422e89b1c0
iSentek IST8308 magnetometer driver
2020-03-15 12:27:01 -04:00
64c7b4d489
parameters: handle MC_DTERM_CUTOFF -> IMU_DGYRO_CUTOFF migration
2020-03-15 09:31:45 +01:00
5fcd7932e9
mavlink: replace MavlinkOrbSubscription with uORB::Subscription
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* uORB orb_stat() and update(uint64_t *time, void *dst) are now obsolete and have been deleted
* mavlink messages add more advertised checks in streams get_size() check to improve data rate calculation across different scenarios
2020-03-14 12:52:46 -04:00
35ed5607b4
Mission feasibility checker: Prevent zero-length trajectories
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The mission logic depends in a number of locations on being able to calculate the direction from one waypoint to another. Missions that have waypoints that are in the same physical location do not make sense and need to be rejected (the GCS / SDK generating them needs to be fixed). By enforcing this we can work with a reasonable and simpler state machine while executing the mission.
2020-03-14 17:50:40 +01:00
76d20be29d
Mission block: Gate math cleanup and checks
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This change simplifies the gate calculation.
2020-03-14 17:50:40 +01:00
4876e7bd6b
Navigator: Improve documentation of mission block
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The default for the gate check condition is to pass and this needed to be explicitly documented
2020-03-14 17:50:40 +01:00
5e7ff47aac
Navigator: Improve code readibility
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This diff does not contain any functional changes but just makes the code more readable and adds comments.
2020-03-14 17:50:40 +01:00
417d172a72
Navigator: Warn only for non-zero missions
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Previously a zero-length mission that failed checks
(e.g. because a mandatory element was not present) would lead to a
warning.
2020-03-14 17:50:40 +01:00
027e52d402
Camera trigger: Improve code readability
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This helps to trace the code, no functional changes.
2020-03-14 17:50:40 +01:00
f1f185d209
Mission feasibility checker: Handle mission with zero elements silently
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A mission with zero elements is invalid but should not lead to a warning. Previously a fixed wing aircraft without a mission did emit warnings about a missing land item.
2020-03-14 17:50:40 +01:00
09595f88fc
Mission block: Style improvement
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Boolean logic improvement to avoid double assignment of true
2020-03-14 17:50:40 +01:00
5936844595
Update to latest mission API
2020-03-14 17:50:40 +01:00
b405c7e9bd
Navigator: Add ability to wait for a position gate with executing the mission
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This enables the navigator to wait for a specific gate coordinate to pass orthogonally to the current trajectory. This is particularly helpful for payload / camera handling in missions and avoids a dependency of payload handling on navigation waypoints.
2020-03-14 17:50:40 +01:00
ed8cb1c5a7
MAVLink: Add support for new gate command
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This enables the vehicle to be able to wait with executing the next item until a position has been passed.
2020-03-14 17:50:40 +01:00
8842977d80
Camera trigger: Handle trigger distance handling better
2020-03-14 17:50:40 +01:00
5e343b104e
logger: using ModuleParams ( #14316 )
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and some cleanups on main()
2020-03-13 11:31:43 +01:00
0eca583ecf
sensors: move baro aggregation to new sensors/vehicle_air_data
2020-03-12 19:06:34 -04:00
093e9ba1ce
mc_rate_control: use vehicle_angular_acceleration topic instead of differentiating
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* mc_rate_control: use vehicle_angular_acceleration topic
* IMU_DGYRO_CUTOFF change default to 30 Hz
* improve IMU_DGYRO_CUTOFF param documentation (updated from MC_DTERM_CUTOFF)
2020-03-12 15:07:03 -04:00
2da38ae81c
Update submodule matrix to latest Thu Mar 12 00:38:40 UTC 2020
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- matrix in PX4/Firmware (db0c95ed5620e8ffad3dd3281b511cf5f9ee7848): https://github.com/PX4/Matrix/commit/649c837b6b53fcc8b6fedb047dcc757b8cbaf44b
- matrix current upstream: https://github.com/PX4/Matrix/commit/4873dc1c1e74f492ec0fcd5b493c9b500f2784fa
- Changes: https://github.com/PX4/Matrix/compare/649c837b6b53fcc8b6fedb047dcc757b8cbaf44b...4873dc1c1e74f492ec0fcd5b493c9b500f2784fa
4873dc1#122 )
2020-03-12 00:01:38 -04:00
a89b69b0ea
vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz)
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* attitude_estimator_q: get velocity from local position (if available)
2020-03-11 23:57:43 -04:00
5d33b9e999
delete Outback Challenge (OBC) AUTO_RTGS (datalink loss) and AUTO_RCRECOVER (rc loss)
2020-03-11 22:45:55 -04:00
f9794e99f8
move hover_thrust_estimator to new module (mc_hover_thrust_estimator)
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* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.
* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground
Co-authored-by: bresch <brescianimathieu@gmail.com >
2020-03-11 21:20:54 -04:00
4b9e6964f4
uavcan:Support runtime setting of CAN interfaces
2020-03-11 20:36:58 -04:00
9cd8bb4f88
sensors: move to WQ
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Running the sensors module out of the same WQ thread as the estimator, position, and attitude controllers is a bit safer and prevents potential priority and starvation issues. There is a very small increase in latency (~50 us) between sensors and ekf2 execution (on average). This also saves a little bit of memory (~ 3 kB) and cpu (~1-1.5% depending on the board).
2020-03-11 11:34:04 -04:00
9585055e9e
uORB: add bitset for faster orb_exists check and remove uORB::Subscription lazy subscribe hack/optimization
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- add PX4 bitset and atomic_bitset with testing
- add uORB::Subscription constructor to take ORB_ID enum
- move orb test messages into msg/
2020-03-11 09:06:33 -04:00
a2b2605443
param: fix param_get_cplusplus type check
2020-03-10 10:11:43 -04:00
b54e5a1c23
param: automatically update calibration ID params on import
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This avoids the need for recalibration, and also cleans up other driver
ID's (merge separate accel/gyro).
The SPI address was previously set to a board-specific (arbitrary) value,
and is now set to 0. This will allow extending for multiple sensors of the
same type on the same bus.
2020-03-10 10:11:43 -04:00
1851665fab
boards: add new spi+i2c config
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Chip-select and SPI initialization uses the new config, whereas the drivers
still use the existing defines.
The configuration in board_config.h can be removed after all drivers are
updated.
2020-03-10 10:11:43 -04:00
2568d9ae20
mavlink: timesync: readd timesync_status uORB to report Mavlink timesync
2020-03-10 12:15:18 +00:00
170835f3f8
microRTPS: add timesync for the agent side
2020-03-10 12:15:18 +00:00
152427ecdc
Ability to disable airspeed scaling ( #14334 )
2020-03-10 12:57:36 +01:00
4ddf0f9dc1
ekf2_main.cpp: fixed bug in the calculation of the mag bias calibration time
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-03-10 08:54:04 +01:00
e43aa4e287
logger: add RPM sensor messages
2020-03-09 18:34:06 -04:00
baf3cd5c30
Up stack for frsky_telemetry
2020-03-09 17:02:54 -04:00
3fef401e81
uorb callbacks: fix unregister ordering to avoid race conditions
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The order should be: first unregister, then remove the item from the
runnable queue.
2020-03-09 08:06:00 -04:00
36c307a39e
Provide a dummy avoidance for flash constrained boards
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Part of this: move ObstacleAvoidance to a library
2020-03-09 09:51:49 +01:00
5169cfcc45
Add bezier trajectory tracking in obstacle avoidance
2020-03-09 09:51:49 +01:00
d2507e831e
Add mavlink parsing for bezier message
2020-03-09 09:51:49 +01:00
5b8aa20c2f
Bezier trajectory functions to get position, velocity, accel on trajectory
2020-03-09 09:51:49 +01:00
b8970673c6
Fixed Mavlink FTP tests
2020-03-08 21:43:54 +01:00
ef865a091f
Added FileNotFound error code according to new Mavlink FTP specification
2020-03-08 21:43:54 +01:00
887d846f7a
remove one space from string sent with the logger filename
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now the full file name is sent, and not missing the last seconds digit
2020-03-08 12:07:51 +01:00
d7a9b123e6
logger: fix thread deadlock
2020-03-06 13:37:34 +01:00
4698a09b98
delete unmaintained outback challenge (OBC) bottle drop example
2020-03-05 14:09:31 -05:00
b9fab04adb
tiltrotor: improve comments and renaming of one variable
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This is to point out that also rear motor can be used in FW flight and not only the front motors
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-03-05 11:49:42 +03:00
2d009e2e7a
ecl: update submodule
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- reduce CPU load
- fix earth rate gyro compensation
- make test with clang
- use switch statements in controlHeightFusion
Diff:
https://github.com/PX4/ecl/compare/3fa5f501ae7edc4a793f0973e156706afcc8b419..230c865fa9c02b07b0371df050b339bc37ce0c29
2020-03-04 23:59:24 +01:00
8de1f5229b
EKF2: use fixed time constant for GPS blending
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2020-03-04 16:46:20 +01:00
357700aa8d
EKF2 GPS blending: fall out of blending if one module lose 3D fix
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2020-03-04 16:46:20 +01:00
a10a228092
EKF2 GPS blending: reset relative position offsets if blending not feasible
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2020-03-04 16:46:20 +01:00
2b087a92c2
commander: increment is 1 for int params
2020-03-04 09:35:14 +01:00
Daniel Agar