cb03612d99
mavlink: only ignore messages on UDP before init
...
We should still accept messages arriving over serial.
2019-10-28 11:13:16 -04:00
08cce4f7f3
mavlink: accept msgs without source initialized
...
I don't understand why we should wait to parse incoming MAVLink traffic
just because we don't have the source address initialized. We still
check the source address before doing a sendto.
This should fix serial MAVLink communication on FMU5x where both serial
and UDP is available. There the serial connection previously did not
work because nothing was connected over UDP.
2019-10-28 11:13:16 -04:00
c284198bec
clang-tidy: partially fix hicpp-use-override
2019-10-28 10:50:31 -04:00
6f1e132286
clang-tidy: enable readability-redundant-control-flow and fix
2019-10-28 10:50:31 -04:00
6f1f5e0325
clang-tidy: partially fix readability-redundant-declaration
2019-10-28 10:50:31 -04:00
9f4258f6ff
clang-tidy: partially fix hicpp-explicit-conversions
2019-10-28 10:50:31 -04:00
a7f330075a
clang-tidy: enable hicpp-braces-around-statements and fix
2019-10-28 10:50:31 -04:00
744f06cc8f
clang-tidy: enable readability-delete-null-pointer and fix
2019-10-28 10:50:31 -04:00
4192414576
clang-tidy: partially fix cppcoreguidelines-pro-type-reinterpret-cast
2019-10-28 10:50:31 -04:00
f5945d1185
commander: make battery failsafes sane by default
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I propose two changes to the battery failsafes:
1. Remove the return only mode because it means the drone is likely
to crash during RTL. I think this is not expected by users chosing
the option and therefore better not exposed as an option.
2. Make Return/Land the default battery failsafe because it is expected
that a drone does the right thing when battery is low.
Also, this changes the description of the Return/Land behaviour to make
the drop down menu less long and awkward in QGC.
2019-10-28 05:51:12 -07:00
0ce9329803
Safe Landing Points: Added new RTL_TYPE: closest between home, mission landing and safe points
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored by Martina Rivizzigno <martina@rivizzigno.it >
2019-10-28 09:54:59 +01:00
efafd91095
Rally Points in RTL: fly to closest Rally Point (safe point), or to home if that's closer
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-10-28 09:54:59 +01:00
99dd229d71
Rally Point: fix typo of save to safe in mission_safe_point_s
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-10-28 09:54:59 +01:00
8f910f8435
ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters ( #13249 )
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* Conversions lib: add quaternion getter
* vehicle_status: add flag is_vtol_tailsitter
* ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters
2019-10-28 09:27:53 +01:00
380cae18d1
clang-tidy: partially fix modernize-use-equals-default
2019-10-27 19:19:07 -04:00
967446af4c
clang-tidy: enable readability-simplify-boolean-expr and fix
2019-10-27 19:19:07 -04:00
279df3b1b8
clang-tidy: partially fix hicpp-use-equals-delete
2019-10-27 19:19:07 -04:00
d545825bf0
clang-tidy: enable performance-unnecessary-value-param and fix
2019-10-27 19:19:07 -04:00
29987a4f80
Address comments
2019-10-27 11:47:10 +00:00
3dc3679f9e
Copy fields
2019-10-27 11:47:10 +00:00
58d646e33d
Log CPU loads
2019-10-27 11:47:10 +00:00
677c0b4713
Add uorb topic
2019-10-27 11:47:10 +00:00
a3bd9ead4c
Add message handlers for onboard computer status
2019-10-27 11:47:10 +00:00
0326a8ec76
mavlink_receiver: Fit in 'flash' region
2019-10-26 18:29:16 +01:00
b29a6b8761
set_attitude_target: get vehicle_status every time.
2019-10-26 18:29:16 +01:00
fc59414a25
set_attitude_target: set rate thrust according to VTOL mode
2019-10-26 18:29:16 +01:00
948d24c1e3
Apply suggestions from code review
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Co-Authored-By: Julien Lecoeur <jlecoeur@users.noreply.github.com >
2019-10-26 18:29:16 +01:00
65ed068bbd
mavlink_receiver: vtol_vehicle_status changed to vehicle_status subscription
2019-10-26 18:29:16 +01:00
d2f0100e5e
Removed _is_vtol in MavlinkReceiver class
2019-10-26 18:29:16 +01:00
c8edac0a1d
VTOL state check for attitude setpoint publish
2019-10-26 18:29:16 +01:00
35b0778499
Check system type for SET_ATTITUDE_TARGET attitude publising
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Check if system type is VTOL and publish attitude to proper uORB topic
2019-10-26 18:29:16 +01:00
be545db44f
mc_pos_control: reuse timestamp to reduce hrt calls
2019-10-26 06:11:18 +02:00
d0084766ff
PositionControl: make getters const functions
2019-10-26 06:11:18 +02:00
f70d4d21a1
PositionControl: add getter for output attitude setpoint
2019-10-26 06:11:18 +02:00
198605d258
PositionControl: add getter for output position setpoint
2019-10-26 06:11:18 +02:00
7ebaf9a1cb
mission: ensure precland::on_inactivation() is called once landed
2019-10-25 09:28:09 +02:00
788b8c86a2
InnovationLpf: initialize state to zero
2019-10-24 18:33:55 +02:00
40edd33078
mc_pos_control: reduce scope of attitude setpoint
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No need for a gloabl state since it gets produced freshly
by the controller and then published.
2019-10-24 14:58:57 +02:00
79334958a9
WeatherVane: only update with last row of rotation matrix
2019-10-24 14:58:57 +02:00
9c25b987bc
vehicle_local_position_setpoint: make acceleration and jerk arrays
2019-10-24 14:58:57 +02:00
a7727769e9
ekf2: Fix heading not stable issue. The prblem was that a large
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dt could drive the alpha filter crazy because of the small dt
approximation during the computation of the coefficient.
- Remove unused bitmask packing of the innovation checks
2019-10-24 11:27:35 +02:00
2fc5789d68
Support offboard velocity setpoints for rover ( #13225 )
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* Enable velocity control for rover
* Address comments
* Use pid for speed control
* Calculate steering commands correctly
* Use local velocity estimates to avoid global position dependency
2019-10-24 10:40:20 +02:00
b5ba1665f6
commander: add COM_MOT_TEST_EN parameter to enable/disable motor testing
2019-10-24 09:27:29 +02:00
02833c6075
px4io: add support for test_motor
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And fix some IO bugs:
- PX4IO_P_STATUS_FLAGS_RAW_PWM was never cleared. This meant that after a
'pwm test' command, normal mixing was not possible anymore.
Fixed by remembering when we are in test mode and not sending
PX4IO_PAGE_CONTROLS during that time. PX4IO_P_STATUS_FLAGS_RAW_PWM is
cleared when PX4IO_PAGE_CONTROLS are received.
- when entering test mode w/o specifying all channels, the other channels
were not set at all, which means they could still be set to values from
a previous test call.
This is fixed by setting all channels to disarmed when entering/leaving
test mode.
2019-10-24 09:27:29 +02:00
0d91d4e702
commander: do not beep on successful commands
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DO_MOTOR_TEST is sent continuously, which led to constant beeping
2019-10-24 09:27:29 +02:00
f7b04d5cbc
commander: answer to VEHICLE_CMD_DO_ORBIT
2019-10-24 09:27:29 +02:00
285ae608a5
commander: add support for DO_MOTOR_TEST
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- add an optional timeout to test_motor
- enforce a timeout when receiving DO_MOTOR_TEST
- limitation: DO_MOTOR_TEST can only control the MAIN outputs
2019-10-24 09:27:29 +02:00
38651ceee1
mc_pos_control: address @bresch's review comments
2019-10-23 17:33:47 +02:00
d60e1e2774
ControlMath: switch to gtest for unit tessting
2019-10-23 17:33:47 +02:00
ad60f6d786
PositionControl: make it self contained library
2019-10-23 17:33:47 +02:00
Julian Oes