BAT_V_CHARGED, BAT_V_LOAD_DROP, BAT_N_CELLS
 2021-07-23 15:07:53 -04:00
Daniel Agar fe1eb8cd62 cmake cleanup jlink flashing helpers 2021-07-23 15:07:25 -04:00