fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity
40,010 Commits 852 Branches 161 Tags
Commit Graph

483 Commits

Author SHA1 Message Date
Daniel Agar
591b7b6934 ekf2: add new estimator_gps_status.msg 
- includes the estimator status check fail bits broken out as descriptive booleans
 - absorbs ekf_gps_drift.msg
 2022-02-21 08:58:59 -05:00
Jukka Laitinen
9449ed6e66 Add support for protected build in drivers, systemcmds and modules Kconfig 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-18 07:58:58 +01:00
Beat Küng
a4206ba553 logger: log excluded optional topics 
Can be displayed with:
ulog_info <file> -m excluded_optional_topics
 2022-02-01 08:40:02 +01:00
Roman Dvořák
2b1229786e Multi instance SHT3x driver support 2022-01-31 21:38:26 -05:00
Roman Dvořák
ed475ca324 SHT3x driver 
SHT3x driver, clean code
changes leading to merge TFHT with CUAV hygrometer
Delete humidity_temperature.msg
Update CMakeLists.txt
rename 'atmosphefir_quantities' to 'hygrometers'
fix logging
removed cmake files
fix PR issues
 2022-01-31 21:38:26 -05:00
Jukka Laitinen
a2dc6e63cf Fix sdcard logging when crypto is used but algorithm is set to NONE 
If the board supports encrypting logfiles, but the parameter SDCARD_ALGORITHM is set to NONE,
the log should be written to the sdcard in plaintext format. This fixes a bug which caused
logger to hang in mutex instead.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:29:51 -05:00
Daniel Agar
0104b84289 logger: PX4_SITL log all ekf2 publications at full rate for replay 2022-01-28 07:46:54 +01:00
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
Thomas Stastny
082e320191 integrate optional NPFG library for wind-aware fixed-wing guidance 2022-01-14 22:05:53 +01:00
Julian Oes
ca1fabf80a logger: add rate factor to slow logging down 
This is required for the Mantis to reduce the log streaming rate.
 2022-01-10 23:04:10 -05:00
Silvan Fuhrer
936f2dff52 logger: log both instances of vehicle_thrust/torque_setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Igor Mišić
89f828fba7 pps_capture: advertise for logging 2021-12-17 07:56:08 +01:00
Michael Schaeuble
064a602962 Add PPS capture message to logged topics, simplify timestamp logic and small cleanup 2021-12-17 07:56:08 +01:00
alexklimaj
31af09f8e7 Fix uavcan distance sensor not being logged 2021-12-10 07:19:34 +01:00
Matthias Grob
c522a8b15a Compute RTL time and react if lower than flight time 
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
 2021-11-24 14:10:24 +01:00
Beat Küng
a0e43bca96 msg: remove unused vehicle_actuator_setpoint topic 2021-11-23 12:40:22 -05:00
Beat Küng
4ba84d56c9 logger: introduce optional topics 
The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.

This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
 2021-11-15 09:02:03 -05:00
Daniel Agar
177fe4bade logger: log write file allow single retry on write failure 2021-11-13 20:32:29 +01:00
bresch
d47f9f155a MC mixer: replace multirotor_motor_limits by control_allocator_status 
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix

MCRateControl: use control_allocator_status to get saturation info
 2021-11-09 10:35:10 -05:00
Matthias Grob
fabf865411 Use backwards compatible manual_control_setpoint instead of manual_control_input 2021-11-09 16:05:25 +01:00
Matthias Grob
956997eb1e Replace arm_request and mode_request with combined action_request 
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
 2021-11-09 16:05:25 +01:00
Matthias Grob
052e29267d Use mode_request for RC mode switching 2021-11-09 16:05:25 +01:00
Matthias Grob
f8e4846851 Use arm_request for manual killing 2021-11-09 16:05:25 +01:00
Julian Oes
6a6b8d49fc msg: re-use manual_control_input in setpoint 
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
 2021-11-09 16:05:25 +01:00
bresch
3f1025fb1e FD: add dedicated topic to log more internal states 
log imbalanced propeller check metric

add failure_detector_status message
 2021-11-05 09:45:52 -04:00
Daniel Agar
1461eb0e32 logger: increase optimization to ${MAX_CUSTOM_OPT_LEVEL} 
- ${MAX_CUSTOM_OPT_LEVEL} is -O2 on boards that aren't flash constrained
 2021-11-01 09:13:12 +01:00
Beat Küng
4c73ac3805 uorb: use single byte for internal types in o_fields metadata 
Reduces flash usage by ~9KB.
 2021-10-20 08:10:05 +02:00
Beat Küng
a51c465b54 control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets 2021-10-18 18:45:19 -04:00
Peter van der Perk
d5e3e9a7bc [Kconfig] Decompose Kconfig, now each module has its own Kconfig 
Which is better for versioning and decomposability
 2021-10-07 10:09:01 -04:00
bresch
ec178c8745 create new mag_bias_estimator module 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-10-02 21:25:21 -04:00
bresch
0498ee92d0 mc atune: add multicopter attitude auto-tuner module 2021-10-02 18:12:05 -04:00
bresch
d504b49695 mc_rate: compute control energy and publish to status msg 2021-10-02 18:12:05 -04:00
David Sidrane
25a27d26e0 logger:log_writer_file Do not try to store ulog name on systems without hardfault logging 2021-09-29 23:51:25 -04:00
Jukka Laitinen
6cae4c92e7 Add a header to logfile encryption key exchange file 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
9a4ef709ca Add parameters for configuring the logfile encryption 
SDLOG_ALGORITHM for selecting the crypto algorithm
SDLOG_KEY for selecting the key in keystore to use with the algorithm.
  for symmetric algorithms which are currently supported, this is just a free
  slot to be used, the key is generated at logging start
SDLOG_EXCH_KEY for selecting an RSA2048 key for encrypting the SDLOG_KEY

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
9472f79307 Take crypto interfaces into use in logger, to encrypt ulog data 
- Generate a symmetric encryption key and a nonce value
- Use a public key in keystore to encrypt the symmteric key
- Write the encrypted key and the nonce value to disk into .ulgk, name matching with the encrypted log file
- use quick stream encryption to crypt the .ulg file contents

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Igor Mišić
3a148bc777 camera_trigger: remove camera trigger secondary 
camera_trigger: publish trigger when capture feedback is not enabled
 2021-09-23 09:21:56 +02:00
Beat Küng
0a1ae37c1a logger: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
38eca0c64b logger: start session & log index at 100 
To avoid leading zeros, as the events interface does not support that (yet)
 2021-09-11 14:08:41 -04:00
Jukka Laitinen
733b1e9e67 Increase logger stack size for 64 bit targets 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-08-24 10:16:27 -04:00
David Sidrane
bb913ae11a system_load:Track Dynamic PID hash 2021-08-13 14:22:00 -04:00
Beat Küng
265c77b02a logger: remove unused topics, move some to debug profile 2021-08-12 10:09:11 -04:00
Beat Küng
c0285611ec fix logger: turn off lockstep when starting log streaming 
Lockstep created deadlocks between logger and mavlink, due to logger
waiting for mavlink and mavlink waiting for lockstep.
 2021-08-12 10:09:11 -04:00
Beat Küng
f88f224fe6 logger: avoid data bursts by distributing slow subscription updates over time 
There's an increasing amount of slow logged topics at 1-2Hz, which were all
updated in the same logger iteration, leading to data bursts. For log
streaming this started to exceed uart buffer sizes. By distributing updates
more equal over time those bursts are removed, reducing buffer size
requirements.

Tests showed during steady state a reduction of maximum topic updates per
iteration from 40 down to 17.
Also the SD log buffer fill level is more constant.
 2021-08-12 10:09:11 -04:00
Beat Küng
e1ac6fe297 logger: send post-flight perf data when stopping mavlink log streaming 
- send out VEHICLE_CMD_RESULT_IN_PROGRESS
- delete the ulog object when receiving the ACK from logger, instead of
  the stop command
 2021-08-12 10:09:11 -04:00
Beat Küng
09a42e7af2 gps: extend GPS_DUMP_COMM param to enable RTCM output + logging 2021-08-12 10:06:39 -04:00
Daniel Agar
93aa6e3f78 ekf2: baro bias publish minor cleanup 
- naming consistency (estimator prefix as "namespace")
 - only publish if baro is available and bias is changing as a small logging optimization
 - avoid unnecessary copying (get const reference to status directly)
 - trivial code style fixes
 2021-08-02 13:59:38 -04:00
Dima Ponomarev
d08d0443bc
Add internal combustion engine status uavcan bridge and mavlink EFI_STATUS stream 2021-07-30 22:31:43 -04:00
bresch
54c7e74de3 EKF: add baro bias estimator using GNSS altitude 2021-07-19 16:53:45 -04:00
Daniel Agar
06cd1c79dd logger: limit distance_sensor to 2 instances 2021-07-13 14:11:42 -04:00