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Author SHA1 Message Date
Beat Küng
4bc59092f4 lockstep_scheduler cmake: spaces -> tabs 2019-01-14 11:08:48 +01:00
Beat Küng
2a47715385 refactor lockstep_scheduler: fix class member naming convention 2019-01-14 11:08:48 +01:00
Beat Küng
828e31d3a9 lockstep_scheduler: optimize performance 
- use a linked-list instead of std::vector. Insertion and removal are now
  O(1)
- avoid malloc and use a thread_local instance of TimedWait.
  It gets destroyed when the thread exits, so we have to add protection
  in case a thread exits too quickly. This in turn requires a fix to the
  unit-tests.
 2019-01-14 11:08:48 +01:00
Beat Küng
b6ba7b655a sitl_run.sh: fix for debugger & valgrind invocation: use eval 
Because $sitl_command contains quotes
 2019-01-14 11:08:48 +01:00
Beat Küng
beac53d775 cdev_platform: remove unused code (sim_delay) 2019-01-14 11:08:48 +01:00
Beat Küng
ecbe2a3e0b drv_hrt posix: improve performance for hrt_absolute_time() 
Previously hrt_absolute_time() was at around 5% of the total CPU usage, now
it's around 0.35%.
 2019-01-14 11:08:48 +01:00
Beat Küng
ccefc640ac drv_hrt posix: remove unused code and remove locking from hrt_absolute_time 2019-01-14 11:08:48 +01:00
Beat Küng
5f0e6d70c5 lockstep_scheduler: use a static lock in usleep_until 
less function calls
 2019-01-14 11:08:48 +01:00
Beat Küng
e8cbc49f7a lockstep_scheduler: remove timed_waits_iterator_invalidated_ 
Not required, since the lock is held during the whole loop iteration.
 2019-01-14 11:08:48 +01:00
Beat Küng
8cdb65eed9 lockstep_scheduler: simplify LockstepScheduler::cond_timedwait & reduce locking 
- the loop is not needed
- we optimize for the fast case and lock only if really needed
 2019-01-14 11:08:48 +01:00
Beat Küng
318499f56e lockstep_scheduler: inline get_absolute_time() 
This is a small method that is used a lot.
 2019-01-14 11:08:48 +01:00
Daniel Agar
29a0950753
Update submodule mavlink v2.0 to latest Sat Jan 12 07:37:26 EST 2019 
- mavlink v2.0 in PX4/Firmware (4787cabae6fcf55ef0f8bf19b0009de593c844db): 90d9b285e0
    - mavlink v2.0 current upstream: 339abb5f4c
    - Changes: 90d9b285e0...339abb5f4c
 2019-01-12 10:20:02 -05:00
Daniel Agar
45d7165eb3 fw_pos_control_l1 skip wind > max airspeed logic if airspeed invalid 
- cleanup airspeed validity check logic
 2019-01-12 14:19:53 +01:00
Julian Oes
2e3fa30c83 sitl_gazebo: update to revision that doesn't abort on timeout (#11196) 
* this should fix the CI failures where we intermittently saw SIGABRT. (fixes #11144)
 2019-01-11 10:23:16 -05:00
Jacob Dahl
f6175605cd px4_fmu-v4 init: Do not start mavlink stream on ttyS0 for the TealOne airframe 
* We have RAM problems and can't afford 4 mavlink instances. This only adds logic the rc.board for the fmu-v4 that only has an effect for SYS_AUTOSTART = 4250 (TealOne airframe).
 2019-01-11 10:21:51 -05:00
Daniel Agar
92ca26b111 mpu9250 fix code style 2019-01-09 10:27:19 -05:00
Florian Olbrich
fb386580b8 Fixed failure notices on mpu9250 startup by adding back device probing on I2C interface init. 2019-01-09 09:54:45 -05:00
Florian Olbrich
280a60c86f Fixed unreliable ICM20948 detection. 
Fixed ICM20948 magnetometer only option.
Specified bus for internal mpu9250 on Pixhawk 2.1 to avoid premature detection of
other device.
 2019-01-09 09:54:45 -05:00
Beat Küng
c2f82b5996 logger: disable mission log by default (SDLOG_MISSION=0) 
- I enabled it by default mostly for testing purposes
- Disabling it reduces resource usage as most setups don't need it
 2019-01-09 08:59:29 -05:00
Kevin Lopez Alvarez
490eeeb9d9 RM3100: enable I2C (#11038) 2019-01-09 08:57:19 -05:00
Jake Dahl
1699c577c3 Fixed an issue with a local variable that should have been a member variable. Increased the P term to reduce rise time. Removed feedforward as it was not neccessary. Removed some custom commands that didn't serve much of a purpose. 2019-01-08 22:36:09 +01:00
AnnaDaiZH
3b3752b753 pmw3901 increase publish rate and max_ground_distance (#11066) 
* increase pmw3901 publish rate and max_ground_distance
* set work queue to high priority
 2019-01-08 14:25:39 -05:00
David Sidrane
5e53f73ad8 fmu-v5:Add Alias CUAV V5 REV:5, VER:1 2019-01-08 07:34:22 -08:00
Daniel Agar
ea3a694ffe
Update submodule mavlink v2.0 to latest Tue Jan 8 12:41:26 UTC 2019 
- mavlink v2.0 in PX4/Firmware (613a5f5e172de071ebd96b4cb5313316a10f8023): 175ab6725c
    - mavlink v2.0 current upstream: 90d9b285e0
    - Changes: 175ab6725c...90d9b285e0
 2019-01-08 10:16:51 -05:00
Julian Oes
b0dd55e80b jMAVSim: update submodule 
This should fix:
- HITL regression (Init MAVLink forever).
- Starting using default arguments.
 2019-01-08 09:49:47 -05:00
Dennis Mannhart
5887a2393c PositionControl: skip controller only if adjusted thrust setpoint are not finite 
PositionControl: update comment about the order of thrust and position

mc_pos_control: reset setpoints to NAN if required

MulticopterLandDetector: consider to be landed if vehicle is not armed

mc_pos_control: initialize landing struct with landed

mc-pos-ctrl: adjust thrust-setpoint and yaw during ground-contact/maybe-landed without capturing
that information within vehicle-local-position-setpoint topic because that information
does not belong to user intention

PositionControl: set local position/velocity setpoint to NAN if not used in the control pipeline

mc-pos-ctrl: Fill vehicle_local_position_setpoint_s structure as follow:
The message contains setpoints where each type of setpoint is either the input to the PositionController
or was generated by the PositionController and therefore corresponds to the PositioControl internal states (states that were generated by P-PID).
Example:
If the desired setpoint is position-setpoint, _local_pos_sp will contain
position-, velocity- and thrust-setpoint where the velocity- and thrust-setpoint were generated by the PositionControlller.
If the desired setpoint has a velocity-setpoint only, then _local_pos_sp will contain valid velocity- and thrust-setpoint, but the position-setpoint
will remain NAN. Given that the PositionController cannot generate a position-setpoint, this type of setpoint is always equal to the input to the
PositionController.

mc_pos_control: switch to designated initializer for landed

It's less error prone because it produces an error on every discrepancy.
 2019-01-08 15:36:30 +01:00
Hamish Willee
541b962654 CameraTrigger: Feedback fixes 2019-01-08 08:18:24 +01:00
Hamish Willee
68148c5fb4 Add camera trigger pwm params 
Fix math::constrain usage

Fix second constraint
 2019-01-08 08:18:24 +01:00
Daniel Agar
e77c2cdfab Jenkins hardware test compare-sections properly 2019-01-07 15:12:30 -05:00
Daniel Agar
2a56eca910 Jenkins use px4_sitl_test build to run unit tests 
- these only run if code coverage is enabled
 2019-01-07 10:39:40 -05:00
TSC21
a78c9c4370 uorb_rtps_message_ids: for now, remove vehicle_global_position send 2019-01-07 12:46:36 +01:00
Beat Küng
eda45b4df2 sbus: add time-based hardening (only for IO and NuttX) 
Since SBUS does not have CRC, we can use timing information to improve
parsing reliability and reject unexpected bytes.
 2019-01-07 10:17:37 +01:00
Beat Küng
4cd8fe0a30 sbus: simplify logic 2019-01-07 10:17:37 +01:00
Beat Küng
9ebd052ac7 sbus: remove unused variables & improve some comments 2019-01-07 10:17:37 +01:00
Daniel Agar
2251150875 uavcan include cstdint for fixed width integer types 2019-01-06 19:20:57 -05:00
Daniel Agar
60f2a92e3d replace <cfloat> with <float.h> 
- <cfloat> isn't available in the NuttX c++ library
 2019-01-06 19:20:57 -05:00
Daniel Agar
c0b464e9e2 replace <cinttypes> with <inttypes.h> 
- <cinttypes> isn't available in the NuttX c++ library
 2019-01-06 19:20:57 -05:00
Daniel Agar
195dbf4ab6 NuttX platform remove system (toolchain) stdc++ include path 2019-01-06 19:20:57 -05:00
Daniel Agar
542cd7f216
Jenkins move hardware testing to JLink debugger setup 2019-01-05 20:33:38 -05:00
Nuno Marques
8ae3f50095 CI: update container tags to '2019-01-01' (#11128) 2019-01-04 16:34:02 -05:00
Alessandro Simovic
aa74aa2b80 CollisionPrevention: curly brace inits 2019-01-04 15:39:40 +01:00
Alessandro Simovic
e1dcc46578 CollisionPrevention: consistent var init 2019-01-04 15:39:40 +01:00
Alessandro Simovic
ae6ae47bed CollisionPrevention: unused var 2019-01-04 15:39:40 +01:00
karliss
6a33b797ac drv_hrt restore dsp_offset and remove unused qurt code (#11139) 
- Fixes #11134
 2019-01-03 14:58:53 -05:00
Daniel Agar
caf26c78e3 rgbled_ncp5623c set main stack 1500 2019-01-03 10:32:49 -05:00
Jacob Dahl
a492d1cfdb MPU9250 driver fix to preserve bus+device plug-and-play capabilities (#11020) 2019-01-03 08:10:23 -05:00
TSC21
3c246ce170 microRTPS: improve verbosity with the usage of px4_log types 2019-01-02 00:14:18 +00:00
TSC21
adbec90018 microRTPS: replace usleep() by px4_usleep() 2019-01-02 00:14:18 +00:00
TSC21
37e71a4d9d sitl: rtps.cmake: add tone_alarm_sim and ENABLE_LOCKSTEP_SCHEDULER 2019-01-02 00:14:18 +00:00
Daniel Agar
8c88aa6416 mavlink move simple getters to header and mark const 2019-01-01 22:21:02 +00:00