581b92dd3f
attitude_estimator_q: enable lockstep without LPE
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When lockstep is enabled and LPE is not running, the
attitude_estimator_q needs to publish ekf2_timestamps in order to signal
to the simulator module that it has fully run.
This essentially fixes flying in lockstep when SYS_MC_EST_GROUP is 3.
2020-03-03 09:31:52 +01:00
ff4ec31d29
templated creation of stream list items
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and constexpr for get_id_static and get_name_static in mavlink streams
2020-03-02 19:56:16 -05:00
f57c5ef4a7
Mavlink: implemented SCALED_PRESSURE streams
2020-03-02 19:56:16 -05:00
e173df80a1
Improve readibility of ternary
2020-03-02 18:10:52 +01:00
aee1e70642
check avoidance status in commander and set sys status
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remove mavlink log
2020-03-02 16:49:56 +01:00
48b7cd926e
mavlink_messages: add frame field to obstacle distance and correct typo
2020-03-02 16:49:56 +01:00
9d06bd1383
mavlink_main: add osbstacle_distance stream to extvisionmin mode
2020-03-02 16:49:56 +01:00
9edb1179d0
VTOL: run vtol state update not only when mc or fw sp are updated, but always
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This change is necessary to give the pilot the ability to switch VTOL state
even if for some reason no attitude sp are published anymore.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-03-02 14:10:58 +03:00
f5000a9691
px4_platform_common: add bitmask.h for templated type safe bitmask operations
2020-02-28 10:59:50 +00:00
d1cefe9e65
simulator: move enum declaration out of preprocessor condition
2020-02-28 10:59:50 +00:00
bcb6056a12
simulator: make sensor update rate dependent of the HIL_SENSOR bitmask
2020-02-28 10:59:50 +00:00
be35f5555c
Add comment to explain iridium exception in the mavlink module
2020-02-28 07:54:25 +01:00
eb215358fc
Fix crashing for the mavlink in the iridium mode
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Special handling in the mavlink_open_uart function if mavlink is in the iridium mode.
2020-02-28 07:54:25 +01:00
d7e502ec72
uORB_tests increase stack
2020-02-27 21:12:49 +01:00
f90d3671c0
vehicle_attitude_setpoint: get rid of unused q_d_valid flag
2020-02-27 09:17:52 +01:00
b53bd2b77f
LPE: make compatible with lockstep simulation
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This fixes SITL with lockstep when using LPE and q estimator.
The required changes are:
- Publish ekf2_timestamps because simulator_mavlink expects them.
- Run LPE at 250 Hz instead of 80 Hz in order to keep everything in
lockstep running at 250 Hz.
2020-02-26 15:46:58 +01:00
3be8b3d177
logger: style fix
2020-02-26 14:52:39 +01:00
46f76cb621
Commander: enable RC override in takeoff
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and remaining auto modes which are used more rarely.
2020-02-26 10:22:33 +01:00
d9ae242760
logger: fix unused variable build error
2020-02-26 18:44:20 +11:00
2a0fe169e6
logger: disable logger_status publiation in replay builds
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- this is disabled in replay builds to ensure all data in ekf2 replay logs only contains the same time range, otherwise the plots can be unreadable using common tools
- fixes #14230
2020-02-26 18:44:20 +11:00
7e00dcd382
EKF2: Fix GPS blending time jitter
2020-02-26 07:39:47 +01:00
abe33af5b3
map mavlink orientation enum to uorb distance_sensor orientation
2020-02-26 07:27:09 +01:00
d386591d0c
logger: reduce rate_ctrl_status rate to 50 Hz for high-rate logging
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The integral does not need to be logged at full rate
2020-02-25 09:59:52 +01:00
f3fefd7d93
mavlink: support mission transfer cancellation ( #14139 )
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This adds support for MAV_MISSION_OPERATION_CANCELLED which can be used
to cancel an ongoing upload or download of mission/geofence/rally items.
2020-02-24 07:47:08 +01:00
6c8f39c5d8
MC rate controller: limit K and P values of PID controller to in pitch and roll ( #14210 )
2020-02-23 11:45:07 +01:00
4c1adc088f
Removed all swapping of uORB instances
2020-02-21 22:38:26 -08:00
6452b7e014
Changed commander to check every battery publication for prearm checks
2020-02-21 22:38:26 -08:00
0ac300f77a
Rename generate virtual RC setter/getter
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The old names were unclear to me, especially when
used in the mavlink_receiver.
2020-02-21 09:23:35 +01:00
1d89351149
Commander: clarify the rc override message
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Message says novice understanable what happened.
2020-02-20 17:25:53 +01:00
116a094e31
commander: fix broken 'commander arm/disarm' CLI
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Regression from https://github.com/PX4/Firmware/pull/13613 .
VEHICLE_CMD_COMPONENT_ARM_DISARM from CLI would enter the
ARMING_STATE_IN_AIR_RESTORE logic. This was never intended for disarming
(and leads to state machine transition failures), and IMO it is also not
intended for commands from CLI.
2020-02-20 10:06:07 -05:00
20276d4ff8
simulator: improve misleading TCP message
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Proposed first by @lovettchris.
2020-02-20 12:10:43 +01:00
e46635b1de
simulator: remove strange disarmed PWM
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Before that we would send -0.1 instead of just 0.0.
First proposed by @lovettchris.
2020-02-20 12:10:43 +01:00
a006d82abf
simulator: add flag to indicate lockstep
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This depends on:
https://github.com/mavlink/mavlink/pull/1311
First proposed by @lovettchris.
2020-02-20 12:10:43 +01:00
ef1f677541
fix mavlink_log_handler: close file descriptor if still open in destructor
2020-02-20 10:31:41 +01:00
e7c655ba52
rc_update: make specific RC loss check only on PPM
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This makes the check more specific, so it's only active on PPM input.
2020-02-20 09:02:30 +01:00
3f16eba3f7
RC Failsafe fix for RFD 868+/900 Modems
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RC Failsafe isn't triggered when PPM signal is valid. These changes
update Failsafe trigger logic for RC input. RF Modules keep sending
valid PPM signal when the RC Transmitter is lost.
RF Modules which are in the air send PPM signal with same type when lost
the signal from ground.
2020-02-20 09:02:30 +01:00
a570aa9fac
Commander: fix preflight check condition to fail if not in HIL mode
2020-02-20 08:46:30 +01:00
d7c3e1066a
uavcannode updates and px4_fmu-v4_cannode example
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- drivers/uavcannode add baro, mag, gps publications
- delete old px4_cannode-v1 board
- add stripped down simple rcS for CAN nodes
2020-02-16 12:11:54 -05:00
342e0da796
VTOL land detector: extend fall_detection from multicopter land detector and disable in fixed-wing mode
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Extend the get_freefall_state() from MC land detector to have a VTOL-specific
one that just enables free fall detection if in rotary wing or transition mode.
This is done to prevent wrong free-fall detected warnings while doing low-G maneuvers
(parabolic flights). Land detection is anyway disabled in FW flight for VTOL so
no logic change.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-02-14 17:46:30 +03:00
dad9c154a3
VTOL Land Detector: move to airspeed_validated
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-02-14 17:46:30 +03:00
7cafbc824e
simulator: add support for multi-distance_sensor instances ( #14143 )
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* simulator: add support for multi-distance_sensor instances
* update submodule Tools/sitl_gazebo
* sitl_gazebo: add updated iris_obs_avoid; simulator: cleanup distance_sensor topic init
* update submodule Tools/sitl_gazebo
* simulator: delete _dist_pubs uORB::PublicationMulti<distance_sensor_s> in simulator destructor
2020-02-14 11:32:28 +01:00
55372d7cbe
Parameterize timeout for radio status
2020-02-13 08:52:27 -05:00
8cdbc4c593
px4iofirmware: add PX4IO_PERF define to completely disable perf counters
2020-02-10 09:40:39 +01:00
2015cc2b39
logger: restore buffer statistics update
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- this was accidentally dropped during a rebase of #14050
2020-02-10 00:17:28 -05:00
8df22541ef
sensors: filter sample rate calculate with simple interval average instead of perf count
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- the perf counter intervals aren't numerically stable over extended periods (https://github.com/PX4/Firmware/pull/14046 )
2020-02-07 13:04:02 -05:00
9ba0d5b706
tiltrotor tilt support: fix thrust compensation constraining
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-02-07 16:43:44 +01:00
4c9dba8692
VTOL type and tiltrotor: use math::constrain() for constraining
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-02-07 16:43:44 +01:00
e3310796ce
tiltrotor: limmit the adapted thrust for tilt to [0,1]
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-02-07 16:43:44 +01:00
a26e914ef4
VTOL pusher/tilt support: addressed review comments:
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- remove gloabl variable and instead give back forward_thrust from function
- give back increased vertical thrust from fct thrust_compensation_for_tilt()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-02-07 16:43:44 +01:00
5ae4ca8ff1
VTOL: Make pusher assist generic to enable also for tiltrotor
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-move pusher assist functionality into vtol_type class and adapt it to also
work for tiltrotor VTOLs (pitch rotors down to accelerate forward)
-for tiltrotor: compensate for lost lift due to tilt by increasing the throttle
-enable pusher / tiltassist also in altitude mode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-02-07 16:43:44 +01:00
Julian Oes