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13282 Commits

Author SHA1 Message Date
Daniel Agar
3f9f2c6fdf ekf2: multi ekf supports up to 4 IMUs 2020-10-28 20:50:58 -04:00
Daniel Agar
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
Thies Lennart Alff
82988b1912
airframes: added BlueROV2 (heavy configuration) airframe (#16004) 2020-10-28 11:07:31 +01:00
Daniel Agar
69986affbf commander: calibration restore sleep after CAL_QGC_DONE_MSG/CAL_QGC_FAILED_MSG 2020-10-27 18:54:16 -04:00
Nicolas Martin
171bd6d784 positionControl: add check on sign before sqrtf 2020-10-27 18:52:23 -04:00
SalimTerryLi
05f1efd1a4
load_mon: get mem_usage by reading /proc/meminfo on Linux 2020-10-27 18:49:25 -04:00
Daniel Agar
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
Daniel Agar
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
Mathieu Bresciani
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
Daniel Agar
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
Daniel Agar
d5245a22d3 logger: limit default estimator_optical_flow_vel logging 2020-10-26 14:10:25 -04:00
bresch
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
bresch
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
FengShun
eac9a6b68b Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH 2020-10-26 13:01:13 +01:00
FengShun
90c366f369 uORB::Publication*: template parameter automatically obtains the queue size according to the type 2020-10-26 13:01:13 +01:00
Nicolas Martin
948bed6b5c fix ekf2 saved mag bias comments (mGauss -> Gauss) 2020-10-26 00:43:20 -04:00
Daniel Agar
8435742dd5 logger: double actuator_controls_0 and vehicle_attitude_setpoint default log rate 2020-10-26 00:36:02 -04:00
Daniel Agar
6d2f592c16 logger: add vehicle_constraints to default set 2020-10-26 00:36:02 -04:00
Daniel Agar
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
Daniel Agar
6285e06fe2 mc_pos_control: split out header and name consistently 2020-10-23 15:06:04 -04:00
Daniel Agar
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
JaeyoungLim
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
Daniel Agar
2201424dfd micrortps_bridge: don't reuse msg_files variable (now global) 2020-10-20 11:05:47 -04:00
Daniel Agar
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
Julian Kent
d9b3db1082
Check that home position is valid in RTL (#15964) 2020-10-20 10:31:44 +02:00
Beat Küng
6ae17eb13c fix EscBattery: remove _battery.publish(); 
updateBatteryStatus() already publishes
 2020-10-20 09:18:47 +02:00
Daniel Agar
be0f884dde
commander: preflight check don't read mag device_id 2020-10-19 23:01:02 -04:00
Daniel Agar
b08b83ba48 logger: logged topics support up to 4 accels/baros/gyros 2020-10-19 18:30:22 -04:00
Oleg Kalachev
c302514a08 mavlink: expose kill switch status 2020-10-19 10:49:52 -04:00
FengShun
d19b54481a fix: uORB topics lost messages when publications overflow 2020-10-19 08:52:55 +02:00
Daniel Agar
d985887468 ekf2: use new Param<> reset method 2020-10-15 08:32:05 +02:00
mcsauder
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
Daniel Agar
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
Daniel Agar
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
Daniel Agar
34ad85557e Revert "mavlink: increase stack 2650 -> 2848 bytes (#15821)" 
This reverts commit e792c46f20bb6709afc4a1151df29546b165d1d1.
 2020-10-12 20:58:35 -04:00
Daniel Agar
5c2cc53134 Revert "logger: log_writer_file increase stack 1170 -> 1472 bytes (#15765)" 
This reverts commit d676e65294b27b592e06381a12b0f3b40b6139f0.
 2020-10-12 20:58:35 -04:00
Daniel Agar
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
Beat Küng
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
Daniel Agar
0a985638e3 simulator: add inject failure messages for logging 2020-10-10 20:03:50 -04:00
Daniel Agar
5fa1e8e8ba mavlink: stream rename GROUND_TRUTH -> HIL_STATE_QUATERNION 2020-10-10 19:49:41 -04:00
Daniel Agar
cb4d974977 mavlink: move GROUND_TRUTH stream to separate file 2020-10-10 19:49:41 -04:00
Daniel Agar
283264603a mavlink: move PING stream to separate file 2020-10-10 19:49:41 -04:00
Daniel Agar
97dc988f86 mavlink: move ORBIT_EXECUTION_STATUS stream to separate file 2020-10-10 19:49:41 -04:00
Daniel Agar
826dfa1941 mavlink: move OBSTACLE_DISTANCE stream to separate file 2020-10-10 19:49:41 -04:00
Daniel Agar
dfbaf6607a
sensors/vehicle_imu: continue integrating queued raw data if falling behind 2020-10-10 12:30:26 -04:00
Daniel Agar
f26d4f2b6b mavlink: stop unnecessarily passing around time 2020-10-09 10:30:30 -04:00
Daniel Agar
97cf714c7a mavlink: move HIGH_LATENCY2 stream to streams folder in a single header 2020-10-09 10:30:30 -04:00
Daniel Agar
94146a7b16 mavlink: move RAW_RPM stream to separate file 2020-10-09 10:30:30 -04:00
Daniel Agar
9c4abf334b mavlink: move ESC_INFO stream to separate file 2020-10-09 10:30:30 -04:00
Daniel Agar
1ddfd61d34 mavlink: move ESC_STATUS stream to separate file 2020-10-09 10:30:30 -04:00