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13526 Commits

Author SHA1 Message Date
bresch c253badba4 HTE: remove dist_bottom validity check 
Without range finder, the validity flag goes to false quite quickly and
if can be that a vehicle never starts HTE is the takeoff is too slow.
In this specific context of takeoff detection, since
the exact value is not important, we can safely ignore the validity flag.
 2020-12-18 12:05:22 +01:00
bresch 690c1158ad HTE: do not update the estimator during fast up/down motions 
Drag and prop wash effects produce significant forces at high speed
that can bias the estimator when applied for an extended period of time
 2020-12-18 12:05:22 +01:00
bresch 39251daf28 HTE: pull status from class instead of returning struct 2020-12-18 12:05:22 +01:00
bresch 652cc4350e HTE: empty braces initialization of struct 2020-12-18 12:05:22 +01:00
bresch d532bc9555 HTE: only run in air 
the _landed flag only is not enough to tell if the drone is still touching
the ground, so an additional check based on the altitude AGL is required.

to have this in_air detection correctly updated, the module needs to be
scheduled on the vehicle_local_position message as no setpoint is
produced in non-assisted modes.
 2020-12-18 12:05:22 +01:00
Daniel Agar c05c213042 mavlink: ALTITUDE stream initialize local_pos 2020-12-18 08:32:04 +01:00
Daniel Agar c7db0942ba sensors: vehicle_imu don't round measured accel and gyro sample rates 2020-12-16 10:12:27 -05:00
Daniel Agar bf5ee99952 sensors: acceleration always get accel rate from vehicle_imu_status 
- sensor rate is used for control data low pass and notch filters
 2020-12-16 10:12:27 -05:00
Daniel Agar 7038cb8518 sensors: angular_velocity always get gyro rate from vehicle_imu_status 
- sensor rate is used for control data low pass and notch filters
 2020-12-16 10:12:27 -05:00
Daniel Agar 336176b2f0 Mavlink FLIGHT_INFORMATION fix arming time (ms -> us) and add takeoff time 
- fixes https://github.com/PX4/PX4-Autopilot/issues/16393
 2020-12-16 09:38:05 -05:00
bresch b23d8244f0 ekf2: fix dist bottom constraint 2020-12-16 09:33:38 -05:00
Hamish Willee acc647c518 remove duplicate this in COM_HLDL_LOSS_T 2020-12-16 08:37:42 +01:00
Julian Oes 1719ff9892 simulator: fix after px4_task_spawn_cmd change 
argv[0] now contains the task name, so everything moves by one.
 2020-12-14 09:26:18 +01:00
Julian Oes 314b5e721f src: remove NuttX ifdefs around args 
It doesn't look like they are required anymore.
 2020-12-14 09:26:18 +01:00
Thomas e51000c5be fix syntax of prev commit 2020-12-11 22:00:56 +01:00
Thomas Stauber eec64c5c0f More compact if statement 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-11 22:00:56 +01:00
Thomas d025787334 replace _vehicle_status 2020-12-11 22:00:56 +01:00
Thomas db58269577 Add support for set_position_target_local_ned message 2020-12-11 22:00:56 +01:00
Thomas 1e6976234f Remove reset_offb_cruising_speed(). Make more explicit that this PR only affects offboard mode. 2020-12-11 22:00:56 +01:00
Thomas f1524fe27d renaming the new functions 2020-12-11 22:00:56 +01:00
Thomas 9cc9e4f89f Handle MAV_CMD_DO_CHANGE_SPEED command for FW Offboard global position control. 2020-12-11 22:00:56 +01:00
Daniel Agar 0433f4d33c land_detector: decrease default LNDFW_AIRSPD_MAX 8 -> 6 m/s 2020-12-11 21:58:43 +01:00
Daniel Agar ae2b1a265c commander: POSCTL optical flow aiding continue updating GPOS validity 
- updating the global position validity should happen regardless of
being in manual position control mode with only optical flow
 - condition_global_position_valid needs to be accurate to adjudicate
main state changes (eg going into AUTO MISSION)
 2020-12-11 15:33:50 -05:00
Daniel Agar 6bda8af97c commander: merge duplicated position and velocity validity checks 2020-12-11 15:33:50 -05:00
Daniel Agar 5cd4a9c73f commander: global position validity respect local position xy_valid 2020-12-11 15:33:50 -05:00
Daniel Agar ef6209ba03 new manual_control_switches msg (split out of manual_control_setpoint) (#16270) 
- split out switches from manual_control_setpoint into new message manual_control_switches
 - manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
 - simple switch debounce in rc_update (2 consecutive identical decodes required)
 - manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
 - manual_control_setpoint publish at minimal rate unless changing
 - commander handle landing gear switch for manual modes
 - processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
     - a future step will be to finally drop mode_switch and accompanying switches entirely

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2020-12-11 12:11:35 -05:00
Daniel Agar 25ef76b3b8 navigator: fix LOITER_TO_ALT 
- this was overzealously removed in https://github.com/PX4/PX4-Autopilot/pull/15677
 2020-12-11 16:28:08 +01:00
Jannik Beyerstedt c5a6a60903 Also log transponder_report and satellite_info 
* log full data rate transponder_report message by default
* log satellite_info (GPS_STATUS) as part of debug topics
 2020-12-11 12:44:23 +01:00
RomanBapst fd18ba6496 tiltrotor: allow to finish transition if groundspeed is below cruise speed 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-12-11 09:40:47 +03:00
Daniel Agar d44e537084 ekf2: update to new ecl to fix fault status getter 
- estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits
 2020-12-10 12:45:41 -05:00
Beat Küng 72420dfff3 mavlink_receiver: remove unused _param_com_flight_uuid 2020-12-10 08:47:04 +01:00
Igor Campos c316af6ec7 update to match new feature as a new mavlink command Oblique Survey 260 2020-12-09 17:54:53 +01:00
Thomas 7e2da11d67 reenable WV after FT alignment 2020-12-09 17:36:20 +01:00
Julian Oes a1b54eb655 mavlink: check index for out-of-bounds 
If a MAP_RC_PARAM message is sent with an index > 2, this would lead
to undefined behaviour or a segfault/hardfault.
 2020-12-09 08:59:57 +01:00
Daniel Agar cd1ffa63cd commander: auto transition to LOITER if disarmed with no RC only requires a valid global position 2020-12-08 18:26:03 -05:00
Daniel Agar 82746af07a ekf2: use new IMU and mag bias and variance getters in ecl/EKF 
- reset IMU bias on calibration change (only works with multi-ekf)
 - standardize PX4_INFO/PX4_WARN/PX4_ERR output for multi-ekf with instance number
 - https://github.com/PX4/PX4-ECL/pull/924
 2020-12-08 16:06:18 -05:00
Daniel Agar 8f5f564c05 commander: preflightcheck only report failure once per sensor type 
- either way the user action is to recalibrate, so we might as well try
to minimize the noise/annoyance
 2020-12-08 13:18:22 -05:00
Silvan Fuhrer edaf9f2bb6 FW Position Controller: consolidate mission throttle adaptions for position and loiter waypoints 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 12:08:36 -05:00
Silvan Fuhrer 6d255df0a8 airspeed selector: disable beta fusion when not in fixed-wing mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 11:43:27 -05:00
Silvan Fuhrer 59564af860 wind_estimate message: add identifier for source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 11:43:27 -05:00
Daniel Agar 681590c510 ekf2: multi-ekf force initial selection (and sensor_selection publication) 
- depending on the particular sensor configuration and startup timing we were getting an initial sensor_selection publication without valid accel & gyro device ids (only applies to Multi-EKF)
 - fix faulty accel and gyro device ids
 - initialize unused test ratio fields to NAN for logging clarity
 2020-12-07 21:37:24 -05:00
bresch 3276916df9 HomePos: check corresponding validity before using data 2020-12-07 10:24:23 -05:00
bresch 711bd2ce87 Commander: use helper to set home position 2020-12-07 10:24:23 -05:00
bresch f3e5b86b06 Commander: set home position in air 
en/dis-able in-air home position via parameter COM_HOME_IN_AIR
 2020-12-07 10:24:23 -05:00
Julian Oes a2ff53b018 mavlink: remove typedef of anonymous struct 
Clang doesn't seem to like these.
 2020-12-06 23:55:59 -05:00
Julian Oes 8900c6200d commander: remove typedef of anonymous struct 
Clang doesn't seem to like these.
 2020-12-06 23:55:59 -05:00
JaeyoungLim e6992db1ca Use enums for set attitude setpoint typemasks for offboard mode (#16327) 
This commit switches the typemask comaparision to enums for better readability
 2020-12-04 17:44:33 +01:00
Daniel Agar 01620420fa ekf2: update to latest ecl with RingBuffer minor improvements 
- includes https://github.com/PX4/PX4-ECL/pull/938
 2020-12-03 21:17:22 -05:00
Daniel Agar c305774fae commander: move vehicle_status into class 2020-12-02 10:20:50 +01:00
Daniel Agar b7de10fca3 commander: move vehicle_status_flags to class 2020-12-02 10:20:50 +01:00