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Commit Graph

13526 Commits

Author SHA1 Message Date
Daniel Agar 50c879c2d6 land_detector: rover return not landed if disarmed 2018-10-18 12:51:52 -04:00
Paul Riseborough 10354f022e ekf2: Allow use of RTK GPS heading 2018-10-17 09:48:38 -04:00
Paul Riseborough 92d2317b99 uavcan: publish GPS antenna heading offset as NAN 2018-10-17 09:48:38 -04:00
Paul Riseborough cf962afafe simulator: publish GPS antenna heading offset as NAN 2018-10-17 09:48:38 -04:00
Paul Riseborough 6a3692cf6b mavlink: publish GPS antenna heading offset as NAN 2018-10-17 09:48:38 -04:00
Dennis Mannhart 304e00f158 ALTITUDE_THRESHOLD lower to 0.3 meters 2018-10-16 11:13:00 -04:00
Dennis Mannhart 511563d4ac mc_pos_control: enable control in xy during smooth-takeoff from ground but limit tilt 2018-10-16 11:13:00 -04:00
Dennis Mannhart 3329d69d05 mc_pos_control: replace const with constexpr 2018-10-16 11:13:00 -04:00
Dennis Mannhart 4627d5d6e4 mc_pos_control_main smooth takeoff: enable position-xy/yaw control once above 0.5m from takeoff reference 2018-10-16 11:13:00 -04:00
Dennis Mannhart 345d3278d1 mc_pos_control smooth takeoff: if velocity is valid, the control velocity in xy during takeoff 2018-10-16 11:13:00 -04:00
Dennis Mannhart 4b70584cf4 mc_pos_control takeoff: control velocity if velocity estimation is available, otherwise 
just keep thrust vector pointing upward
 2018-10-16 11:13:00 -04:00
Dennis Mannhart dbd1e1432a mc_pos_control: for sanity distinguish between velocity and position setpoint during 
smooth-takeoff. This is only required if someone writes a FlightTask where both position
and velocity setpoints are finite
 2018-10-16 11:13:00 -04:00
PX4 Build Bot 5f583bf587 Update submodule libuavcan to latest Mon Oct 15 20:37:29 EDT 2018 
- libuavcan in PX4/Firmware (8958b42dada1e14f27c287a59b51ff26e90486a1): https://github.com/UAVCAN/libuavcan/commit/479d144ded9d5d16e234121ef9511b9ca9dfdac5
    - libuavcan current upstream: https://github.com/UAVCAN/libuavcan/commit/6174b8c10a2dbf47076ca7a7b5820a4c36c8a988
    - Changes: https://github.com/UAVCAN/libuavcan/compare/479d144ded9d5d16e234121ef9511b9ca9dfdac5...6174b8c10a2dbf47076ca7a7b5820a4c36c8a988

    6174b8c 2018-10-06 Pavel Kirienko - Link to the new forum
 2018-10-15 21:08:08 -04:00
Dennis Mannhart c3ba2687ac FlightTask: if not in air, reActivate the task which will set the setpoints to current 
vehicle state.
 2018-10-10 10:30:48 -04:00
Dennis Mannhart 1f0d559d65 PositionControl: check and set _skip_controller flag at the end of the setpoint update 2018-10-10 10:29:46 -04:00
Dennis Mannhart 2f833a26d1 mc_pos_control: check if position-control setpoint update succeeded. 
refactor use_obstacle_avoidance method
 2018-10-10 10:29:46 -04:00
Martina 18f4144e5a mission_block: when creating a triplet from a mission item use the default 
acceptance radius from the paramters and overwrite it if the mission item
has set acceptance radius
 2018-10-09 12:01:45 -04:00
Beat Küng 431bcbe642 MPC_THR_HOVER: reduce minimum from 20% to 10% 2018-10-09 12:09:07 +02:00
Beat Küng 48f5f8faa5 mc pos control: add MPC_THR_CURVE param 
The hover thrust param also changed the thrust scaling in Stabilized mode.
However if the hover thrust is very low (e.g. below 20%), the throttle
stick input becomes very distorted.
 2018-10-09 12:09:07 +02:00
Beat Küng a9def8be93 MC land detector: remove LNDMC_THR_RANGE param 
- no airframe changes the default
- it does not make much sense to be able to configure the 0.1 threshold
  but the 0.3 threshold for ground contact detection cannot be configured.
 2018-10-09 12:09:07 +02:00
bresch d69cba5db9 FW trim - Fix typos in FW_DTRIM_R/P/Y_VMAX 2018-10-09 10:37:22 +02:00
TSC21 254a520e19 make the build stop in case of an error on the RTPS generation scripts 2018-10-08 10:58:45 +02:00
TSC21 3228e494bd radio_status: change 'fixed' field name to 'fix' so it does not clash with 'fixed' floating-point notation on the IDL generation 2018-10-08 10:58:45 +02:00
TSC21 840117fa2f Updated src/modules/micrortps_bridge/micro-CDR 2018-10-08 10:58:45 +02:00
TSC21 71d1b77bbe parse output from python script into readable cmake list to use; refactor RTPS scripts 2018-10-08 10:58:45 +02:00
Beat Küng 92a1594430 mavlink config: remove Iridium option 
The user does not need to configure this, so we can hide it from the UI.
 2018-10-08 08:24:44 +02:00
Beat Küng eb30b5b73e mc_pos_control_params: remove unused MPC_MANTHR_MAX params 2018-10-04 15:09:02 +02:00
Julian Oes 39e0a39224 uavcan: update submodule 
This fixes the build with Python 3.7.
 2018-10-04 13:46:17 +02:00
Beat Küng e2a32aab76 mavlink_main: add support for autopilot_version.uid2 2018-10-03 10:30:10 +02:00
David Sidrane 9709d23179 logger:Use PX4 GUID for sys_uuid 2018-10-03 10:30:10 +02:00
Martina e73c50ad9c mc_pos_control_main: enable continuos update of vehicle_trajectory_waypoint 
desired such that it's possible to use it in manual modes
 2018-10-02 09:45:48 -04:00
Beat Küng 403f909e3a mavlink_receiver: simplify sleeptime calculation 2018-10-02 14:14:10 +02:00
Beat Küng 23094b9ac9 ekf2: subscribe only to 2 gps topic instances 2018-10-02 14:14:10 +02:00
Matthias Grob bee6a6b8b0 Refactor: Use new matrix::Vector2f constructor 2018-10-01 08:10:21 -04:00
Paul Riseborough 72f85e4b2d ekf2: Handle blending of dissimilar rate GPS data (#10570) 
A filtered update update interval is calculated for each receiver.
If dissimilar interval data is detected, blending occurs when data is received from the slower of the receivers.
If similar interval data is detected, blending occurs when receiver data with similar time stamps is available.
If no data is received from either receiver for longer than 300msec, then no blending will be performed and the most recent data will be used instead.
 2018-09-29 09:23:19 -04:00
Beat Küng df9a09ce9d PreflightCheck: rename 'Estimator internal checks' to 'Position unknown' 2018-09-29 09:17:53 -04:00
Beat Küng 30cf287f7b PreflightCheck: update messages & use proper log level 2018-09-29 09:17:53 -04:00
Beat Küng af07497b21 mavlink_log: add mavlink_log_warning 2018-09-29 09:17:53 -04:00
Beat Küng ee928c20f0 PreflightCheck: improve error message in case there is no sensor data 2018-09-29 09:17:53 -04:00
Beat Küng 7f0f391fe1 GPS PreflightCheck: improve failure reporting 
- previously it was possible to get a Position Control rejected message
  without further advice what was actually wrong. So now we report warnings
  even if gps is not required for arming (which could be annoying too...).
- the GPS failure message was very generic, making it hard to debug the
  cause. Now we check every bit and send an appropriate warning

All strings were checked not to exceed the maximum length of 50 characters.
 2018-09-29 09:17:53 -04:00
Beat Küng f1966aa3fd PreflightChecks: improve labels by not capitalizing everything 
estimator status init is not required.
 2018-09-29 09:17:53 -04:00
Beat Küng 0784725ad3 ekf2: only report gps failure flags that are enabled 
So that they can be used for reporting errors.
 2018-09-29 09:17:53 -04:00
Beat Küng 0e1e0b997d mavlink_receiver: reduce s_variance_m_s for HIL GPS message from 1 to 0.1 
1 was too high to pass the EKF2 test (EKF2_REQ_SACC which is 0.5 by default)
and thus switching into position mode in HIL was not possible.
 2018-09-29 09:17:53 -04:00
Beat Küng 465d399e8f land_detector: move _parameterSub to the right place 2018-09-28 16:04:40 +02:00
Beat Küng b69dd50d90 land_detector: cleanup subscriptions & publications 2018-09-28 16:04:40 +02:00
Beat Küng 079a43238f mc_pos_control: print Failsafe message only once when entering failsafe 2018-09-28 08:59:22 +02:00
Beat Küng 720b3307d8 mc_pos_control: limit flight task init failure printf's 
There were cases where the console was continuously spammed with activation
failure messages.
 2018-09-28 08:59:22 +02:00
Beat Küng ff69158836 mc_pos_control: add missing orb_unsubscribe 2018-09-28 08:59:22 +02:00
Beat Küng f7b65c577b mc_pos_control: refactor to use ModuleBase 2018-09-28 08:59:22 +02:00
Julien Lecoeur a346619623 Logger: add debug_array topic 2018-09-27 12:33:12 -04:00