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20461 Commits
Author SHA1 Message Date
Julian Oes f9aa12eaa9 navigator: don't allow Land together with RTL item 
This is a check to protect a user from upload a mission which includes a
land_start marker as well as a RTL mission item.

This works around the problem that we experienced where the navigator
would switch to mission mode on RTL and start with land_start, and then
continue to the RTL item. At this point, navigator would send the
vehicle_command for RTL to commander which would deny it because it is
already in RTL mode. Thus navigator won't (re)set any items to actually
do RTL and it means the vehicle will just head to whatever setpoint it
received last.
 2019-12-23 21:47:16 +01:00
Julian Oes f8c10b706a navigator: check fixedwing mission for VTOL 
A VTOL mission can also contain a fixedwing landing. Therefore, I think,
it makes sense to run the fixedwing checks as well, however, don't check
for a landing start necessarily.
 2019-12-23 21:47:16 +01:00
Matthias Grob de95e3d274 commander: remove manual mode before geofence handling 2019-12-23 12:18:27 -05:00
Jin Chengde 34121e655b FW runway takeoff: add negative for min to support tricycle landing gear 
- if we used tricycle landing gear, we need the wheel to  touch the ground to control the direction
 2019-12-23 11:47:11 -05:00
dino 49cb21016a Ddded cli check for ism330dlc startup to prevent hardfault if no options are given. 2019-12-20 16:40:18 +01:00
Julian Kent e4a526e3b2 Don't sleep in middle of mavlink message reception 2019-12-19 11:43:03 -08:00
Christian Clauss 6dc55f97d4 More fixes for Python 3 compatibility (#13008) 
* More fixes for Python 3 compatibility

* Workaround if the six module is not pip installed

* Lose the semicolons
 2019-12-19 02:05:55 -08:00
Daniel Agar 7fd4db1881 commander: skip all mag checks if SYS_HAS_MAG is 0 2019-12-18 11:54:40 -08:00
Matthias Grob a46add9a93 PositionControl: isolate skip controller, leave away unnecessary include 2019-12-18 15:57:48 +01:00
Matthias Grob 8441bdb9b5 PositionControl: remove complicated internal control flags 2019-12-18 15:57:48 +01:00
Matthias Grob 83e51ad192 PositionControl: remove speed_xy constraint since it's anyways unused 2019-12-18 15:57:48 +01:00
Matthias Grob a4a9d50a97 ControlMath: refactor thrustToAttitude calculation 2019-12-18 15:57:48 +01:00
Matthias Grob 1a5b06d0cf FlightTasks: refactor NAN initializations, spacing 2019-12-18 15:57:48 +01:00
Matthias Grob ab4473319a Takeoff: add proper unit test 2019-12-18 15:57:48 +01:00
Matthias Grob 42dbddb156 mc_pos_control: adopt to module internal include convention 2019-12-18 15:57:48 +01:00
Matthias Grob 2303071df4 PositionControl: simplify constraint conditions 2019-12-18 15:57:48 +01:00
Matthias Grob 121d743049 PositionControl: clear setter interface naming, order, description 2019-12-18 15:57:48 +01:00
bazooka joe eac7b43f3e Remove rescaling Lat and Lon on VEHICLE_CMD 
relevant to VEHICLE_CMD_DO_REPOSITION and VEHICLE_CMD_NAV_TAKEOFF
its done on mavlink_receiver already
 2019-12-18 09:48:30 +01:00
Beat Küng e10a4c5002 refactor logger: move subscription initialization into separate class 2019-12-17 21:22:30 -08:00
Beat Küng 738ceab0ee Logger: dynamic number of subscriptions 
Keep a fixed-size array of 250 requested topics on the stack, then allocate
an array with LoggerSubscription with the exact required size.
 2019-12-17 21:22:30 -08:00
Beat Küng 2757647897 refactor logger: reduce required size of WrittenFormats 
by keeping only recursive topics in there. The rest is checked by looking
at previous _subscriptions.

Reduces stack size requirements when increasing MAX_TOPICS_NUM.
 2019-12-17 21:22:30 -08:00
David 020215f146 commander: don't allow arming during VTOL transition 2019-12-17 12:21:11 -08:00
Timothy Scott 7abadabc19 Added support for MAV_CMD_REQUEST_MESSAGE for mavlink streams 2019-12-16 06:45:53 -08:00
JaeyoungLim 94e05362e1 Make cellular status logging default 2019-12-14 21:56:12 +11:00
Daniel Agar de9e4dda4c battery: delete unused armed 2019-12-12 09:48:45 -05:00
Timothy Scott 11bbc8ae34 Code cleanup 2019-12-12 04:39:53 -08:00
Silvan Fuhrer 1617997dde VTOL: instantly do VTOL mode changes if landed and disarmed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-12-11 20:10:25 -05:00
bresch d6ffdc09b8 FlightTaskManualPosition: use new Matrix available functions to cast 
from a vector of 4 elements to Vector2f and from Vector2f to Vector3f.
 2019-12-11 17:21:57 +02:00
bresch d0bdd80129 FlightTaskManualPosition: Remove MPC_ACC_HOR_ESTM parameter. This was 
used back in time when no soothing was done to avoid large steps when
the estimator stops sending a maximum velocity (e.g.:GPS gained during
optical flow flight). Since smoothing is applied later, this is not
required anymore.
 2019-12-11 17:21:57 +02:00
Matthias Grob a3d30fc970 mc_pos_control/FlightTask: apply nit-pick review findings 2019-12-11 14:03:16 +01:00
bresch 82b4e766a5 AutoMapper2: re-introduce gradual vertical speed limitation during landing between alt1 and alt2 2019-12-11 14:03:16 +01:00
bresch 4d0786d5b4 FlightTask: use centralized _dist_to_ground computed in FlightTask instead of 
recomputing it in AutoMapper, AutoMapper2 and AutoLine
 2019-12-11 14:03:16 +01:00
bresch 4ba672a7ba ManualPosition: Limit horizontal speed during landing 2019-12-11 14:03:16 +01:00
David Jablonski 944bf54d84 Use correct params for DO_MOUNT_CONTROL 
If MAV_MOUNT_MODE is GPS_POINT, the mavlink documentation recommends to
use params4-6. In the current implementation params1-3 were used
instead.
 2019-12-11 09:00:17 +01:00
PX4 BuildBot 4e75f54fcf Update submodule matrix to latest Tue Dec 10 00:39:17 UTC 2019 
- matrix in PX4/Firmware (478a27ee8843a9bd91a0254f6b01a6a9c01946a4): https://github.com/PX4/Matrix/commit/a8009a36a3668da0cbab0cb028b6997cd8179dc1
    - matrix current upstream: https://github.com/PX4/Matrix/commit/4f3565da94d00c4cd1feb560f1f72a81296522f8
    - Changes: https://github.com/PX4/Matrix/compare/a8009a36a3668da0cbab0cb028b6997cd8179dc1...4f3565da94d00c4cd1feb560f1f72a81296522f8

    4f3565d 2019-12-09 kritz - Add asserts (#115)
2f63981 2019-12-06 kritz - Add several functions that are useful for coavriance matrices: (#114)
5cbcf60 2019-12-05 kritz - Set Matrix's col amd row to single value (#113)
ef442fa 2019-12-05 kritz - Getter function for the diag elements of slice (#112)
de6a2d3 2019-12-04 kritz - Slice assign value (#111)
 2019-12-09 20:42:39 -05:00
Daniel Agar b4fa915c86 uORB_tests: fix queue simulation and cleanup initializations 2019-12-09 16:50:33 -05:00
David Sidrane 1298f6840f px4io:Lower Police light activation 2019-12-09 16:23:16 -05:00
Julian Oes abf174282f navigator: fix VTOL RTL corner case 
This fixes a corner case for VTOL RTL with RTL_TYPE 1.
RTL_TYPE 1 means that the VTOL skips all waypoints on RTL and jumps to
the land waypoint at the end.

During a mission in fixedwing mode it will continue to fly in fixedwing
mode and then do a transition before landing.

However, if RTL is engaged right at the moment of the front transition,
the transition waypoint is not inserted and the VTOL will try to land in
fixedwing mode at the mission land location.

This corner case is fixed in this patch by also considering the
"transition after takeoff" state.
 2019-12-09 12:27:46 -05:00
Matthias Grob 904ab16558 Fix trailing whitespace, EOF newline, indentation 2019-12-09 13:22:19 +01:00
Morten Fyhn Amundsen 1d3da86abb mavlink_receiver: Set distance_sensor id field equal to mavlink msg 
The id field should be copied from the mavlink message, not
simply set to MAV_DISTANCE_SENSOR_LASER (which is 0).
 2019-12-09 09:53:32 +01:00
Julian Oes 2c73aefafe tests: workaround against astyle 3.1 bug 
This prevents astyle 3.1 from changing these 3 matrices without a good
reason.
 2019-12-09 09:28:27 +01:00
Beat Küng fbcc6a96bc fix mavlink: fixes for mavlink on USB instance 
Open the UART after adding the instance: mavlink_open_uart() might block,
and in that case the parent task waiting for mavlink to be started times
out.

And while waiting for the USB UART device to come up:
- check for _task_should_exit
- check for check_requested_subscriptions()

Side-effects when USB is not plugged in during boot:
- reduces boot duration by 100ms
- fixes duplicate instance name in 'top':
 201 mavlink_if0                     1  0.000  1328/ 2572 100 (100)  w:sig  3
 204 mavlink_if0                   572  4.221  1632/ 2540 100 (100)  w:sig  4
- 'mavlink stop-all' now stops the usb instance as well
 2019-12-06 01:00:06 -05:00
Beat Küng e003b1ce79 mavlink: remove unused get_uart_fd(unsigned index) method 2019-12-06 01:00:06 -05:00
Timothy Scott 993fa5bd37 Refactored to work with new battery_status module 2019-12-05 16:38:04 +01:00
Timothy Scott d7bb5d46bb Created new AnalogBattery class 2019-12-05 16:38:04 +01:00
Timothy Scott bff1df7080 Refactored battery library for multiple instances 2019-12-05 16:38:04 +01:00
kamilritz d7b95870b9 Update to merged ECL commit 2019-12-05 11:29:29 +01:00
kamilritz 24efc1b79c Set not yet supported estimator_innovations fields to zero 2019-12-05 11:29:29 +01:00
kamilritz 5d0965e83a Log height innovation sensor specific 2019-12-05 11:29:29 +01:00
kamilritz 61b569245b Reorder innovations in LPE 2019-12-05 11:29:29 +01:00