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Author SHA1 Message Date
Daniel Agar e348425279 Jenkins: hardware perform board reset immediately after flashing 2021-11-29 21:49:35 -05:00
Daniel Agar bc7001ba49 NuttX apps with [REJECTED] mkfatfs DMA memory change 2021-11-29 21:49:35 -05:00
Daniel Agar 9b7c8c8a8b boards: px4_fmu-v6x_default enable ethernet by default with NuttX optimizations 2021-11-29 09:08:42 -05:00
Daniel Agar b9152dc4d0 boards: px4_fmu-v5x_default increase ETH pktsize to max and enable tcp delayed ack 2021-11-29 09:08:42 -05:00
Daniel Agar bb562a6d10 mavlink: unify find_broadcast_address logic 
- remove NuttX special handling
 2021-11-29 09:08:42 -05:00
Daniel Agar 0459b73520 boards: px4_fmu-v5x enable mavlink ethernet by default 2021-11-29 09:08:42 -05:00
Daniel Agar fc1aaa58b2 sensors/vehicle_angular_velocity: fallback sensor selection improvements 
- avoid unnecessary filter reset on parameter update
 - additional minor optimizations (precomputing dt inverse, etc)
 - moving filter reset check and dynamic notch filter update checks out of the update loops
     - this were necessary previously when the scale factor wasn't applied prior to filtering the otherwise raw data
 2021-11-25 22:44:05 -05:00
Daniel Agar 51da169ccb cmake: nuttx apps build depend .c and .h files 2021-11-25 17:24:23 -05:00
Daniel Agar bf3f7da0a2 Jenkins: hardware restore tests file 2021-11-25 13:11:45 -05:00
Daniel Agar 7d985ec7c5 NuttX with Backports for SD fixes 2021-11-25 13:11:45 -05:00
Daniel Agar c049c26ac5 ROMFS: rcS attempt to format SD if .format file exists 2021-11-25 13:11:45 -05:00
Daniel Agar 585fa12209 Jenkins HIL improve SD testing 2021-11-25 13:11:45 -05:00
Daniel Agar 1b7f4b6003 Jenkins HIL test loading all airframes 2021-11-23 12:38:41 -05:00
Daniel Agar 7ff72304b4 sensors/vehicle_imu: improve disabled sensor handling 
- remove regular callback scheduling when sensor is disabled, register if re-enabled
 2021-11-22 21:10:35 -05:00
Daniel Agar 3140bf167c NuttX submodule update with work_usrthread.c fixes 2021-11-22 17:41:49 -05:00
Daniel Agar 1c6b1f7554 pwm_out: parameter failure error messages 2021-11-22 11:27:45 -05:00
Daniel Agar c95dbfd7ac boards: px4_fmu-v5_debug disable debug fs errors 2021-11-22 11:27:45 -05:00
Daniel Agar c2cbf74351 vscode: cmake variants add px4_fmu-v5_debug for convenient debugging 2021-11-22 11:27:45 -05:00
Daniel Agar 577d926639 commander: improve angular velocity validity and message 2021-11-22 11:27:45 -05:00
Daniel Agar f058cbd0e0 boards: px4_fmu-v5_debug disable CONFIG_DEBUG_I2C 2021-11-22 11:27:45 -05:00
Daniel Agar 25846f48c4 boards: px4_fmu-v2/v3 use SPI bus power off rather than full reset 2021-11-22 11:27:45 -05:00
Daniel Agar c4de9f67a1 Jenkins: HIL add simple reboot script that fails on any ERROR 2021-11-22 11:27:45 -05:00
Daniel Agar 8fc3b05491 mavlink: param_get proper type to silence errors 2021-11-22 09:08:38 -05:00
Daniel Agar cbb743c64d parameters: param type checking use PX4_ERR and enable in PX4_SITL 2021-11-22 09:08:25 -05:00
Daniel Agar 7653bd1757 cmake fix NuttX config import for 0 values 2021-11-21 12:33:29 -05:00
Daniel Agar 505f963dd0 mavlink: receiver fix SENS_FLOW_ROT type 2021-11-19 21:08:04 -05:00
Daniel Agar 24090b724c cmake: px4_add_module improve unity build dependencies to avoid unnecessary work 2021-11-19 09:13:07 -05:00
Daniel Agar bffd88ad81 ekf2: don't inhibit accel bias when not in air 2021-11-18 13:58:53 -05:00
Daniel Agar f3472385da sensors/vehicle_imu: fix accel/gyro learned bias calibration updates 
- fix confusion between estimated bias and calibration offset when
saving after each flight
 - when the stable bias estiamte is retrieved during flight it's
immediately converted to a sensor offset and saved
 - fixes https://github.com/PX4/PX4-Autopilot/issues/18658
 2021-11-18 10:00:26 -05:00
Daniel Agar e062f4fcf0 mavlink: ORBIT_EXECUTION_STATUS stream limit to 2 instances 2021-11-16 17:10:13 -05:00
Daniel Agar 4e8c234a55 ekf2: only save mag declination if changed 2021-11-16 12:33:48 -05:00
Daniel Agar 96bf3aa5d0 matrix: apply PX4 astyle 2021-11-16 12:30:51 -05:00
Daniel Agar ab07f5300b lib/matrix: delete unused and add testing to PX4 2021-11-16 12:27:14 -05:00
Daniel Agar 4a3d64f1d7 consume PX4/Matrix repository and preserve history 2021-11-16 12:24:19 -05:00
Daniel Agar 38516f7e9c delete matrix submodule 2021-11-16 12:20:57 -05:00
Daniel Agar f5d9b01f5c NuttX build in place 
- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
    - slightly faster skipping necessary copying (depending on system)
    - allows debugging in place
    - easier to work directly in NuttX following official documentation
    - simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
 - the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
 - also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
 2021-11-15 18:47:38 -05:00
Daniel Agar 7b7b7acd36 i2c_spi_buses: respect CONFIG_I2C and CONFIG_SPI 
- bmp280, dps310, and ms5611 barometers support boards without I2C
 2021-11-15 15:57:33 -05:00
Daniel Agar eade2915c1 cleanup old parameter translation 2021-11-15 10:01:22 -05:00
Daniel Agar 177fe4bade logger: log write file allow single retry on write failure 2021-11-13 20:32:29 +01:00
Daniel Agar 3cb286abc8 gyro_calibration: reset on any sensor timeout 2021-11-13 10:15:25 -05:00
Daniel Agar 29b9e46664 mavlink_tests: add correct mavlink_c_generate dependency 2021-11-12 13:43:32 -05:00
Daniel Agar 6a60fba96d boards: holybro_kakutef7_default remove systemcmds/ver to save flash 2021-11-11 11:17:15 -05:00
Daniel Agar 0ec3f0d2cb mathlib: LowPassFilter2p update cutoff freq min to match NotchFilter 
- numerically the cutoff frequency not being smaller than 1% of the
sample frequency is probably a better choice, but we're mostly filtering
16 bit data now stored in 32 bit float
 2021-11-11 11:17:15 -05:00
Daniel Agar 0d171384b3 update IMU_GYRO_DNF_BW default 8->15 Hz 
- dshot telemetry feedback can be quite slow (~2 Hz), so I think a
larger default value here makes sense
 2021-11-11 11:17:15 -05:00
Daniel Agar 452f15e985 IMU_GYRO_DNF_EN remove from developer category 2021-11-11 11:17:15 -05:00
Daniel Agar 0e2ecdc59a sensors/vehicle_angular_velocity: perf counter naming consistentcy 2021-11-11 11:17:15 -05:00
Daniel Agar c60a9e2981 sensors/vehicle_angular_velocity: avoid unnecessary ESC notch filter resets 2021-11-11 11:17:15 -05:00
Daniel Agar 78436e706c mathlib: NotchFilter add optimized parameter update if only notch frequency changes 2021-11-11 11:17:15 -05:00
Daniel Agar edce30c6de sensors/vehicle_angular_velocity: fix ESC RPM notch filter update 2021-11-11 11:17:15 -05:00
Daniel Agar 376b72fb2f sensors/vehicle_angular_velocity: add new parameter for ESC RPM notch filter BW 2021-11-11 11:17:15 -05:00
Daniel Agar 374d44f38f mavlink: tests add git_mavlink_v2 dependency to avoid build race 2021-11-10 14:06:40 -05:00
Daniel Agar 5e3701a365 Tools/check_submodules.sh: perform submodule sync again after first update to reach nested submodules 2021-11-10 13:52:51 -05:00
Daniel Agar 2d816e0b3e [WIP] manual_control selector hacks 2021-11-09 16:05:25 +01:00
Daniel Agar e18cf3da3e sensors/vehicle_imu: use WelfordMean for online mean and variance 2021-11-09 15:19:35 +01:00
Daniel Agar a8c3bcca32 boards: disable CONFIG_STM32H7_SPI_DMATHRESHOLD 2021-11-08 19:20:47 -05:00
Daniel Agar cb34ff1292 posix-configs/SITL/init/test/test_imu_filtering enable gyro dynamic notch filtering by default 2021-11-08 19:14:32 -05:00
Daniel Agar e0d9ccdc18 sensors/vehicle_angular_velocity: small FFT notch update simplification 2021-11-08 19:14:32 -05:00
Daniel Agar 47afab62e7 gyro_fft: limit noise floor to configured range (IMU_GYRO_FFT_MIN/MAX) 2021-11-08 19:14:32 -05:00
Daniel Agar dd3e0b723a gyro_fft: add IMU_GYRO_FFT_SNR parameter 2021-11-08 19:14:32 -05:00
Daniel Agar 66ab7e50df github actions increase NuttX compile ccache limit slightly 2021-11-07 20:37:58 -05:00
Daniel Agar 3b68f8e510 Tools/check_submodules.sh revert attempted submodule improvements 
- this wasn't helping break out of submodule issues
 2021-11-07 20:36:47 -05:00
Daniel Agar 4627f5514e boards: holybro_kakutef7_default disable load_mon to save flash 2021-11-07 20:36:47 -05:00
Daniel Agar f43adaeeb5 Tools/check_submodules.sh disable parallel jobs 
- this is already run separately for each submodule (potentially in parallel)
 2021-11-07 18:12:30 -05:00
Daniel Agar 2f8cb5a1c2 mavlink: initial support for MAG_CAL_REPORT stream 2021-11-07 16:03:34 -05:00
Daniel Agar 24b00317b5 Tools/check_submodules.sh attempt update before sync to handle changes 2021-11-07 16:00:13 -05:00
Daniel AgarandPaul Riseborough 68026eadeb save significant IMU bias changes learned by the EKF 
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-11-07 15:34:27 -05:00
Daniel Agar 9c15be22d6 mc_autotune_attitude_control: add new MC_AT_EN parameter to enable 
- only enabled by default on boards that aren't memory constrained
 2021-11-05 09:52:07 -04:00
Daniel Agar c73a1b4c68 update UAVCAN-v0 dsdl to DroneCAN 2021-11-04 21:36:13 -04:00
Daniel Agar 67437396f1 mpu6000: add USER_CTRL I2C_MST_EN bit to checked registers 2021-11-04 21:22:14 -04:00
Daniel Agar 8fbb241c2e mpu6000: add gyro/accel self test bits to checked registers 2021-11-04 21:22:14 -04:00
Daniel Agar bffcdd6fad boards: modalai_fc-v2 fix bootloader board type 2021-11-04 15:43:29 -04:00
Daniel Agar 8f6fd5f37b sensors/vehicle_angular_velocity: gyro RPM dynamic notch filter handle negative RPM 
- some UAVCAN ESCs report negative RPM for reverse rotation
 - lower hard coded safety limit RPM limit to 10 Hz (600 RPM)
 - avoid disabling notch filters that weren't configured
 2021-11-02 09:36:02 -04:00
Daniel Agar fec0d6c5ed ekf2: change indication further reduce data precision 2021-11-02 10:21:54 +01:00
Daniel Agar 1461eb0e32 logger: increase optimization to ${MAX_CUSTOM_OPT_LEVEL} 
- ${MAX_CUSTOM_OPT_LEVEL} is -O2 on boards that aren't flash constrained
 2021-11-01 09:13:12 +01:00
Daniel Agar be5c5856e7 cmake: px4_add_module always add module to PX4_MODULE_PATHS so that parameters aren't pruned 2021-10-27 23:00:40 -04:00
Daniel Agar 6d0c6bb6ce lib/world_magnetic_model: cmake remove helper target BYPRODUCTS 
- otherwise ninja will try to rebuild these
 2021-10-26 18:52:12 -04:00
Daniel Agar 88a979cf1d lib/world_magnetic_model: add cmake helpers for updating tables 
- `world_magnetic_model_update` to fetch latest geo_magnetic_tables.hpp
 - `world_magnetic_model_tests_update` to fetch latest test_geo_lookup.cpp
 2021-10-26 14:39:58 -04:00
Daniel Agar a548c94230 boards: holybro_durandal-v1_default disable modules to save flash 2021-10-25 13:41:31 +02:00
Daniel Agar 93eb0162e5 drivers/uavcan_v1: fix Kconfig trailing whitespace 2021-10-25 08:15:46 +02:00
Daniel Agar 19952768fb boards: try to keep test boards in sync 2021-10-21 15:59:15 -04:00
Daniel Agar 6fb1c79ef0 mixer_module: reject mixer load and reset when dynamic mixing is enabled 2021-10-21 11:27:33 -07:00
Daniel Agar f1016dc32c boards: add systemcmds/topic_listener to CAN nodes 2021-10-21 14:06:11 -04:00
Daniel Agar 17328bef69 Jenkins attach GDB and print back trace on failure 2021-10-21 14:04:33 -04:00
Daniel Agar ea9c64dcd9 drivers/uavcan: add new UAVCAN_SUB_* parameters to enable subscriptions 
- only GPS and mag are enabled by default
 2021-10-21 09:55:04 -04:00
Daniel Agar 4247e1320b px4io: allow switching to rate ctrl wq 2021-10-20 09:56:42 -04:00
Daniel Agar 757424c2c0 clang-tidy ignore modernize-raw-string-literal for now 2021-10-20 08:10:05 +02:00
Daniel Agar 4cf8eb8226 ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics 2021-10-18 21:39:40 -04:00
Daniel Agar 33954a904f lib/tunes: never play tunes if circuit breaker is set 2021-10-18 21:37:09 -04:00
Daniel Agar b08f20806b ROMFS: rcS don't play startup tune until after UAVCAN and px4io 
- fixes potential duplicate startup tune
 2021-10-18 21:37:09 -04:00
Daniel Agar 9d7c4596f7 navigator: increase stack 1800 -> 1864 bytes 2021-10-18 20:31:35 -04:00
Daniel Agar b20d8207a7 Jenkins: compile delete obsolete px4_fmu-v5_ctrlalloc 2021-10-18 20:11:58 -04:00
Daniel Agar 2ed623c8ae boards: px4_fmu-v6x_default disable modules to save flash 2021-10-18 18:45:19 -04:00
Daniel Agar be868aae92 boards: px4_fmu-v5_uavcanv0periph disable modules to save flash 2021-10-18 18:45:19 -04:00
Daniel Agar a7a2aa3b74 boards: px4_fmu-v3_test disable modules to save flash 2021-10-18 18:45:19 -04:00
Daniel Agar 435e5515df github actions: increase nuttx and linux ccache max size to 100M 2021-10-14 19:45:29 -04:00
Daniel Agar 7e71b7eafc github actions: compile nuttx archive bin files and remove duplicate nuttx cannode builds 2021-10-14 19:45:29 -04:00
Daniel Agar 12c7056ae5 drivers/imu: icm20602/icm20649/icm20948 remove timestamp_sample adjustments 2021-10-14 16:37:11 -04:00
Daniel Agar 56823b5ac9 ekf2: EKF control don't allow invalid flow gyro to propagate 2021-10-14 16:31:22 -04:00
Daniel Agar e8a064af02 github actions: try increasing nuttx ccache limit 2021-10-14 11:54:19 -04:00
Daniel Agar b88c8eb245 Jenkins: hardware stop commander before sensors module to avoid errors 
- this is only done to silence timeouts during small benchmarks
 2021-10-14 09:17:50 -04:00