91da194bd7
sensors/vehicle_gps_position: only register callbacks once topic published
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- this avoids creating unnecessary uORB device nodes for GPS instances that might never exist
2020-10-27 18:40:57 -04:00
df2f26ebdf
rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned
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- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
- helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
2020-10-27 12:33:39 -04:00
050c9dcd3d
HTE: fix variance prediction ( #16016 )
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In the predition step, the process variance was erroneously
multiplied by dt instead of dt^2. The default values are adjusted
accordingly to keep the same tuning for the default loop rate of 50Hz
2020-10-27 16:56:32 +01:00
0f411d6820
Multi-EKF support (ekf2)
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- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com >
2020-10-27 10:56:11 -04:00
d5245a22d3
logger: limit default estimator_optical_flow_vel logging
2020-10-26 14:10:25 -04:00
109ed18a3a
Flow: adjust default optical flow delay based on pmw3901
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This is the correct value for the most common optical flow sensor
2020-10-26 14:10:25 -04:00
09cc3120e2
OpticalFlow: add optical flow velocity logging
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This is important to align the flow with the IMU data and verify that
the compensation is properly done
2020-10-26 14:10:25 -04:00
eac9a6b68b
Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH
2020-10-26 13:01:13 +01:00
90c366f369
uORB::Publication*: template parameter automatically obtains the queue size according to the type
2020-10-26 13:01:13 +01:00
948bed6b5c
fix ekf2 saved mag bias comments (mGauss -> Gauss)
2020-10-26 00:43:20 -04:00
8435742dd5
logger: double actuator_controls_0 and vehicle_attitude_setpoint default log rate
2020-10-26 00:36:02 -04:00
6d2f592c16
logger: add vehicle_constraints to default set
2020-10-26 00:36:02 -04:00
945c17bc3f
move subsystem_info entirely into commander and remove from uORB
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* HealthFlags: define bitfield using 1<<X
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2020-10-25 10:08:15 -04:00
6285e06fe2
mc_pos_control: split out header and name consistently
2020-10-23 15:06:04 -04:00
81765bc06a
commander: PreFlightCheck remove HIL special cases
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- skipping these sensor checks in HIL no longer makes sense as each
sensor has a normal publication (sensor_accel/gyro/etc) regardless of
simulation
2020-10-23 11:25:50 -04:00
46d79d3050
Remove exception of actuator scaling for airships ( #16011 )
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This removes the exception handling of airship type vehicles when scaling actuators for the simulator
2020-10-22 10:37:03 +02:00
2201424dfd
micrortps_bridge: don't reuse msg_files variable (now global)
2020-10-20 11:05:47 -04:00
16119f0e8c
mavlink debug messages disable on CONSTRAINED_FLASH boards
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- mavlink messages DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT move to separate stream headers and don't include if CONSTRAINED_FLASH
- mavlink receiver DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT handling excluded if CONSTRAINED_FLASH
- msg: skip debug_array.msg, debug_key_value.msg, debug_value.msg, debug_vect.msg if CONSTRAINED_FLASH
2020-10-20 11:05:47 -04:00
d9b3db1082
Check that home position is valid in RTL ( #15964 )
2020-10-20 10:31:44 +02:00
6ae17eb13c
fix EscBattery: remove _battery.publish();
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updateBatteryStatus() already publishes
2020-10-20 09:18:47 +02:00
be0f884dde
commander: preflight check don't read mag device_id
2020-10-19 23:01:02 -04:00
b08b83ba48
logger: logged topics support up to 4 accels/baros/gyros
2020-10-19 18:30:22 -04:00
c302514a08
mavlink: expose kill switch status
2020-10-19 10:49:52 -04:00
d19b54481a
fix: uORB topics lost messages when publications overflow
2020-10-19 08:52:55 +02:00
d985887468
ekf2: use new Param<> reset method
2020-10-15 08:32:05 +02:00
047531b924
Add MavlinkStreamGPSStatus status class stream via GPS_STATUS.hpp and add PRN code to satellite_info.msg.
2020-10-14 08:26:42 +02:00
8d1b99be31
mavlink: telemetry status only log simple HEARTBEAT validity
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* delete telemetry_heartbeat msg
* delete unused _telemetry_status_mutex
2020-10-13 13:37:10 -04:00
d71ca37087
navigator: publish navigator mission item changes for logging
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- new msg navigator_mission_item for inspecting navigator mission item processing
2020-10-13 12:12:03 -04:00
34ad85557e
Revert "mavlink: increase stack 2650 -> 2848 bytes ( #15821 )"
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This reverts commit e792c46f20
2020-10-12 20:58:35 -04:00
5c2cc53134
Revert "logger: log_writer_file increase stack 1170 -> 1472 bytes ( #15765 )"
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This reverts commit d676e65294
2020-10-12 20:58:35 -04:00
f557fa46e8
gyro_fft improve peak finding, parameterize min/max frequencies, remove debug logging
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- add min/max frequency parameters for peak detection (IMU_GYRO_FFT_MIN, IMU_GYRO_FFT_MAX)
- remove full FFT debug logging
- fix Quinn's second estimator
- log sensor_gyro_fft
- fake_gyro use PX4Gyroscope
2020-10-12 15:19:39 -04:00
ff3008c051
calibration: add SYS_FAC_CAL_MODE parameter
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If set, stores calibration parameters in separate storage /fs/mtd_caldata.
2020-10-12 15:22:26 +02:00
0a985638e3
simulator: add inject failure messages for logging
2020-10-10 20:03:50 -04:00
5fa1e8e8ba
mavlink: stream rename GROUND_TRUTH -> HIL_STATE_QUATERNION
2020-10-10 19:49:41 -04:00
cb4d974977
mavlink: move GROUND_TRUTH stream to separate file
2020-10-10 19:49:41 -04:00
283264603a
mavlink: move PING stream to separate file
2020-10-10 19:49:41 -04:00
97dc988f86
mavlink: move ORBIT_EXECUTION_STATUS stream to separate file
2020-10-10 19:49:41 -04:00
826dfa1941
mavlink: move OBSTACLE_DISTANCE stream to separate file
2020-10-10 19:49:41 -04:00
dfbaf6607a
sensors/vehicle_imu: continue integrating queued raw data if falling behind
2020-10-10 12:30:26 -04:00
f26d4f2b6b
mavlink: stop unnecessarily passing around time
2020-10-09 10:30:30 -04:00
97cf714c7a
mavlink: move HIGH_LATENCY2 stream to streams folder in a single header
2020-10-09 10:30:30 -04:00
94146a7b16
mavlink: move RAW_RPM stream to separate file
2020-10-09 10:30:30 -04:00
9c4abf334b
mavlink: move ESC_INFO stream to separate file
2020-10-09 10:30:30 -04:00
1ddfd61d34
mavlink: move ESC_STATUS stream to separate file
2020-10-09 10:30:30 -04:00
b51322e160
mavlink: name existing stream headers consistently and add include guards
2020-10-09 10:30:30 -04:00
674cd1e3b5
mavlink: move EXTENDED_SYS_STATE stream to separate file
2020-10-09 10:30:30 -04:00
274ccaf57c
system: include shutdown lock to BOARD_INDICATE_ARMED_STATE
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BOARD_INDICATE_ARMED_STATE was only set during arming, so an external
component might have reset the board during param save, leading to param
loss.
This extends the API to trigger the arming state also while the shutdown
lock is taken.
2020-10-09 08:23:47 +02:00
eecf2e7a1e
sensors: allow up to 4 accels, gyros, and baros and add configurable rotations for accel & gyro
2020-10-08 19:01:44 -04:00
378cb155d6
simulator: support accel/gyro instances and stuck failure
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- expand simulator to 3 accels and gyros
- PX4Accelerometer/PX4Gyroscope switch to old param usage due to copy constructor issues with ModuleParams
2020-10-07 13:20:13 -04:00
c01fabaf11
FW move altitude first order hold (FOH) and loiter to position special cases from navigator to position controller
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Co-authored-by: RomanBapst <bapstroman@gmail.com >
2020-10-06 16:57:12 -04:00
Daniel Agar