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2633 Commits

Author SHA1 Message Date
Dima Ponomarev e660b50021 uavcan: add IMU sensor support 2021-03-17 18:04:12 -04:00
Daniel Agar e7722b11eb pwm_out multi-instance support 
PX4 uses banks of 8 outputs as a logical structure. Boards that have
more outputs than 8 get multiple instances. This is an arbitrary choice
that helps with overall structure and enables the mixing of different
device classes (like FMU, IO or UAVCAN).
 2021-03-17 22:03:18 +01:00
Daniel Agar 0eac534b80 geo: purge globallocal_converter 2021-03-15 16:16:19 -04:00
Sander Smeets 517a1d0116 battery_status: factor in total current consumption in battery remaining estimation 2021-03-15 12:32:45 -04:00
RomanBapst 82a2126f97 TECS: add feedforward gain for total energy balance rate 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-03-15 11:47:07 -04:00
Daniel Agar 2257c3767e simple gyro auto calibration module 2021-03-15 09:46:47 +01:00
jciberlin 01c9a4f24d ghst: fix warning generated on PR (Clang Tidy) 
Fix warning generated on PR (Clang Tidy).
 2021-03-15 09:42:53 +01:00
jciberlin 6f5efbeab5 ghst_telemetry: send battery status 
Send battery status (ghst_telemetry). Apply factors to show correct values of volts, amps and mAh. Change ghost protocol code to follow more MISRA C++ guidelines.
 2021-03-15 09:42:53 +01:00
Beat Küng b512a3d8f7 param: add param_get_system_default_value 2021-03-12 13:44:10 +01:00
Daniel Agar 7d78cf8505 parameters: param_value_is_default() add note about params_changed bitset usage 2021-03-11 11:30:43 -05:00
Daniel Agar a991e78e18 parameters: fix runtime default edge case 2021-03-11 11:30:43 -05:00
PX4 BuildBot d2b63f137e Update submodule ecl to latest Wed Mar 10 00:59:16 UTC 2021 
- ecl in PX4/Firmware (557d8f65d89cd3da4a0e88af2a7bb1a16ebf3ff9): https://github.com/PX4/PX4-ECL/commit/4bad2a272cfbcfd2ef2c77bb4af788f5b569aaaa
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/b3c1bd6d40952a9d467497162f91f28400ae0a3d
    - Changes: https://github.com/PX4/PX4-ECL/compare/4bad2a272cfbcfd2ef2c77bb4af788f5b569aaaa...b3c1bd6d40952a9d467497162f91f28400ae0a3d

    b3c1bd6 2021-03-09 Paul Riseborough - EKF: Remove un-used code
 2021-03-09 23:19:22 -05:00
Daniel Agar 684424bf73 parameters: delete unused BSON_BINDATA handling 2021-03-09 19:29:42 -05:00
Daniel Agar bd1c575ce8 lib/sensor_calibration: add simple offset and scale sanity checks 2021-03-09 09:27:21 -05:00
Paul Riseborough 4465c4fbf6 ekf2: Publish and log EKF warning and information events (NEW msg estimator_event_flags) 
* msg: Add estinator information and warning events message (estimator_event_flags)
 * ekf2: publish information and warning events
 * logger: log estimator_event_flags
 * update ecl submodule to latest

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-03-07 16:16:48 -05:00
CarlOlsson b4b424bf7d tecs: also fix the bug in update_vehicle_state_estimates() 2021-03-05 19:44:20 +01:00
CarlOlsson 0f461f7f60 TECS: Fix internal state init if dt is large 2021-03-05 19:44:20 +01:00
Alex Mikhalev d01806a0c6 lib/battery: Fix cell voltages with >10S 
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
 2021-02-28 22:10:23 -05:00
bresch be9b3404a2 lpf test: test several sampling frequencies 2021-02-26 14:06:45 -05:00
bresch 3277648959 lpf test: move to common function 2021-02-26 14:06:45 -05:00
bresch 844602c961 Add unit tests for Butterworth 2nd order low-pass filter 2021-02-26 14:06:45 -05:00
garfieldG 3cd9b3c2cf Added support in Mavlink Ethernet channel parameters 
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
 2021-02-25 08:52:38 -08:00
Daniel Agar b66a9629e0 ekf2: update to latest ecl with new global origin helpers 2021-02-25 10:43:07 -05:00
Daniel Agar 6482120d9a sensors/vehicle_angular_velocity: use full raw FIFO data (sensor_gyro_fifo) if available 2021-02-25 10:06:17 -05:00
Matthias Grob a637f282ce FunctionsTest: cover lerp 2021-02-24 17:27:31 +01:00
Beat Küng 14bf9cf753 mc: add SYS_VEHICLE_RESP param to configure vehicle responsiveness 2021-02-24 17:27:31 +01:00
Daniel Agar 5f3e883f2c sensors/vehicle_imu: vehicle_imu_status include accel/gyro full raw FIFO sample rate 2021-02-24 08:13:53 -05:00
Daniel Agar e38560b928 sensor_calibration: increase threshold for updating calibration offsets or scale 
- this is to minimize needlessly writing negligible parameter changes and triggering unnecessary estimator bias resets
 2021-02-23 13:32:00 -05:00
Daniel Agar 69bd3ecf95 sensor_calibration: respect board rotation even if uncalibrated 
- fixes https://github.com/PX4/PX4-Autopilot/issues/16873
 2021-02-23 15:24:14 +01:00
Silvan Fuhrer 0ea8104344 select single system-wide wind estimate message (current best) 
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
 - rename message wind_estimate to wind
 - publish wind from currently used ekf instance (ekf2selector)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-20 13:15:01 -05:00
jciberlin 9d65e9a980 ghst: keep the previous values for channels that are not updated 
Keep the previous values for channels that are not updated (ghost protocol). Add new test data for ghost protocol.
 2021-02-20 11:29:57 +01:00
jciberlin 96c72a5657 RCTest: add tests for ghost protocol 
Add tests for ghost protocol
 2021-02-20 11:29:57 +01:00
Juraj Ciberlin c0f7429f8c ghst: use memcpy instead of for loop 
PR review, ghost protocol, use memcpy instead of for loop

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2021-02-20 11:29:57 +01:00
jciberlin 64342f568d Ghost protocol 
ghst: add ghost protocol
 2021-02-20 11:29:57 +01:00
Daniel Agar 711a69854b uthash: move remaining utarray usage to parameters and delete unused 
- this is to discourage further use until utarray can be dropped entirely
 2021-02-20 11:28:22 +01:00
PX4 BuildBot c863d6a346 Update submodule ecl to latest Fri Feb 19 12:39:03 UTC 2021 
- ecl in PX4/Firmware (5be2f2c8f835fde0ce648561636cf565d95f5741): https://github.com/PX4/PX4-ECL/commit/310f41517590165a82f807562b3cbb9a76e4c7d8
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/81937370ac5234a4c318d838acee4d9bb4bfa697
    - Changes: https://github.com/PX4/PX4-ECL/compare/310f41517590165a82f807562b3cbb9a76e4c7d8...81937370ac5234a4c318d838acee4d9bb4bfa697

    8193737 2021-02-18 bresch - [AUTO COMMIT] update change indication
04844a0 2021-02-16 bresch - ekf control: move time_last_in_air/on_ground out of GPS control logic
b00d4a9 2021-02-16 bresch - mag fusion: improve on ground forced mag fusion logic
 2021-02-19 08:34:17 -05:00
Alex Mikhalev 6bd4dff51f drivers/smbus: Increase max block size to 34 
batt_smbus for BQ40Z80 transfers up to 34 bytes (32 byte block + 2 byte
address), but this was overflowing and failing the PEC check.
So increase the buffer size

Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
 2021-02-18 07:52:26 -05:00
David Sidrane 760e47bbf9 uavcan bootloader use new AppDes 2021-02-17 22:47:35 -05:00
Daniel Agar ab0d0fd0be uORB move to PX4 platform layer 2021-02-17 11:25:56 -05:00
PX4 BuildBot 0edee1e2e9 Update submodule ecl to latest Wed Feb 17 00:39:16 UTC 2021 
- ecl in PX4/Firmware (a5a1d4caa0d04cb79ba29e98ba0af04e20c53de9): https://github.com/PX4/PX4-ECL/commit/d4258cc66d24c6871688ae83f42de3b46c96d033
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/310f41517590165a82f807562b3cbb9a76e4c7d8
    - Changes: https://github.com/PX4/PX4-ECL/compare/d4258cc66d24c6871688ae83f42de3b46c96d033...310f41517590165a82f807562b3cbb9a76e4c7d8

    310f415 2021-02-16 Daniel Agar - EKF add const state reset status access
0c5291d 2021-02-16 isidroas - Heading reset to magnetometer from GPS or EV (#969)
 2021-02-16 22:00:12 -05:00
PX4 BuildBot cf2ffb1086 Update submodule ecl to latest Tue Feb 16 12:39:08 UTC 2021 
- ecl in PX4/Firmware (4de4b8012999a53b3401701fe63fafb4056fa58f): https://github.com/PX4/PX4-ECL/commit/ffab483504a6c2eb3b61ae10d612cb35c8fbc550
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/d4258cc66d24c6871688ae83f42de3b46c96d033
    - Changes: https://github.com/PX4/PX4-ECL/compare/ffab483504a6c2eb3b61ae10d612cb35c8fbc550...d4258cc66d24c6871688ae83f42de3b46c96d033

    d4258cc 2021-02-15 Mathieu Bresciani - yaw emergency: check angle between vel observation and estimate (#975)
 2021-02-16 08:34:02 -05:00
Lorenz Meier 0d3676e5b0 Safety switch: Default to safety off 
90% of all real-world vehicle configs default to this and it is something that users stumble over if they configure a new system. There are valid cases where this would not be desired - for these it can be still switched off.
 2021-02-14 11:17:28 +01:00
Daniel Agar 1981519aad L1 position controller: use double precision floating point for all lat/lon 2021-02-12 21:59:56 +01:00
Daniel Agar ce64951578 parameter_update.msg: add basic status info 2021-02-12 08:27:47 -05:00
Daniel Agar b8b13bb882 parameters runtime defaults 2021-02-12 08:27:47 -05:00
Daniel Agar da1a38b44e parameters: merge generated files ito single static constexpr header 
- store parameter type and if volatile separately (saves kilobytes of flash)
 - use Bitset for tracking active and changed parameters
 - use atomic for autosave_enabled flag
 - compile at ${MAX_CUSTOM_OPT_LEVEL} (-O2 on non flash constrained boards)
 2021-02-12 08:27:47 -05:00
PX4 BuildBot 71c7c69c9d Update submodule ecl to latest Fri Feb 12 12:42:24 UTC 2021 
- ecl in PX4/Firmware (2292cf3ed4f8c4391131870936881331bc870260): https://github.com/PX4/PX4-ECL/commit/602e65146c975c12482560fafab7e05bf43b0029
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/ffab483504a6c2eb3b61ae10d612cb35c8fbc550
    - Changes: https://github.com/PX4/PX4-ECL/compare/602e65146c975c12482560fafab7e05bf43b0029...ffab483504a6c2eb3b61ae10d612cb35c8fbc550

    ffab483 2021-02-11 Loic Dubois - Waiting for the filter to be initialized to set global origin
 2021-02-12 08:26:10 -05:00
Daniel Agar cb7aabf932 fw_pos_control_l1: cleanup body velocity and acceleration usage 
- minimize storing unnecessary state (msg copies)
 2021-02-12 00:41:39 +01:00
PX4 BuildBot bf29ec2da2 Update submodule ecl to latest Wed Feb 10 00:39:35 UTC 2021 
- ecl in PX4/Firmware (afb692ecffccc3ba7ade39c5906c8c5660066121): https://github.com/PX4/PX4-ECL/commit/cd38621dd6a4ef0f42eb29a2b4145f58023e7910
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/602e65146c975c12482560fafab7e05bf43b0029
    - Changes: https://github.com/PX4/PX4-ECL/compare/cd38621dd6a4ef0f42eb29a2b4145f58023e7910...602e65146c975c12482560fafab7e05bf43b0029

    602e651 2021-02-05 Paul Riseborough - EKF: Remove unnecessary initialisation
6f664ab 2020-07-20 Paul Riseborough - EKF: Non functional changes arising from review
b87778e 2020-06-30 Paul Riseborough - EKF: Make clip detection logic easier to follow
9aa8d93 2020-06-30 Paul Riseborough - EKF: Use isRecent function
e948b35 2020-06-29 Paul Riseborough - EKF: Don't reject vertical aiding data if inertial solution is bad
c566318 2020-06-23 Paul Riseborough - EKF: misc improvements to handling of accel clipping
9c89fa3 2020-06-02 Paul Riseborough - EKF: Use IMU clipping to adjudicate bad accel data check
 2021-02-10 00:16:42 -05:00
Beat Küng 5a1c60b5a1 component_information: switch from gzip to xz 
Improves compression, e.g. current params file: 62KB to 51KB

There's also a PRESET_EXTREME option, which reduces by another 2KB.
We can revisit that once needed, as it increases mem usage as well.
 2021-02-09 09:44:50 +01:00