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Author SHA1 Message Date
Daniel Agar dab90f86a4 drivers/gps: limit to ublox only flash constrained targets 2021-01-18 09:30:01 +01:00
Daniel Agar e4d223f098 boards: CUAV Nora fix BMI088 orientation 2021-01-17 23:19:18 -05:00
Daniel Agar 1ec10bfcc6 boards: disable CONFIG_ARMV7M_LAZYFPU again (#16573) 
- this was causing hard faults on the CUAV Nora and possibly other boards, disabling everywhere until we fully understand the root cause
 2021-01-17 22:40:21 -05:00
Daniel Agar 3abe2e82d1 mpu9250: create dedicated i2c version and delete legacy driver 
- update crazyflie and bbblue usage
 - eventually this should be merged with the SPI version after interface
changes are made
 2021-01-17 16:11:19 -05:00
Daniel Agar c9a7894230 boards: bitcraze crazyflie fix boot 
- add console to USART3 for now
 2021-01-17 16:11:19 -05:00
Daniel Agar 4d7b875ee2 flight_mode_manager: merge with flight_tasks 2021-01-17 15:46:30 +01:00
Daniel Agar 420ceb76fc cmake: NuttX generated vscode launch.json requires DEBUG_DEVICE found 2021-01-14 10:32:26 -05:00
Daniel Agar 52b07a932a github actions build and store cannode uavcan firmware 2021-01-14 08:52:38 -05:00
Daniel Agar e96571b45d uavcannode: GPS working on cuav_can-gps-v1 
- use sensor_gps directly from sensor rather than vehicle_gps_position (aggregated value)
 2021-01-13 22:06:46 -05:00
Daniel Agar d8e8e23947 vscode: add cuav_can-gps-v1_canbootloader variant 2021-01-13 22:06:46 -05:00
Daniel Agar 58909b208d boards: cuav can-gps-v1 add safety button and LED 2021-01-13 22:06:46 -05:00
Daniel Agar a894ca30e8 cmake: add STM32F412CE debug helper 2021-01-13 22:06:46 -05:00
Daniel Agar a0d8d5ac74 sensors/vehicle_gps_position: untangle and remove unnecessary state 2021-01-13 20:17:49 -05:00
Daniel Agar bc8ec5d1f5 uavcannode: support optical_flow 2021-01-13 19:35:28 -05:00
Daniel Agar a57b9f9381 delete drv_baro.h, drv_mag.h, drv_range_finder.h, drv_device.h and purge UAVCAN CDev usage 2021-01-12 22:04:52 -05:00
Daniel Agar 7f5fae91b0 boards: mro ctrl zero f7 fix default power module calibration 2021-01-12 16:51:05 -05:00
Daniel Agar 48f125f150 estimated IMU bias preflight checks 
- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
 - ekf2 publish estimated bias limits in estimator_sensor_bias
 - preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
 2021-01-12 09:09:42 +01:00
Daniel Agar cb74cb8692 boards: enable CONFIG_ARMV7M_LAZYFPU everywhere 2021-01-12 09:04:38 +01:00
Daniel Agar abec2bd8df msg: estimator_status_flags shorten fields 
- previously this message exceeded the logger total field length (1500 bytes)
 2021-01-11 11:49:51 -05:00
Daniel Agar 04f9ada500 ekf2: selector improve fallback selection when the primary becomes unhealthy 
- if an ekf instance becomes unhealthy prefer switching to the next best healthy instance on a different IMU
 2021-01-11 09:38:26 -05:00
Daniel Agar 967d35a6b6 rate limit most parameter_update subscriptions 
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
 - limit modules from updating faster than once per second
 2021-01-10 21:09:15 -05:00
Daniel Agar 70e503cb91 rotation: use Dcmf for all rotations that aren't direct swaps 
- increase optimization to ${MAX_CUSTOM_OPT_LEVEL} (max per board)
 2021-01-10 18:08:41 -05:00
Daniel Agar f73d93ef6c ekf2: selector improve status reporting 
- publish estimator_selector_status at minimal rate or immediately on change
 - log all estimator_selector_status updates
 2021-01-10 19:25:53 +01:00
Daniel Agar 763c3b8fda boards: start enabling multi-EKF by default on F7/H7 2021-01-10 17:56:34 +01:00
Daniel Agar 662f177830 ekf2: multi instance numbering consistent with uORB publication instances 2021-01-09 13:20:26 -05:00
Daniel Agar c3fc96fd42 uORB::PublicationMulti add get_instance() 2021-01-09 13:20:26 -05:00
Daniel Agar c6af260a41 log_message increase queue depth 2->4 2021-01-09 11:04:32 -05:00
Daniel Agar b9a721726d sensors/vehicle_magnetometer: respect calibration offset update success 
- the magnetometer calibration offset setter returns false if the new offset change is negligible
 2021-01-08 15:34:48 -05:00
Daniel Agar bf330a51b2 sensors/vehicle_magnetometer: reduce offset update message length to fit 2021-01-08 01:22:31 -05:00
Daniel AgarandPaul Riseborough 88f8da27ef save learned mag bias per sensor (Multi-EKF support) 
- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
 - this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
 - ekf2 reset mag mag bias on any magnetometer or calibration change
 - use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-01-07 09:54:13 -05:00
Daniel Agar 6c9072720e invensense/icm42688p: use full 20 bit data, increase ODR, disable all filters 2021-01-06 17:03:39 -05:00
Daniel AgarandPX4 BuildBot b94e346488 Update submodule sitl_gazebo to latest Tue Jan 5 12:40:40 UTC 2021 (#16493) 
- sitl_gazebo in PX4/Firmware (850d0bc588): https://github.com/PX4/PX4-SITL_gazebo/commit/054e0a1be67b715ca1802397082e7814a1427f52
    - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/44de4acc3f9cf9e44db58006f99ea190d217017a
    - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/054e0a1be67b715ca1802397082e7814a1427f52...44de4acc3f9cf9e44db58006f99ea190d217017a

    44de4ac 2021-01-02 Lorenz Meier - Update README.md

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2021-01-05 19:34:11 +01:00
Daniel Agar bc1e9f72f7 Jenkins hardware temporarily remove px4_fmu-v2 2021-01-04 09:30:47 -05:00
Daniel Agar 98cff94702 px4_work_queue: directly support SITL lockstep 
- the purpose is to ensure that every WorkItem (and WorkItems scheduled
by WorkItems) is allowed to run to completion every step
 - per workqueue register a lockstep component whenever a work item is
added (if not already registered)
 - once the work queue is empty unregister component
 2021-01-04 09:38:05 +01:00
Daniel Agar 95dd2f7e8d rc/dsm: remove system field check, add new validity checks 
- unfortunately we can't depend on the system field due to potential
external binding and non-genuine Spektrum equipment
 - reject any DSM frame with duplicate channels
 - add 16 channel mask
 - tighten valid PWM range 990-2010us (±100% travel is 1102-1898µs)
 - update RCTest rejected frame count
 2021-01-01 14:26:36 +01:00
Daniel Agar d7b89ecc86 boards: px4/fmu-v5 disable px4io in rc.board_defaults 
- avoid keeping this kind of logic in the common rcS
 2021-01-01 14:12:26 +01:00
Daniel Agar 404f74f996 boards: mro/pixracerpro add flight_mode_manager 2020-12-30 10:25:08 -05:00
Daniel Agar 49d4cc7d5b commander: CMD_NAV_LAND/CMD_NAV_PRECLAND reply RESULT_ACCEPTED unless transition is denied 2020-12-30 12:05:41 +01:00
Daniel Agar 91f5f26618 commander: main_state_transition call trivial style fixes 2020-12-30 00:26:14 +01:00
Daniel AgarandMathieu Bresciani 4f62355dec msg: new estimator_status_flags message for more accessible ekf2 status logging 
- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
 - this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
 - for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2020-12-29 11:27:21 -05:00
Daniel Agar adb98d5702 mavlink: move HIL_ACTUATOR_CONTROLS to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar 3b20310e9c mavlink: move POSITION_TARGET_GLOBAL_INT to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar 672a1c90aa mavlink: move POSITION_TARGET_LOCAL_NED to separate streams header 
- position type_mask
 2020-12-28 11:09:46 +01:00
Daniel Agar 6b1d02feb7 mavlink: move RC_CHANNELS to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar 48be6962d1 mavlink: move MANUAL_CONTROL to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar 629d03b684 mavlink: move TRAJECTORY_REPRESENTATION_WAYPOINTS to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar 5762c3b356 mavlink: move NAV_CONTROLLER_OUTPUT to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar 9f57df75e8 remove rotation 41 (ROLL_270_YAW_180) 
- duplicate of 31 (ROLL_90_PITCH_180)
 2020-12-28 11:07:08 +01:00
Daniel Agar a66cb0cbaf mavlink: check TX buffer before processing command ack 2020-12-28 11:05:42 +01:00
Daniel Agar ceadcd74d0 mavlink: CAMERA_TRIGGER stream check free tx buf before send 2020-12-28 11:03:53 +01:00
Daniel Agar ae706537b8 mavlink: CAMERA_IMAGE_CAPTURED stream check free tx buf before send 2020-12-28 11:03:53 +01:00
Daniel Agar 27b631e827 mavlink: ADSB_VEHICLE stream check free tx buf before send 2020-12-28 11:03:53 +01:00
Daniel Agar 0d72b47571 mavlink: COLLISION stream check free tx buf before send 2020-12-28 11:03:53 +01:00
Daniel Agar dcb897307d mavlink: HEARTBEAT stream check free tx buf before send 2020-12-28 11:03:53 +01:00
Daniel Agar 02a08c42b7 tests: perf don't bother printing all perf counters 2020-12-27 15:29:45 -05:00
Daniel Agar 12bf035642 uORB: tests limit latency to only orb_test_medium and remove some unnecessary output 2020-12-27 15:29:45 -05:00
Daniel Agar 409ea2ac02 mavlink: parameters manually mark active minimal QGC set on first send 2020-12-27 13:54:03 -05:00
Daniel Agar 092060cde2 posix: improve error out for mlockall() and pthread_create 
- add strerror
 - mlockall skipped in lockstep builds (ENABLE_LOCKSTEP_SCHEDULER)
 2020-12-27 12:43:32 -05:00
Daniel Agar 48da0055a1 boards: add initial mRo Pixracer Pro (M10064C) support 2020-12-27 12:12:15 -05:00
Daniel Agar 92afe45f7f vtol_att_control: improve readability of fill_actuator_outputs() 
- vtol standard pass through landing gear for MC and flaps for FW
 2020-12-24 09:29:17 -05:00
Daniel Agar c05c213042 mavlink: ALTITUDE stream initialize local_pos 2020-12-18 08:32:04 +01:00
Daniel Agar 74083d6bd1 optical_flow/paw3902: minor improvements 
- verify register writes
 - cleanly reset on lighting mode changes as per the datasheet
 - perf counters for mode switches and other errors
 - cleanly reset on false motion detection
 - minimize sleep on reset
 - allowing setting custom rotation yaw angle directly on command line with -Y (ignoring SENS_FLOW_ROT)
 - enable LED output
 2020-12-16 20:04:46 -05:00
Daniel Agar 43b4cf39bd sitl_gazebo build single threaded 
- building sitl_gazebo in parallel within a parallel PX4 build isn't load balanced
 2020-12-16 19:45:08 -05:00
Daniel Agar 4d30f327f9 Github Actions: skip Mavros tiltrotor mission for now (#16405) 2020-12-16 17:34:32 +01:00
Daniel Agar a152fb65cb parameters: remove unnecessary duplicated shutdown lock in param_save_default() 
- param_export already takes the shutdown lock
 2020-12-16 10:50:05 -05:00
Daniel Agar c7db0942ba sensors: vehicle_imu don't round measured accel and gyro sample rates 2020-12-16 10:12:27 -05:00
Daniel Agar bf5ee99952 sensors: acceleration always get accel rate from vehicle_imu_status 
- sensor rate is used for control data low pass and notch filters
 2020-12-16 10:12:27 -05:00
Daniel Agar 7038cb8518 sensors: angular_velocity always get gyro rate from vehicle_imu_status 
- sensor rate is used for control data low pass and notch filters
 2020-12-16 10:12:27 -05:00
Daniel Agar 336176b2f0 Mavlink FLIGHT_INFORMATION fix arming time (ms -> us) and add takeoff time 
- fixes https://github.com/PX4/PX4-Autopilot/issues/16393
 2020-12-16 09:38:05 -05:00
Daniel Agar 8e14e13369 README.md update PX4/Firmware -> PX4/PX4-Autopilot 2020-12-15 20:27:03 -05:00
Daniel Agar 0433f4d33c land_detector: decrease default LNDFW_AIRSPD_MAX 8 -> 6 m/s 2020-12-11 21:58:43 +01:00
Daniel Agar ae2b1a265c commander: POSCTL optical flow aiding continue updating GPOS validity 
- updating the global position validity should happen regardless of
being in manual position control mode with only optical flow
 - condition_global_position_valid needs to be accurate to adjudicate
main state changes (eg going into AUTO MISSION)
 2020-12-11 15:33:50 -05:00
Daniel Agar 6bda8af97c commander: merge duplicated position and velocity validity checks 2020-12-11 15:33:50 -05:00
Daniel Agar 5cd4a9c73f commander: global position validity respect local position xy_valid 2020-12-11 15:33:50 -05:00
Daniel AgarandMatthias Grob ef6209ba03 new manual_control_switches msg (split out of manual_control_setpoint) (#16270) 
- split out switches from manual_control_setpoint into new message manual_control_switches
 - manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
 - simple switch debounce in rc_update (2 consecutive identical decodes required)
 - manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
 - manual_control_setpoint publish at minimal rate unless changing
 - commander handle landing gear switch for manual modes
 - processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
     - a future step will be to finally drop mode_switch and accompanying switches entirely

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2020-12-11 12:11:35 -05:00
Daniel Agar 25ef76b3b8 navigator: fix LOITER_TO_ALT 
- this was overzealously removed in https://github.com/PX4/PX4-Autopilot/pull/15677
 2020-12-11 16:28:08 +01:00
Daniel Agar d44e537084 ekf2: update to new ecl to fix fault status getter 
- estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits
 2020-12-10 12:45:41 -05:00
Daniel AgarandPX4 BuildBot cf010f44d0 Update submodule sitl_gazebo to latest Wed Dec 9 00:39:59 UTC 2020 (#16354) 
- sitl_gazebo in PX4/Firmware (cd1ffa63cd): https://github.com/PX4/PX4-SITL_gazebo/commit/e01ba8f78c185fab0b0ceb1e6407b5e1cc7c07d4
    - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/19981d61cfe656d2985fef5285b4a4d14f3be199
    - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/e01ba8f78c185fab0b0ceb1e6407b5e1cc7c07d4...19981d61cfe656d2985fef5285b4a4d14f3be199

    19981d6 2020-12-08 Flavio Tonelli - Fix plugin misspelling (#665)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2020-12-09 08:43:45 +01:00
Daniel Agar cd1ffa63cd commander: auto transition to LOITER if disarmed with no RC only requires a valid global position 2020-12-08 18:26:03 -05:00
Daniel Agar 82746af07a ekf2: use new IMU and mag bias and variance getters in ecl/EKF 
- reset IMU bias on calibration change (only works with multi-ekf)
 - standardize PX4_INFO/PX4_WARN/PX4_ERR output for multi-ekf with instance number
 - https://github.com/PX4/PX4-ECL/pull/924
 2020-12-08 16:06:18 -05:00
Daniel Agar 8f5f564c05 commander: preflightcheck only report failure once per sensor type 
- either way the user action is to recalibrate, so we might as well try
to minimize the noise/annoyance
 2020-12-08 13:18:22 -05:00
Daniel Agar 681590c510 ekf2: multi-ekf force initial selection (and sensor_selection publication) 
- depending on the particular sensor configuration and startup timing we were getting an initial sensor_selection publication without valid accel & gyro device ids (only applies to Multi-EKF)
 - fix faulty accel and gyro device ids
 - initialize unused test ratio fields to NAN for logging clarity
 2020-12-07 21:37:24 -05:00
Daniel AgarandPX4 BuildBot 5e6189ee5a Update submodule mavlink v2.0 to latest Fri Dec 4 00:39:20 UTC 2020 
- mavlink v2.0 in PX4/Firmware (dce7cfbddefe53fd0381582121883134a4df1b73): https://github.com/mavlink/c_library_v2/commit/1de17e039b27c541ccdb9ed214ea41aaaf180ae0
    - mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/8f481688d70541e8f91ee8c4fc233ca70cd7fad9
    - Changes: https://github.com/mavlink/c_library_v2/compare/1de17e039b27c541ccdb9ed214ea41aaaf180ae0...8f481688d70541e8f91ee8c4fc233ca70cd7fad9

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2020-12-03 23:49:28 -05:00
Daniel Agar cc979d2249 Update submodule GPSDrivers to latest Fri Dec 4 00:39:25 UTC 2020 
- devices in PX4/Firmware (1303a8f17c5174a02b1c3ed22acd88da499e5a53): https://github/commit/0bf63c9820f4af997d0a48743dcc1008d119e49c
    - devices current upstream: https://github/commit/5afc11588b2b6ec0861ecf9ef673c7a9e2109129
    - Changes: https://github/compare/0bf63c9820f4af997d0a48743dcc1008d119e49c...5afc11588b2b6ec0861ecf9ef673c7a9e2109129

    5afc115 2020-11-30 Beat Küng - gps_helper: define M_PI_F if not defined (was missing for ubx)
 2020-12-03 23:48:29 -05:00
Daniel Agar 01620420fa ekf2: update to latest ecl with RingBuffer minor improvements 
- includes https://github.com/PX4/PX4-ECL/pull/938
 2020-12-03 21:17:22 -05:00
Daniel Agar 378c0b5093 parameters: find and get perf counters aren't threadsafe 2020-12-02 10:11:42 -05:00
Daniel Agar e69aea0a9b parameters: don't keep in memory if set to default 2020-12-02 10:11:42 -05:00
Daniel Agar c305774fae commander: move vehicle_status into class 2020-12-02 10:20:50 +01:00
Daniel Agar b7de10fca3 commander: move vehicle_status_flags to class 2020-12-02 10:20:50 +01:00
Daniel Agar dc435c4c90 commander: control_status_leds() use _armed directly 2020-12-02 10:20:50 +01:00
Daniel Agar 8ac2581d7b commander: handle_command() use _armed directly 2020-12-02 10:20:50 +01:00
Daniel Agar 741a0b43e8 commander: move mavlink_log_pub into class 2020-12-02 10:20:50 +01:00
Daniel Agar a03b91c01e commander: move answer_command() to class 2020-12-02 10:20:50 +01:00
Daniel Agar d5dc7e2873 commander: move actuator_armed state into class 2020-12-02 10:20:50 +01:00
Daniel Agar 85f3ab1960 rc_update: only decode if RC input is stable (channel count and source) 2020-12-01 09:40:24 -05:00
Daniel Agar d654be761c ms4525: remove old voltage corrections 
- this isn't correct for all boards and we now have airspeed scale
factor estimation
 2020-12-01 09:34:47 -05:00
Daniel Agar ec9f8998a7 commander: limit mode switch re-evaluation logic on estimate validity changes 
- re-evaluating mode switches on altitude or position validity change can create confusing when also relying on mode changes via mavlink
 - limiting this logic to only apply when disarmed solves the original problem (respecting initial switch position) without introducing potential problems mid-flight
 - fixes https://github.com/PX4/PX4-Autopilot/issues/16235
 2020-11-25 21:14:55 -05:00
Daniel Agar 5e855c6747 commander: preflightcheck and calibration remove hash (#) from mavlink message 
- QGroundControl is reading these as "Hash" and I don't think it's ambiguous if removed
 2020-11-23 21:56:23 -05:00
Daniel Agar 71306f7f83 update all container tags to 2020-11-18 2020-11-19 13:37:57 -05:00
Daniel Agar 1425d87640 boards: px4_fmu-v5 sync all defconfigs 2020-11-19 11:21:47 -05:00