3f9f2c6fdf
ekf2: multi ekf supports up to 4 IMUs
2020-10-28 20:50:58 -04:00
2c874f1cd9
ekf2 selector fix SITL lockstep
...
- ekf2 selector don't register lockstep until first attitude publication
- sensors module register lockstep component
- enable multi-EKF2 in SITL
2020-10-28 09:42:41 -04:00
82988b1912
airframes: added BlueROV2 (heavy configuration) airframe ( #16004 )
2020-10-28 11:07:31 +01:00
69986affbf
commander: calibration restore sleep after CAL_QGC_DONE_MSG/CAL_QGC_FAILED_MSG
2020-10-27 18:54:16 -04:00
171bd6d784
positionControl: add check on sign before sqrtf
2020-10-27 18:52:23 -04:00
05f1efd1a4
load_mon: get mem_usage by reading /proc/meminfo on Linux
2020-10-27 18:49:25 -04:00
91da194bd7
sensors/vehicle_gps_position: only register callbacks once topic published
...
- this avoids creating unnecessary uORB device nodes for GPS instances that might never exist
2020-10-27 18:40:57 -04:00
df2f26ebdf
rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned
...
- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
- helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
2020-10-27 12:33:39 -04:00
050c9dcd3d
HTE: fix variance prediction ( #16016 )
...
In the predition step, the process variance was erroneously
multiplied by dt instead of dt^2. The default values are adjusted
accordingly to keep the same tuning for the default loop rate of 50Hz
2020-10-27 16:56:32 +01:00
0f411d6820
Multi-EKF support (ekf2)
...
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com >
2020-10-27 10:56:11 -04:00
d5245a22d3
logger: limit default estimator_optical_flow_vel logging
2020-10-26 14:10:25 -04:00
109ed18a3a
Flow: adjust default optical flow delay based on pmw3901
...
This is the correct value for the most common optical flow sensor
2020-10-26 14:10:25 -04:00
09cc3120e2
OpticalFlow: add optical flow velocity logging
...
This is important to align the flow with the IMU data and verify that
the compensation is properly done
2020-10-26 14:10:25 -04:00
eac9a6b68b
Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH
2020-10-26 13:01:13 +01:00
90c366f369
uORB::Publication*: template parameter automatically obtains the queue size according to the type
2020-10-26 13:01:13 +01:00
948bed6b5c
fix ekf2 saved mag bias comments (mGauss -> Gauss)
2020-10-26 00:43:20 -04:00
8435742dd5
logger: double actuator_controls_0 and vehicle_attitude_setpoint default log rate
2020-10-26 00:36:02 -04:00
6d2f592c16
logger: add vehicle_constraints to default set
2020-10-26 00:36:02 -04:00
945c17bc3f
move subsystem_info entirely into commander and remove from uORB
...
* HealthFlags: define bitfield using 1<<X
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2020-10-25 10:08:15 -04:00
6285e06fe2
mc_pos_control: split out header and name consistently
2020-10-23 15:06:04 -04:00
81765bc06a
commander: PreFlightCheck remove HIL special cases
...
- skipping these sensor checks in HIL no longer makes sense as each
sensor has a normal publication (sensor_accel/gyro/etc) regardless of
simulation
2020-10-23 11:25:50 -04:00
46d79d3050
Remove exception of actuator scaling for airships ( #16011 )
...
This removes the exception handling of airship type vehicles when scaling actuators for the simulator
2020-10-22 10:37:03 +02:00
2201424dfd
micrortps_bridge: don't reuse msg_files variable (now global)
2020-10-20 11:05:47 -04:00
16119f0e8c
mavlink debug messages disable on CONSTRAINED_FLASH boards
...
- mavlink messages DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT move to separate stream headers and don't include if CONSTRAINED_FLASH
- mavlink receiver DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT handling excluded if CONSTRAINED_FLASH
- msg: skip debug_array.msg, debug_key_value.msg, debug_value.msg, debug_vect.msg if CONSTRAINED_FLASH
2020-10-20 11:05:47 -04:00
d9b3db1082
Check that home position is valid in RTL ( #15964 )
2020-10-20 10:31:44 +02:00
6ae17eb13c
fix EscBattery: remove _battery.publish();
...
updateBatteryStatus() already publishes
2020-10-20 09:18:47 +02:00
be0f884dde
commander: preflight check don't read mag device_id
2020-10-19 23:01:02 -04:00
b08b83ba48
logger: logged topics support up to 4 accels/baros/gyros
2020-10-19 18:30:22 -04:00
c302514a08
mavlink: expose kill switch status
2020-10-19 10:49:52 -04:00
d19b54481a
fix: uORB topics lost messages when publications overflow
2020-10-19 08:52:55 +02:00
d985887468
ekf2: use new Param<> reset method
2020-10-15 08:32:05 +02:00
047531b924
Add MavlinkStreamGPSStatus status class stream via GPS_STATUS.hpp and add PRN code to satellite_info.msg.
2020-10-14 08:26:42 +02:00
8d1b99be31
mavlink: telemetry status only log simple HEARTBEAT validity
...
* delete telemetry_heartbeat msg
* delete unused _telemetry_status_mutex
2020-10-13 13:37:10 -04:00
d71ca37087
navigator: publish navigator mission item changes for logging
...
- new msg navigator_mission_item for inspecting navigator mission item processing
2020-10-13 12:12:03 -04:00
34ad85557e
Revert "mavlink: increase stack 2650 -> 2848 bytes ( #15821 )"
...
This reverts commit e792c46f20
2020-10-12 20:58:35 -04:00
5c2cc53134
Revert "logger: log_writer_file increase stack 1170 -> 1472 bytes ( #15765 )"
...
This reverts commit d676e65294
2020-10-12 20:58:35 -04:00
f557fa46e8
gyro_fft improve peak finding, parameterize min/max frequencies, remove debug logging
...
- add min/max frequency parameters for peak detection (IMU_GYRO_FFT_MIN, IMU_GYRO_FFT_MAX)
- remove full FFT debug logging
- fix Quinn's second estimator
- log sensor_gyro_fft
- fake_gyro use PX4Gyroscope
2020-10-12 15:19:39 -04:00
ff3008c051
calibration: add SYS_FAC_CAL_MODE parameter
...
If set, stores calibration parameters in separate storage /fs/mtd_caldata.
2020-10-12 15:22:26 +02:00
0a985638e3
simulator: add inject failure messages for logging
2020-10-10 20:03:50 -04:00
5fa1e8e8ba
mavlink: stream rename GROUND_TRUTH -> HIL_STATE_QUATERNION
2020-10-10 19:49:41 -04:00
cb4d974977
mavlink: move GROUND_TRUTH stream to separate file
2020-10-10 19:49:41 -04:00
283264603a
mavlink: move PING stream to separate file
2020-10-10 19:49:41 -04:00
97dc988f86
mavlink: move ORBIT_EXECUTION_STATUS stream to separate file
2020-10-10 19:49:41 -04:00
826dfa1941
mavlink: move OBSTACLE_DISTANCE stream to separate file
2020-10-10 19:49:41 -04:00
dfbaf6607a
sensors/vehicle_imu: continue integrating queued raw data if falling behind
2020-10-10 12:30:26 -04:00
f26d4f2b6b
mavlink: stop unnecessarily passing around time
2020-10-09 10:30:30 -04:00
97cf714c7a
mavlink: move HIGH_LATENCY2 stream to streams folder in a single header
2020-10-09 10:30:30 -04:00
94146a7b16
mavlink: move RAW_RPM stream to separate file
2020-10-09 10:30:30 -04:00
9c4abf334b
mavlink: move ESC_INFO stream to separate file
2020-10-09 10:30:30 -04:00
1ddfd61d34
mavlink: move ESC_STATUS stream to separate file
2020-10-09 10:30:30 -04:00
Daniel Agar