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4ccc60e2b0df2dae03420d73448b0d36e961b138
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22876 Commits

Author SHA1 Message Date
Julian Oes 4ccc60e2b0 commander: neutral beep on mission with warning 
When a mission is uploaded we should beep consistenly:
- valid -> positive
- warn -> neutral
- invalid -> negative

Before this, it was:
- valid -> positive
- warn -> negative
- invalid -> negative
 2021-05-20 10:50:54 -04:00
Julian Oes b7890529b2 navigator: reset mission feasibility warning flag 
Without reseting the warning flag commander would complain about a
warning but still allow arming and flying the mission which was weird.
 2021-05-20 10:50:54 -04:00
Daniel Agar 9969edfabc mavlink: STATUSTEXT stream use perf count for missed messages 
- don't send stale messages
 - process all queued messages until tx buffer is full
 2021-05-20 10:39:11 -04:00
Julian Oes 1f40a65210 mavlink: improve command param5/6, x/y handling 
This adds support to handle INT32_MAX for COMMAND_INT.x/y by converting
it to NAN internally.

It also adds paranoid checks to prevent:
- NAN being used sent by a COMMAND_INT by mistake.
- INT32_MAX being used sent by a COMMAND_LONG by mistake.
 2021-05-20 09:26:30 +02:00
PX4 BuildBot 4bb53e2afc Update submodule libcanard to latest Wed May 19 00:39:15 UTC 2021 
- libcanard in PX4/Firmware (7c7657e6a0254b62959ea6b908b89815f0cfee5a): https://github.com/UAVCAN/libcanard/commit/55938c51cf7da3096679933302693c9dae7a2b33
    - libcanard current upstream: https://github.com/UAVCAN/libcanard/commit/38796831f9083c0f0674319543d8d10813429eb5
    - Changes: https://github.com/UAVCAN/libcanard/compare/55938c51cf7da3096679933302693c9dae7a2b33...38796831f9083c0f0674319543d8d10813429eb5

    3879683 2021-05-18 Pavel Kirienko - Add canardRxAccept2(), fix #163 (#164)
 2021-05-19 00:24:00 -04:00
Daniel Agar e498023d0f ist8308: improve configuration 
- disable noise suppression filter
 - select more appropriate dynamic range
 - carefully set and clear all ODR, DR, and OSRCNTL bits
 - retry in probe multiple times
 2021-05-18 13:20:21 -04:00
David Sidrane 4acc18ca60 Add VCM5883 Magnetometer 
Fix LSB/G
 2021-05-18 12:57:46 -04:00
Daniel Agar 820a442fe3 drivers/imu/analog_devices/adis16448: minor fixes and compatibility with older model 
- increase SPI stall time slightly
 - tolerate mag self test failure (could be due to local magnetic field)
 - register configuration compatible with older ADIS16448AMLZ
 - don't publish duplicate accel/gyro
 - only allocate CRC perf counter if using CRC
 2021-05-18 12:44:37 -04:00
PX4 BuildBot 319cab6c2c Update submodule ecl to latest Tue May 18 00:50:43 UTC 2021 
- ecl in PX4/Firmware (4668ea5c32075aca28fd813881a349f765ad8d2a): https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/85f5a935fe6095f585bfb12b584e0813126cbc2a
    - Changes: https://github.com/PX4/PX4-ECL/compare/29243ac5cbb5d27ac71744e88afcd786df6f748d...85f5a935fe6095f585bfb12b584e0813126cbc2a

    85f5a93 2021-05-11 bresch - [AUTO COMMIT] update change indication
f7c687e 2021-05-11 bresch - GNSS yaw unit test: test fallback to non yaw aiding mode
a4fe2b1 2021-05-11 bresch - yaw_align: let the mag control logic do the alignement and resets
2cc0230 2021-05-11 bresch - mag control: select mag mode before doing the reset
fe943cf 2021-05-11 bresch - mag reset: force align in MC custom mode (aka. indoor mode)
cadcc58 2021-05-11 bresch - mag reset: do not stop the fusion from inside the reset function
6248646 2021-05-11 bresch - EV yaw: move EV yaw reset out of resetMagHeading function
48722a2 2021-05-07 bresch - control: inhibit EV yaw from restarting when GPS aid wants to start
a685987 2021-05-07 bresch - GNSS yaw: unset yaw_align if fusion stops before takeoff
7ee6970 2021-05-04 bresch - GNSS yaw: add test case when measurement jumps
7a11871 2021-05-04 bresch - GNSS yaw tests: adjust timing
51197a5 2021-05-03 bresch - GNSS yaw selection logic refactor
 2021-05-17 21:52:00 -04:00
Daniel Agar c3884b5bc1 fake_imu (formally fake_gyro) updates for testing gyro filtering 
- fake_imu now publishes sine sweeps over 10 seconds
 - accel is also published so that fake IMU can be selected when the only option
 2021-05-17 20:26:25 -04:00
Daniel Agar 39c90c8fc9 Update submodule GPSDrivers to latest Mon May 17 12:38:15 UTC 2021 2021-05-17 19:25:45 -04:00
Daniel Agar 87b861d0f0 IMU_GYRO_CUTOFF and IMU_DGYRO_CUTOFF increase default slightly 2021-05-17 17:37:52 +02:00
Daniel Agar 3a3cc33d69 drivers/optical_flow/paw3902: require >= 10 valid consecutive readings before deciding mode changes 
- improve mode change requirements comments
 - reduce verified read/write retries (these are mostly wasting time)
 2021-05-16 20:29:06 -04:00
PX4 BuildBot 093854d29b Update submodule public_regulated_data_types to latest Sun May 16 12:39:17 UTC 2021 
- public_regulated_data_types in PX4/Firmware (b0b812007a76a7d3cfb3e1d2d32f245a681800d7): https://github.com/UAVCAN/public_regulated_data_types/commit/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae
    - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/0a773b93ce5c94e1d2791b180058cb9897fab7e1
    - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae...0a773b93ce5c94e1d2791b180058cb9897fab7e1

    0a773b9 2021-05-10 Kalyan Sriram - reg/drone: remove redundant timestamp in Velocity3Var (#117)
 2021-05-16 17:23:01 -04:00
PX4 BuildBot 723e803ab9 Update submodule public_regulated_data_types to latest Sun May 16 12:39:14 UTC 2021 
- public_regulated_data_types in PX4/Firmware (b00f416229a5bcef2bdad4ec29c90e4846c701af): https://github.com/UAVCAN/public_regulated_data_types/commit/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae
    - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/0a773b93ce5c94e1d2791b180058cb9897fab7e1
    - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae...0a773b93ce5c94e1d2791b180058cb9897fab7e1

    0a773b9 2021-05-10 Kalyan Sriram - reg/drone: remove redundant timestamp in Velocity3Var (#117)
 2021-05-16 17:22:40 -04:00
AlexKlimaj 4a93f7cea1 Add ARK CAN GPS Board Config 2021-05-16 13:21:44 -04:00
Beat Küng 9fbbcc9c73 mavlink ATTITUDE_TARGET: send also if vehicle_attitude_setpoint is not updated 
This is the case in MC acro
 2021-05-16 13:01:20 -04:00
Beat Küng 2a84afb6a2 mavlink: avoid 'stream xy not found' warnings on CONSTRAINED_FLASH targets 
e.g.:
WARN  [mavlink] stream ADSB_VEHICLE not found
WARN  [mavlink] stream GIMBAL_DEVICE_ATTITUDE_STATUS not found
WARN  [mavlink] stream GIMBAL_MANAGER_STATUS not found
WARN  [mavlink] stream GIMBAL_DEVICE_SET_ATTITUDE not found
WARN  [mavlink] stream GPS2_RAW not found
WARN  [mavlink] stream UTM_GLOBAL_POSITION not found
ERROR [mavlink] configure_streams_to_default() failed
 2021-05-16 13:01:20 -04:00
Jonas Vautherin 5f14ee2a97 busy -> invalid item 2021-05-13 12:22:16 +02:00
Beat Küng e77b4418a5 fix logger: use free() instead of 'delete[]' for _buffer 
The allocation got changed to px4_cache_aligned_alloc
 2021-05-11 18:12:56 +02:00
Igor Mišić 05a2d4d5a9 gps: updated submodule to fix for heading 2021-05-11 08:34:23 +02:00
Igor Mišić d9e31d67aa gps: Updated timeout time for the rover with moving base 
The MB rover will wait as long as possible to compute a navigation solution, possibly lowering the navigation rate all the way to 1 Hz while doing so.
 2021-05-11 08:34:23 +02:00
Silvan Fuhrer b7e563bdbe Airspeed selector: fix in_air_fixed_wing condition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer 596da5b7d3 Airspeed selector: use module params for FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer 2f73115b54 translate ASPD_STALL to FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer bf311ed77d addressed review comments (fixes in error message and comments) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer 63a53d48e7 FW Position controller: improve parameter sanity checks (provide more feedback) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer c8ec6b3d08 Airspeed selector: remove ASPD_STALL and replace by FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
RomanBapst 3ac8c23dd0 commander: added prearm check for geofence violation 
- if geofence action is not none, then don't allow arming outside of geofence

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-10 10:46:49 +03:00
RomanBapst 6215e6c7ec navigator: do not emit geofence warnings if system is not armed 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-10 10:46:49 +03:00
Daniel Agar c49c8932de commander: mag_calibration fail immediately if no mags available 2021-05-08 13:03:42 +02:00
Peter van der Perk 0c926250a2 UAVCANv1 cleanup and uORB over UAVCANV1 move to own subclass 2021-05-08 13:03:02 +02:00
Daniel Agar f15eefcc95 ekf2: selector increase status rate before potential instance change 2021-05-07 22:38:47 -04:00
Julian Oes 29730e30fa ekf2: don't timeout in HITL mode 
Otherwise ekf2 might not start if HITL isn't started within 30 seconds.
 2021-05-07 22:38:03 -04:00
Julian Oes ac97b5520c commander: assume power is fine for HITL 
This means that the preflight check indicator in QGC is green for HITL.
 2021-05-07 22:38:03 -04:00
Julian Oes 648a21f11d commander: ignore calibration in HITL 
The calibration is not found in HITL mode. Therefore, I suggest to
ignore this step and assume the calibration is fine.

This mostly fixes the preflight check indicator in QGC, arming was (for
some reason?) already possible.
 2021-05-07 22:38:03 -04:00
Hamish Willee d3fd03a014 airspeed calibration: instruct to blow into front of pitot 
... rather than across it
 2021-05-07 21:34:53 -04:00
PX4 BuildBot e265ebabc5 Update submodule ecl to latest Thu May 6 12:39:12 UTC 2021 
- ecl in PX4/Firmware (a300d32523e24df3f366a0d564b764261e1c1909): https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d
    - Changes: https://github.com/PX4/PX4-ECL/compare/a7b8afe420f438554ad90bcba0f1f4872325e75b...29243ac5cbb5d27ac71744e88afcd786df6f748d

    29243ac 2021-05-05 bresch - yaw_reset: reduce minimum vector length to compute yaw error
aad4840 2021-05-02 Kabir Mohammed - EKF: increase allowed difference between flow and gyro ODRs
 2021-05-06 13:53:40 -04:00
Silvan Fuhrer 08dab18a8b vtol_type: in FW, set min PWM to PWM_DEFAULT_MIN instead of PWM_MOTOR_OFF 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-06 10:20:24 +02:00
benjinne 099c2d13f6 dshot: add 3D capability 2021-05-06 08:12:07 +02:00
Daniel Agar 177ee4cbca drivers/optical_flow/paw3902: properly discard samples after mode change 
- respect mode 2 shutter requirements from datasheet (should not operate with Shutter < 0x01F4 in Mode 2)
 - sensor reset is handled by mode change
 2021-05-05 21:48:01 -04:00
Daniel Agar b1ebd16c61 ekf2: improve selector reset handling 
- handle reset count rollover (uint8_t)
 - compute full reset delta if primary estimator instance has changed or if we missed a reset
 2021-05-05 21:45:13 -04:00
Alessandro Simovic d1d5eba320 follow-me: log follow_target msg 2021-05-05 16:13:50 -04:00
Alessandro Simovic 48f3bd4078 follow-me: formatting 2021-05-05 16:13:50 -04:00
Alessandro Simovic 5f19eeaaa5 follow_target: copy also velocity fields from uorb 2021-05-05 16:13:50 -04:00
Alessandro Simovic 2d6bc9b6e0 follow_target: use actual velocity measurement 2021-05-05 16:13:50 -04:00
Alessandro Simovic 5d9b3504f7 follow-target: correctly set "updated" flag 2021-05-05 16:13:50 -04:00
Alessandro Simovic f1fca0939f follow-target: name variable correctly 2021-05-05 16:13:50 -04:00
David Sidrane 3702140e24 PWMOut:Arm once all channels are initalized. 2021-05-05 20:48:06 +02:00
David Sidrane 3d166d3279 PWM:Add Channel mask to up_pwm_servo_arm & up_pwm_servo_deinit 2021-05-05 20:48:06 +02:00