afe857dfe6
commander: rework preflight GPS checks
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Fix the bug allowing arming without GPS checks passed in the first 20 seconds after gaining GPS lock when COM_ARM_WO_GPS is set to 0
Allow 10 seconds after boot for EKF quality checks to pass before reporting failure to allow EKF to stabilise.
Move GPS quality checking and reporting to after all innovation and bias checks.
Make messages more informative.
Add missing GPS speed accuracy check.
2017-12-04 09:09:54 +00:00
c09eecbab1
commander: prevent ekf checking being bypassed if GPS checking is disabled
2017-12-04 09:09:54 +00:00
ddfe077f7c
commander: strengthen pre-flight fail checking
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The commander checks use instantaneous values which are vulnerable to false negatives or positives with noisy data or transient faults.
This patch checks the estimators published pre flight check status which is based on persistent checks using filtered data.
2017-12-04 09:09:54 +00:00
fc80be0917
ekf2: improve preflight checks and publish status
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Separate the vertical and horizontal checks for use by local position validity reporting
Add checking of yaw using a decaying envelope filter to the horizontal checks.
Publish the check result to estimator_status topic.
2017-12-04 09:09:54 +00:00
6bb3e65d23
Make non-wrapping/scrolling table
2017-12-03 14:10:50 +00:00
c551496a41
Stop parameter names from wrapping in markdown table
2017-12-03 14:10:50 +00:00
1b7d3883a4
Commander: Obey override / manual reversion mode from external override device
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This change will force commander into manual reversion mode when an external override device (like PX4IO) overrides the system externally. This is not a functional change on the outputs, as they were in override mode even without this patch. However, this change ensures that the system state is consistent with the output state and also ensures that the pilot and operator has better situational awareness when he / she triggers the manual reversion without realizing it.
2017-12-02 11:39:52 +00:00
4abc578932
Commander: State machine helper documentation
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Future contributors need to know about the time constraints that the execution of this function needs to satisfy.
2017-12-02 11:39:52 +00:00
b1a16840c7
Fix typo error in micrortps_client module
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Fixed the typo error in micrortps_client which was causing issue to update
baudrate and other options.
2017-12-01 12:56:45 +01:00
fedc9abb02
vtol_att_control increase stack by 30 Bytes (1200 -> 1230)
2017-11-29 16:01:40 -05:00
42e01cde43
RC params delete incorrect comment
2017-11-27 20:05:12 -05:00
f19faca78b
delete unused RC_TH_USER
2017-11-27 20:05:12 -05:00
a398ffd7d9
delete unused RC_RL1_DSM_VCC
2017-11-27 20:05:12 -05:00
a6ae1fbcaa
vehicle command ROI: do not erroneously report command unsupported; handle VEHICLE_CMD_DO_SET_ROI and VEHICLE_CMD_NAV_ROI identically ( #8377 )
2017-11-27 15:43:39 -05:00
ed7f333fe8
sensors delete disabled ATT_VIBE_THRESH ( #8372 )
2017-11-26 17:25:45 -05:00
b8e24b5d2f
uORB delete unused vehicle_force_setpoint
2017-11-26 16:39:30 -05:00
246c47e0db
RTL land use mavlink critical and log when starting landing
2017-11-26 14:40:13 -05:00
8567e3b924
RTL fix RTL_LAND_DELAY check and simplify logic
2017-11-26 14:40:13 -05:00
4f5d70bbe5
Increase fixed-wing l1 navigation radius limit
2017-11-26 14:43:25 +01:00
ae42923025
uORB msg delete unused hil_sensor
2017-11-24 19:46:33 -05:00
2a6f915dfe
px4io delete old v1 battery current and voltage
2017-11-24 22:22:14 +01:00
b305900cae
Scale FW cruise throttle based on baro presure
2017-11-24 16:33:57 +01:00
a61974709b
mc_pos_control_main: wrap yaw attitude setpoint for offboard mode
2017-11-24 09:10:31 +01:00
ab51a41793
Removed [cal] references from calibration_log_critical() routines.
2017-11-24 08:12:37 +01:00
b569a8c2b9
fw_pos_control_l1 increase stack by 110 Bytes ( #8348 )
2017-11-23 17:09:05 -05:00
d1a4c2dcd0
cmake handle git submodule depdencies
2017-11-23 00:22:45 -05:00
a5cc4bcd08
Update SDP3x Airspeed Correction ( #8242 )
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Update the model for the standard configuration based on the model from Sensirion and add also an option to do the tube pressure loss correction from Sensirion for other configurations.
2017-11-22 22:03:26 -05:00
85a7a0a86a
parameters.xml sort parameters by name, sort enums by value
2017-11-22 13:42:54 -05:00
fc80846825
simplify param scoping and centralize dependencies
2017-11-22 10:36:51 +01:00
6ddbe91f42
Change the name of sdlog file in case of differential gps
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The fix_type variable in ubx.cpp may be assigned to 4(DGPS) or 5(Float RTK) or 6(Fixed RTK). So if we use differential gps, the value of the fix_type variable may not be 3. But gps still has 3d data and gps time. So The name of the file should named with gps time.My ublox differential gps fix_type is 5 (Float RTK).
2017-11-18 13:49:58 +01:00
3744cac1bb
fix mc_att_control: re-add dropped acro parameters ( #8293 )
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and make sure the vtol params are always initialized
This got lost in 4416c4ddb3
2017-11-15 10:08:22 -05:00
44a71ad6c9
ekf2: Update parameter descriptions ( #8292 )
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Make it clearer that the gate parameters control innovation consistency checks and that the gate size is specified in standard deviations.
Also make it clear that the EKF2_BARO_GATE also controls the GPS height fusion.
2017-11-15 09:19:08 -05:00
26171df9fc
mc_pos_control: save previous velocity setpoint after constraining, fix smooth takeoff to be still excluded from slewrate
2017-11-15 10:38:57 +01:00
89642a9203
Move src/module/systemlib/mixer to src/lib/mixer
2017-11-15 09:56:10 +01:00
d46c37be79
Mixers: raise exception when geom file is incomplete
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pylint format
2017-11-15 09:56:10 +01:00
cb8d951a7e
Mixers: add geoms quad_vtail (tilted props) and quad_y (rear coax props)
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quad_vtail: reverse prop direction (same quad_h) to combine yaw torque induced by propellers and yaw torque induced by tilted rotors.
2017-11-15 09:56:10 +01:00
3e35dcb7dd
Mixers: Use geometry of SK450 deadcat for both quad_wide (centered CG) and quad_deadcat (off-centered CG)
2017-11-15 09:56:10 +01:00
758d214dd1
Mixers: Add geometries
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Mixers: add quad_x, quad_h, quad_plus
Mixers: add quad_deadcat
Set quad_deadcat.toml according to dimensions of SK450 deadcat
Mixers: add hex_x, hex_plus, hex_cox and hex_t
Mixers: add geoms octa_x, octa_plus, octa_cox
Mixers: add wide geoms
Mixers: add tri_y and twin_engine geoms
Mixers: add dodeca geoms
Mixers: Add geom quad_x_pusher
2017-11-15 09:56:10 +01:00
2c4228ce98
Mixers: generate all versions (new,normalized,6dof,legacy)
2017-11-15 09:56:10 +01:00
99f6c4dbc3
Mixers: Generate from geometry description files
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Mixers: List geom files in CMakeLists.txt
Mixers: add option to normalize like legacy script
Fix py2 compatibility
2017-11-15 09:56:10 +01:00
4991ab5362
Mixers: use key list to select multirotor mixer
2017-11-15 09:56:10 +01:00
aa789f5e8a
voted sensors set enabled by default
2017-11-15 01:34:59 -05:00
fabab8ac4d
sensors remove barometer enabled check for now
2017-11-15 01:34:59 -05:00
8d27925443
change CAL_MAG_SIDES param group
2017-11-14 15:54:37 -05:00
1ccbaf4cd2
sensors params split by sensor index
2017-11-14 15:54:37 -05:00
273742aa0d
add boolean parameters to enable/disable each sensor
2017-11-14 15:54:37 -05:00
84f07c64b0
Navigator RTL fully initialize mission item in each state
2017-11-14 14:57:34 -05:00
98cbd44526
RTL check alt_max before using
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- fixes #8257
2017-11-14 14:57:34 -05:00
05c00855c4
navigator: reset triplets if navigation mode changes ( #8285 )
2017-11-14 11:32:21 -05:00
a410893080
ecl: Update ekf2 to version that addresses known vulnerabilities
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See:
https://github.com/PX4/ecl/pull/350
https://github.com/PX4/ecl/pull/354
Note the amount of stack allocation has had to be increased to accomodate pr350
2017-11-13 22:50:12 +01:00
Paul Riseborough