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13526 Commits

Author SHA1 Message Date
Daniel Agar 7264577eec ekf2: split perf counters (full update or not) and reorganize Run() slightly 2020-11-11 20:17:52 -05:00
Daniel Agar a68fe4dbd7 ekf2: move parameter update to beginning of cycle 2020-11-11 20:17:52 -05:00
Daniel Agar 5ae7c80a18 ekf2: move rangeSample update to UpdateRangeSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 991015c5c6 ekf2: move magSample update to UpdateMagSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 68f49619b7 ekf2: move gps_message update to UpdateGpsSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 0db706011a ekf2: move FlowSample update to UpdateFlowSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 8ee197acad ekf2: move vehicle_odometry_aligned publication to PublishOdometryAligned() 2020-11-11 20:17:52 -05:00
Daniel Agar b29f3c7ce5 ekf2: move ExtVisionSample update to UpdateExtVisionSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 0f56793116 ekf2: move BaroSample update to UpdateBaroSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 6b30f01daf ekf2: move AuxVelSample update to UpdateAuxVelSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 651e292d42 ekf2: move AirspeedSample update to UpdateAirspeedSample() 2020-11-11 20:17:52 -05:00
Daniel Agar f4f3ba47a2 ekf2: move mag calibration to UpdateMagCalibration() 2020-11-11 20:17:52 -05:00
Daniel Agar 96178a6fb0 ekf2: publish yaw estimator status last 2020-11-11 20:17:52 -05:00
Daniel Agar 05de61ff15 ekf2: move estimator innovations publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 387186c11d ekf2: move estimator innovation test ratios publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 3b9965ff8d ekf2: move estimator innovation variances publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 94415a45fa ekf2: move estimator status publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 03388f4656 ekf2: move estimator states publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 98334d1325 ekf2: move local position publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar c09a5e0d9f ekf2: move global position publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 8616345346 ekf2: move estimator_sensor_bias publication to method 
- only publish if there's a change in bias
 - publish current estimated mag bias, including saved mag bias
 2020-11-11 20:17:52 -05:00
Daniel Agar e397cbf8bb ekf2: move ekf_gps_drift publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 0d657c74bf ekf2: rename publish helpers mixed case (google style guide) 2020-11-11 20:17:52 -05:00
Silvan Fuhrer 5dd14dfd54 FW Position Control: re-add wrongly removed airspeed_poll() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-11 19:20:03 -05:00
Matthias Grob ff801fbc08 FlightTasks: remove FlightTaskManualPositionSmooth 
alias first smooth position control version from 2017.

RIP it served well.
 2020-11-11 21:16:18 +01:00
Matthias Grob e6338d8a2f MulticopterPositionControl: default cases with unsupported POS_MODE 2020-11-11 21:16:18 +01:00
Matthias Grob 0b8f092d2b Add acceleration stick mapping for position mode 2020-11-11 21:16:18 +01:00
Daniel Agar 7ba73b46ca uORB: tests decrease stack 
- save a bit of memory for running on older boards
 2020-11-10 23:44:02 -05:00
Nicolas MARTIN 8b96ff57d7 arm auth: split COM_ARM_AUTH in 3 parameters 
new params are:
- COM_ARM_AUTH_ID
- COM_ARM_AUTH_MET
- COM_ARM_AUTH_TO
 2020-11-10 09:03:59 +01:00
Nicolas MARTIN 6579544fca arm_auth: use ack reception timestamp to compute authorization timeout 2020-11-10 09:03:59 +01:00
Nicolas MARTIN e89c21155a arm_auth: check authorization timestamp to skip old commands 2020-11-10 09:03:59 +01:00
Daniel Agar 142452f80c replay: print parameter changes and error on mismatch 2020-11-04 11:47:01 -05:00
Silvan Fuhrer 99833eb001 FW Position Control: remove duplicated position_sp_triplet update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-03 15:47:57 +01:00
Daniel Agar ba5ef28f23 uORB_tests: add uORB::SubscriptionMultiArray tests 2020-11-03 09:10:54 -05:00
Silvan Fuhrer 67a0e1993a FW Position controller: add option to swap throttle and pitch stick 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-02 22:49:05 +01:00
Daniel Agar 817285ec64 commander: gyro calibration use MedianFilter 2020-11-02 12:58:46 -05:00
Daniel Agar 4578b8cdcc Update submodule ecl to latest Mon Nov 2 09:57:32 EST 2020 
- ecl in PX4/Firmware (f87b19f31b9918f73d336d10e68d39c659037582): https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd
    - ecl current upstream: https://github/commit/a21092804a784d012939f96cc633e7da5f5e8cde
    - Changes: https://github/compare/48a8992caf7a95e09a5e17235133894c072b96bd...a21092804a784d012939f96cc633e7da5f5e8cde

    a210928 2020-11-01 Daniel Agar - EKF: remove virtual getters from estimator_interface
 2020-11-02 12:44:14 -05:00
Beat Küng d83da4ded4 fix SubscriptionMultiArray: end() iterator needs to point past the end 
And ensure not to dereference.
 2020-11-02 09:00:04 +01:00
Daniel Agar a1ef4d1469 ekf2: only advertise immediately in multi-EKF mode 2020-11-01 15:48:35 -05:00
Daniel Agar ecb462f325 ekf2: EKF2.cpp using matrix Eulerf, Quatf, Vector3f 2020-10-29 10:22:57 -04:00
Daniel Agar d1af095c0b ekf2: don't store vehicle_status_s 2020-10-29 10:22:57 -04:00
Daniel Agar d27573b797 ekf2: don't store vehicle_land_detected_s 2020-10-29 10:22:57 -04:00
Daniel Agar 7757aeda94 ekf2: don't store sensor_selection_s copy 2020-10-29 10:22:57 -04:00
Daniel Agar db5235b074 ekf2: avoid storing message copies 2020-10-29 10:22:57 -04:00
Daniel Agar 3f9f2c6fdf ekf2: multi ekf supports up to 4 IMUs 2020-10-28 20:50:58 -04:00
Daniel Agar 2c874f1cd9 ekf2 selector fix SITL lockstep 
- ekf2 selector don't register lockstep until first attitude publication
 - sensors module register lockstep component
 - enable multi-EKF2 in SITL
 2020-10-28 09:42:41 -04:00
Thies Lennart Alff 82988b1912 airframes: added BlueROV2 (heavy configuration) airframe (#16004) 2020-10-28 11:07:31 +01:00
Daniel Agar 69986affbf commander: calibration restore sleep after CAL_QGC_DONE_MSG/CAL_QGC_FAILED_MSG 2020-10-27 18:54:16 -04:00
Nicolas Martin 171bd6d784 positionControl: add check on sign before sqrtf 2020-10-27 18:52:23 -04:00
SalimTerryLi 05f1efd1a4 load_mon: get mem_usage by reading /proc/meminfo on Linux 2020-10-27 18:49:25 -04:00