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Author SHA1 Message Date
Silvan Fuhrer 4e3f65e376 disable spinup tilt sequence if spinup tilt parameter is set to 0 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-04-08 21:12:53 -04:00
Silvan 7e4a53f292 VTOL tiltrotor: introduce spin up time with spin up tilt angle 
As some tiltrotor systems need a certain tilt angle of their motors in oder to spin up freely,
this commit introduces an additional parameter VT_TILT_SPINUP and sets the motor tilt to
this value if disarmed or within 1s since arming.

The spinup consists of 2 phases:
    1st phase fixed tilt (duration hardcoded to 1s)
    2nd phase transition from spinup tilt to multicopter tilt (hardcoded to 0.5s)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-04-08 21:12:53 -04:00
Daniel Agar 746b3124ab Update submodule matrix to latest Wed Apr 8 12:39:43 UTC 2020 
- matrix in PX4/Firmware (222e0636c4b53ea18013f2bf0d35a798fab6ae76): https://github.com/PX4/Matrix/commit/a32892926c69ea0bad031fd9d7bfc915cc5e9b68
    - matrix current upstream: https://github.com/PX4/Matrix/commit/d613055462bcbeacfd188cbd53de56c1dbc7b94d
    - Changes: https://github.com/PX4/Matrix/compare/a32892926c69ea0bad031fd9d7bfc915cc5e9b68...d613055462bcbeacfd188cbd53de56c1dbc7b94d

d613055 2020-04-06 kamilritz - Add more assignment operators for slices
976ada4 2020-03-21 Matthias Grob - Matrix: min max comments and test style
fa7153e 2020-03-21 Matthias Grob - Matrix: omit min max nan case with same result
v1.11.0-beta1 		2020-04-08 16:25:00 -04:00
Beat Küng c713ce721e KakuteF7: enable SPI DMA for SPI 4 
DMA for SPI 1 left disabled because the SD card does not work when enabling
it.
 2020-04-08 15:31:51 -04:00
Lorenz Meier 18e78261ab Commander: Add more documentation around USB reboots 
If the user disconnects USB we reboot the system to bring it back into a nominal condition before arming. Otherwise we would either have the USB stack running without a cable connected (code running for no reason, which is violating the principle of not running unnecessary code in aviation). Or we would not allow to arm at all if USB was ever connected, which can be confusing if the system is powered off a battery.
 2020-04-08 14:11:09 -04:00
Daniel Agar a89bba470a boards: STM32F76xxx/STM32F77xxx linker add ITCM RAM and .ramfuncs handling 
- this doesn't currently change anything, but gets us ready to start
experimenting with using the small amount of instruction tightly memory
on STM32F7
 - the .ramfuncs section works with NuttX CONFIG_ARCH_RAMFUNCS
 2020-04-08 13:20:54 -04:00
Matthias Grob c9e64988b9 GPS Dynamic model default <1g 
Only have it higher for VTOL and fixed wing.
Multicopter position controlled flight is in our experience always <1g.
Acrobatic flying definitely exceeds the acceleration but if control
doesn't rely on the GPS velocity and position there shouldn't be any
problem.
 2020-04-08 11:52:38 -04:00
Nico van Duijn 59bd3e9f6e Change defaults for MPC_LAND_ALT 2020-04-08 11:52:01 -04:00
Nico van Duijn df07eed1a4 PX4Vision: tune MPC_LAND_ALT 2020-04-08 11:52:01 -04:00
Julian Oes 9764c32b55 mavsdk_tests: only apply workaround in GitHub CI 2020-04-08 16:56:52 +02:00
Julian Oes 54fe3c5fd5 mavsdk_tests: remove waitforgz helper, add sleep 
This is an attempt to workaround the gz spawn timeout in CI.
Let's just hard-code a sleep before spawning the model.
 2020-04-08 16:56:52 +02:00
kritz fa5a00d871 Refactor velocity reset (#788) 
* Refactor velocity reset

* Add unit tests for velocity resets

* Expand updates to vertical buffer to velocity resets outside of resetHeight

* Improve matrix library usage

* Improve naming of vertical output samples

* Fix update of output_vert_new during reset

* Improve naming of vertical output samples 2
 2020-04-08 16:39:15 +02:00
Matthias Grob 0a7cde4819 arch.sh: use binary repository for gazebo 
This makes installation a lot faster and less error prone.
 2020-04-08 16:33:49 +02:00
Beat Küng 6b0a2649c0 commander: set home position on takeoff 
instead of when arming and on takeoff.

It is set on the first takeoff or if there was a disarm event between the
last and the current takeoff.
 2020-04-08 14:59:26 +02:00
Beat Küng 80f0892de5 fix commander: set _was_landed before _land_detector topic update 
Before _was_landed was set to the same value as the current
_land_detector.landed, thus outside of the update condition,
_was_landed && !_land_detector.landed could never be true.

This affects setting the home position, which is now set upon arming AND
upon takeoff.
 2020-04-08 14:59:26 +02:00
Beat Küng aa6f9280e1 fix commander: set _have_taken_off_since_arming when !landed upon arming 
If arming and already !landed, _have_taken_off_since_arming will not be set
and thus auto-disarm after 10s will be triggered (with default config).

This can only happen due to quick state changes, as land detector generally
sets landed=true if !armed.
 2020-04-08 14:59:26 +02:00
baumanta 8709fc3cf9 fix SITL attctl test for less drag 2020-04-08 10:39:56 +02:00
baumanta 0d8c011d91 update sitl_gazebo to include realistic iris drag coeff 2020-04-08 10:39:56 +02:00
Daniel Agar cf37be8c44 ekf2 handle accelerometer clipping 
- track clipping per IMU axis and pass through to ecl/EKF
 - update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663)
 2020-04-07 20:11:08 -04:00
Daniel Agar 47624a0f02 EKF increase delta velocity process noise per axis if clipping (#663) 2020-04-08 08:51:51 +10:00
JacobCrabill 74aa3201ce uavcannode: Fix Kelvin/Celcius in RawAirData pub 2020-04-07 18:31:10 +02:00
TSC21 4f718086ea microRTPS: fix topic name when ROS2 is not being used 2020-04-07 16:34:30 +01:00
Beat Küng 4e0441ab0b logger: add data format version tag 2020-04-07 09:59:12 -04:00
Daniel Agar 7aa7f0ed95 switch remaining boards to new InvenSense IMU drivers 2020-04-07 09:59:12 -04:00
Julien Lecoeur 7b12a21565 mavlink: Enable offboard attitude for coaxial airframes 2020-04-07 09:23:03 -04:00
kamilritz d613055462 Add more assignment operators for slices 2020-04-07 09:12:17 +02:00
PX4 BuildBot 3d27c7313c Update submodule nuttx to latest Tue Apr 7 03:33:04 UTC 2020 
- nuttx in PX4/Firmware (3cee71918ad35d155fcdd5f32770dad98619eb84): https://github.com/PX4/NuttX/commit/09f0aee3520ae69eb57aa9e7f41e9d17dc3a9045
    - nuttx current upstream: https://github.com/PX4/NuttX/commit/ec417d7466666801e911e50d72766225ca7790a1
    - Changes: https://github.com/PX4/NuttX/compare/09f0aee3520ae69eb57aa9e7f41e9d17dc3a9045...ec417d7466666801e911e50d72766225ca7790a1

    ec417d7466 2020-04-06 Peter van der Perk - [Backport] FMUK66 SocketCAN driver & Configurable Bitrate support
a3132cf3b7 2020-03-30 Peter van der Perk - [Backport] SocketCAN support
 2020-04-07 00:16:52 -04:00
Jacob Dahl d682ddb510 UAVCAN differential pressure sensor support 
* added airspeed handling (differential pressure) to uavcan and uavcannode

Co-authored-by: Jacob Crabill <jacob@flyvoly.com>
 2020-04-07 00:15:31 -04:00
Daniel Agar a67847aef1 Update submodule mavlink v2.0 to latest Tue Apr 7 03:32:57 UTC 2020 
- mavlink v2.0 in PX4/Firmware (8eaf36226f125d8b577a1a9c4d6c6f6985a95210): https://github.com/mavlink/c_library_v2/commit/11589a51bec0e96ffe80366c387997f7c44cffa3
    - mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/4b493591c4c8125c3592d406197b3b0efbe311af
    - Changes: https://github.com/mavlink/c_library_v2/compare/11589a51bec0e96ffe80366c387997f7c44cffa3...4b493591c4c8125c3592d406197b3b0efbe311af
 2020-04-07 00:12:36 -04:00
Daniel Agar ff74a2a48b new mpu6000/mpu6500/mpu9250 always schedule backup cycle if using data ready 2020-04-06 23:32:04 -04:00
Daniel Agar 0860a61fa6 new InvenSense IMU drivers review temperature sensitivities and offsets 2020-04-06 22:53:16 -04:00
Daniel Agar da383064c6 NuttX update with STM32H7 SPI DMA support 
- holybro durdandal enable SPI DMA
 2020-04-06 22:08:45 -04:00
AlexKlimaj d8c140be04 UAVCAN Smart Battery Improvements 2020-04-06 21:09:02 -04:00
Beat Küng 08bfeb3dc7 mavlink: fix potential busy loop upon USB disconnect 
When disconnecting USB poll returns successfully, but the read returns
-1 with ENOTCONN.
In addition this also ensures there's no busy loop when poll returns an
error.

MAVLink continues to work after reconnecting USB.
 2020-04-06 12:42:10 -04:00
Claudio Micheli 4cdc58ce8d EscBattery: only publish data if all the ESCs are online 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-04-06 15:56:54 +02:00
Julian Oes c1884975ed esc_battery: several review fixes 
Thanks @bkueng.
 2020-04-06 15:56:54 +02:00
Julian Oes 5927bb3635 battery: add requirements to ESCs as battery 2020-04-06 15:56:54 +02:00
Julian Oes cafd52647c msg: fix battery source enum 2020-04-06 15:56:54 +02:00
Julian Oes ae219c3272 esc_battery: fix timeout check 2020-04-06 15:56:54 +02:00
Julian Oes f650b91718 battery: check source param inside battery lib 
This moves the handling of the BAT%d_SOURCE param inside of the battery
library. Users of the library now pass the source instead of the flag
whether to publish. The battery library then checks if the source is
selected using the param and publishes accordingly.

Since we removed the strange system_source flag, we now need to look at
all batteries in commander.
For current estimation - I think - it makes sense to sum them up.
 2020-04-06 15:56:54 +02:00
Julian Oes 641612468b ROMFS: start esc_battery if param is set 2020-04-06 15:56:54 +02:00
Julian Oes b01cdafcf6 boards: add esc_battery to build 2020-04-06 15:56:54 +02:00
Julian Oes 509b8b6b4b First skeleton for esc_battery module 2020-04-06 15:56:54 +02:00
Julian Oes dcd34ed08d battery: add ESCs source, remove wrong unit 2020-04-06 15:56:54 +02:00
Julian Oes 5beb293a6a msg: fix typo 2020-04-06 15:56:54 +02:00
Daniel Agar ad559a66a1 examples: add simple work_item example module 2020-04-06 09:43:55 -04:00
Daniel Agar 1d164c0dbd px4_work_queue: sem_wait add loop as the wait may be interrupted by a signal 2020-04-06 10:30:35 +02:00
Julian Kent 9404b19906 Fix bezier scaling 2020-04-06 09:02:12 +02:00
David Sidrane 025799248c holybro_durandal-v1:Ensure SDMMC power seqensing is clean 2020-04-04 09:39:53 -04:00
Kamil Ritz d6b6276cdc change naming from tiltOffset to pitchOffset 2020-04-04 12:48:52 +02:00