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14915 Commits

Author SHA1 Message Date
Jukka Laitinen 4c3234af38 mavlink: fix linking 
- link to nuttx_apps if CONFIG_NET is defined for "netlib_get_ipv4netmask"
- link to tunes

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen 1326c51a1c esc_battery: Link to battery library 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Daniel Agar 49d9d1c987 ekf2: only set fault status bad_acc_clipping if clipping frequently 2022-01-27 09:59:50 -05:00
Daniel Agar f499749c23 ekf2: mag field strength check respect requirements 
- requires valid mag data (_mag_data_ready)
 - respect mag_fusion_type (including MAG_FUSE_TYPE_INDOOR)
 2022-01-27 09:05:13 -05:00
Roman Dvořák c8349811d1 Enable logging of mavlink tunnel messages 
Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
 2022-01-26 11:10:43 -05:00
Daniel Agar ae3070bbf1 ekf2: make filter update period configurable 
- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
 - actual filter update period will be an integer multiple of IMU
 2022-01-26 10:57:09 -05:00
Daniel Agar 3f25349eb9 commander: don't reject VEHICLE_CMD_DO_SET_ACTUATOR 2022-01-25 18:44:58 -05:00
Oleg Kalachev 2945ce7c87 ekf2: fuse optical flow when magnetometer is disabled 
Co-authored-by: bresch <brescianimathieu@gmail.com>
 2022-01-25 15:42:10 +01:00
bresch 82e88a9547 [AUTO COMMIT] update change indication 2022-01-25 15:07:48 +01:00
bresch d20e46567e ekf2: improve flow for terrain unit test 2022-01-25 15:07:48 +01:00
bresch 1502d77df2 ekf: refactor fake position control logic 2022-01-25 15:07:48 +01:00
Matthias Grob 42404ade77 FlightTaskOrbit: Use cruise speed and manual acceleration for radius and velocity changes 
instead of arbitrary fractions of the maximum radius and velocity.
 2022-01-25 11:45:31 +01:00
Matthias Grob 7c55229db7 FlightTaskOrbit: Fix altitude adjustment by stick 
This is done by inheriting from FlightTaskManualAltitudeSmoothVel again.
The altitude change by command is taken care of by switching
to the apporach when the altitude difference is big enough and
switching back once the altitude is close enough.

The altitude of the command is not perfectly reached but this can
only be done smoothly when the Orbit has full control over the
altitude smoothing. The independent altitude smoothing is not kept
because it was lacking stick handling like altitude lock and smooth
transitions when opening and closing the vertical position loop.
 2022-01-25 11:45:31 +01:00
Matthias Grob d73d8f390b FlightTaskOrbit: Fix vertical speed limit 2022-01-25 11:45:31 +01:00
Matthias Grob 38de07186d FlightTaskOrbit: include acceleration and jerk in approach setpoint publishing 
I think they were forgotten and it leads to side effects:
- The acceleration feed-forward does not get executed
- The acceleration setpoint is NAN when initializing the altitude
  smoothing when arriving at the circle
 2022-01-25 11:45:31 +01:00
Matthias Grob b9fb8490ba FlightTaskOrbit: initialize position smoothing with previous setpoints instead of current state 2022-01-25 11:45:31 +01:00
Matthias Grob e0337a484b FlightTaskOrbit: remove unnecessary _sanitizeParams() in activation 
the parameters are anyways sanitized on every update so even if activate()
sets unfeasible one's they get adjusted on the first update.
 2022-01-25 11:45:31 +01:00
Matthias Grob 661496ab24 FlightTaskOrbit: improved naming in applyCommandParameters() 2022-01-25 11:45:31 +01:00
Matthias Grob 8525a8e520 FlightTaskAuto: fix typo pos(i)tion 2022-01-25 11:45:31 +01:00
Thomas Debrunner 4671a741dc FlightTaskOrbit: Do not switch out of circle orbit control logic on radius change. 2022-01-25 11:45:31 +01:00
Daniel Agar 5ded1aedcb sensors/vehicle_angular_velocity: add IMU_GYRO_DNF_HMC to configure number of ESC RPM notch filter harmonics 2022-01-24 09:23:03 -05:00
PX4 BuildBot 6203ad25c7 Update submodule mavlink to latest Sat Jan 22 00:39:17 UTC 2022 
- mavlink in PX4/Firmware (a16a8dceb1b2d234ae963c74621c147f521abce9): https://github.com/mavlink/mavlink/commit/3d8092006ec1b2321f74e84039dadb1ebd3d1f37
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/51abf3c82b3d7137406459dc9b337e57637711ae
    - Changes: https://github.com/mavlink/mavlink/compare/3d8092006ec1b2321f74e84039dadb1ebd3d1f37...51abf3c82b3d7137406459dc9b337e57637711ae

    51abf3c8 2022-01-21 Julian Oes - Component information: add note (#1785)
f5694b29 2022-01-19 Julian Oes - component_info: re-use protocol capabilities (#1786)
 2022-01-21 23:10:05 -05:00
Daniel Agar 7cb8ed3a1f sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats 2022-01-21 09:18:49 -05:00
JaeyoungLim 0607982b23 Publish orbit status also when the waypoint is a loiter waypoint (#19048) 
* Publish orbit status also when the waypoint is a loiter waypoint

* Remove redundant orbit status publishing
 2022-01-21 09:13:03 +01:00
bresch a2260e53da ekf2: replace yaw failure detection criteria 
The existing logic using the angle between velocity vectors failed to
determine a yaw failure in practice because the state velocity is often
too small compared to its uncertainty to be used. In all the failures
reported, the yaw emergency estimator converged properly and yaw reset
would have fixed the issue.
A much simpler check using the yaw difference between the main EKF
and the emergency estimator is now used to tell if the vel/pos update
failure is most likely caused by a wrong heading.
 2022-01-20 11:54:24 +01:00
Jaeyoung Lim 0dea56f88b Use current_sp for publishing orbit status 2022-01-19 12:00:03 -05:00
Jaeyoung-Lim dec5e7e9c8 Publish orbit status whenever the vehicle is in loiter 
This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint
 2022-01-19 12:00:03 -05:00
bresch e89e3c1b0c ekf2: extract logic to test yaw emergency estimate quality 2022-01-19 09:05:41 -05:00
bresch ea80c5027e ekf2: split yaw estimator state getter into several functions 2022-01-19 09:05:41 -05:00
dagar 476c1e5c09 [AUTO COMMIT] update change indication 2022-01-19 09:04:53 -05:00
bresch ffebd8e771 ekf2: initialize cos tilt variable assuming no tilt 2022-01-19 09:04:53 -05:00
Daniel Agar 92a5bbe97f ekf2: improve ring buffer sizing and dynamically allocate 2022-01-19 09:04:53 -05:00
Daniel Agar 36605bfff6 sensors: lower SENS_MAG_RATE default 
- reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4)
 2022-01-19 08:51:57 -05:00
Matthias Grob c9f7c20d46 MulticoperPositionController: time failsafe messages together 
The following output instead of printing the
action "stop and wait" just once:

WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
 2022-01-19 14:31:19 +01:00
Matthias Grob d4e356a1ac PosititionControl: fix integrator windup with invalid setpoint 2022-01-19 14:31:19 +01:00
Matthias Grob 8811482f1d PositionControlTest: add integrator windup with invalid setpoint combination unit test 
This bug was by chance found during simulation testing and debugging.
The unit test is to easily reproduce and cover this case.
 2022-01-19 14:31:19 +01:00
Silvan Fuhrer 632dfa55e6 FW Pos C: add option to disable airspeed setpoint via stick input 
-rename FW_POSCTL_INV_ST to FW_POS_STK_CONF and make bitmask out of it:
  - bit 0: alternative mapping (height rate on throttle stick, airspeed on pitch)
  - bit 1: enable/disable airspeed setpoints via stick

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 10:13:07 +01:00
Silvan Fuhrer cbb8c90245 ControlAllocation: fix calculation of roll/pitch normalization scale 
Take into account the actual number of roll and pitch acutators,
instead of assuming that all actuators have a roll/pitch component.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 08:22:12 +01:00
Silvan Fuhrer 0950bb81ab ControlAllocation: update normalization scale only if matrix updated is forced 
The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 08:22:12 +01:00
Daniel Agar dd6b7fa98f sensors: switch status PX4_INFO -> PX4_INFO_RAW 2022-01-18 15:00:18 -05:00
Daniel Agar b1d2a0cc4e sensors: simplify timestamp data validator handling 2022-01-18 14:57:18 -05:00
bresch 953c90d3a6 failure detector: change imbalanced propeller metric 
Use standard deviations instead of variances to get a linear metric
 2022-01-18 12:24:35 -05:00
bresch 408cf011b2 failure detector: fix dt computation 2022-01-18 12:24:35 -05:00
Daniel Agar 548b7d5ece sensors/vehicle_imu: on calibration change don't resume in flight calibration learning immediately 2022-01-18 11:22:41 -05:00
PX4 BuildBot 0bb9cce1ce Update submodule mavlink to latest Tue Jan 18 00:39:07 UTC 2022 
- mavlink in PX4/Firmware (37e04f56da3916dcb518eeba66b0888db1cd8c32): https://github.com/mavlink/mavlink/commit/75204adad281e017e58e0a68fdb0a478c2b74d6f
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/3d8092006ec1b2321f74e84039dadb1ebd3d1f37
    - Changes: https://github.com/mavlink/mavlink/compare/75204adad281e017e58e0a68fdb0a478c2b74d6f...3d8092006ec1b2321f74e84039dadb1ebd3d1f37

    3d809200 2022-01-14 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION - mark as reserved capability (#1775)
68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
 2022-01-17 21:36:02 -05:00
Silvan Fuhrer 0ce44cebb7 WindEstimator: use vehicle heading instead of ground course for initialisation 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 17:42:01 -05:00
Silvan Fuhrer 1a4b2b37bb AirspeedValidator: remove unused variable _tas_gate 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 17:42:01 -05:00
Thomas Stastny 13c36155ce fw_pos_ctrl: allow npfg to operate without wind estimate, dont switch controllers 2022-01-14 22:05:53 +01:00
Thomas Stastny 082e320191 integrate optional NPFG library for wind-aware fixed-wing guidance 2022-01-14 22:05:53 +01:00
Beat Küng 66cbbf9f2e control_allocator: use 'bidirectional' to clarify reversible motors 2022-01-14 12:18:29 -05:00