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Author SHA1 Message Date
Daniel Agar fba7c972d1 drivers/rc_input: ensure RC inversion is disabled initially and latch RC_INPUT_PROTO conservatively 
- this allows jumping straight to a non-SBUS RC protocol
 - increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases.
 - only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds
 2022-05-11 14:30:41 -04:00
Daniel Agar c772e5230f commander: remove compile time dependencies on non-commander parameters 
- this allows builds with mavlink fully disabled
 - move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control
 2022-05-11 10:14:23 -04:00
Daniel Agar a71d101869 ROMFS: delete 3037_parrot_disco_mod airframe 2022-05-10 16:23:20 -04:00
Daniel Agar 42d7fb0b66 ROMFS: delete 3035_viper airframe and mixer 2022-05-10 16:23:20 -04:00
Daniel Agar 61c5d11375 ROMFS: delete 3034_fx79 airframe 2022-05-10 16:23:20 -04:00
Daniel Agar f1a1ed4958 ROMFS: delete 3030_io_camflyer airframe 2022-05-10 16:23:20 -04:00
Daniel Agar b00d0720cd ROMFS: delete 13010_claire airframe 2022-05-10 16:23:20 -04:00
Daniel Agar 451cc5058d ROMFS: delete minimal DJI airframes 2022-05-10 16:23:20 -04:00
Daniel Agar fa1891ace2 ROMFS: delete steadidrone airframes 2022-05-10 16:23:20 -04:00
Daniel Agar af5e903b82 .vscode/.gitignore ignore all log files 2022-05-10 11:39:55 -04:00
Daniel Agar b77bb6d88d Makefile: bootloaders_update add all Matek targets 2022-05-10 11:39:54 -04:00
Daniel AgarandPX4 BuildBot 45e3fad3e0 Update submodule GPSDrivers to latest Tue May 10 12:38:49 UTC 2022 
- GPSDrivers in PX4/Firmware (3ac8fdbe29): https://github.com/PX4/PX4-GPSDrivers/commit/6534b050ee1a48af7932c46a9a87277eed1cc997
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/58968922b718176be8756f11113d16b2cfbc4022
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/6534b050ee1a48af7932c46a9a87277eed1cc997...58968922b718176be8756f11113d16b2cfbc4022

    5896892 2022-04-26 Seppe Geuens - sbf: add heading support (#100)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-05-10 11:38:52 -04:00
Daniel Agar 371a551f05 github actions: add all matek targets and sort 2022-05-10 11:33:01 -04:00
Daniel Agar 73f4c3ea87 Jenkins: compile add all matek targets and sort 2022-05-10 11:32:52 -04:00
Daniel Agar 6d390f393c boards: matek_h743-mini_bootloader fix NuttX CONFIG_ARCH_BOARD_CUSTOM_DIR 2022-05-10 11:28:26 -04:00
Daniel Agar 5778553508 boards: matek_h743_bootloader fix NuttX CONFIG_ARCH_BOARD_CUSTOM_DIR 2022-05-10 11:26:15 -04:00
Daniel Agar a80a74af79 Jenkins: compile update uavcanv1 -> cyphal 2022-05-10 11:23:22 -04:00
Daniel Agar 858292209d boards: px4_fmu-v5_uavcanv0periph disable common differential pressure sensors to save flash 2022-05-10 11:17:24 -04:00
Daniel Agar 15296ab453 cmake: NuttX check that CONFIG_ARCH_BOARD_CUSTOM_DIR is in PX4_BOARD_DIR 2022-05-09 15:23:18 -04:00
Daniel Agar 2e1cdc9e75 boards: modalai_fc-v1 enable dshot on all outputs 2022-05-09 11:31:31 -04:00
Daniel AgarandMathieu Bresciani 7f1bb556e9 Update src/modules/mc_pos_control/MulticopterPositionControl.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-05-04 02:22:18 -07:00
Daniel Agar ad6592f669 mc_pos_control: require current trajectory setpoint to run controller 2022-05-04 02:22:18 -07:00
Daniel Agar 7784cd1f40 boards: mro_ctrl-zero-classic updates to sync with ctrl-zero-h7-oem 2022-04-30 09:40:52 -04:00
Daniel Agar 6fc857772d ekf2: remove unnecessary const references 2022-04-29 21:39:02 -04:00
Daniel Agarandchris1seto a15432fac1 drivers/rc_input: RC_INPUT_PROTO parameter minimal implementation (#19539) 
Co-authored-by: chris1seto <chris12892@gmail.com>

Co-authored-by: chris1seto <chris12892@gmail.com>
 2022-04-27 21:06:43 -06:00
Daniel Agar fc7e979d84 boards: px4_fmu-v5_uavcanv0periph disable modules to save flash 2022-04-26 08:39:19 -04:00
Daniel Agar 7ab9b0c6e2 boards: cubepilot_cubeorange_test disable examples/fake_gps to save flash 2022-04-26 08:39:19 -04:00
Daniel Agar f390f52058 drivers/differential_pressure: remove lib/drivers/airspeed dependency and cleanup 
- split ms4525_airspeed into separate ms4515 and ms4525 drivers
 2022-04-26 08:39:19 -04:00
Daniel Agar d1d15a6f6d differential pressure remove filters from drivers and average in sensors/airspeed 2022-04-26 08:39:19 -04:00
Daniel Agar 258f558fea apply differential pressure calibration (SENS_DPRES_OFF) centrally 
- remove drv_airspeed.h and ioctls
 2022-04-26 08:39:19 -04:00
Daniel Agar d6210d1725 boards: px4_fmu-v6x_default disable common barometers to save flash 2022-04-26 01:43:10 -04:00
Daniel Agar 3d7a6b4021 mc_pos_control: silence invalid setpoint warning when disarmed 2022-04-26 01:37:37 -04:00
Daniel Agar b2bcd2631a boards/diatone/mamba-f405-mk2: disable modules to save flash 2022-04-26 01:08:18 -04:00
Daniel Agar c8d2d83e55 boards: px4_fmu-v2 restore systemcmds/ver needed for board init 2022-04-25 22:47:08 -04:00
Daniel Agar 7bb789cb23 boards: update bootloaders to latest 2022-04-25 22:39:25 -04:00
Daniel Agar d8a57e15b0 boards/mro/ctrl-zero-classic: fix code style 2022-04-25 22:07:32 -04:00
Daniel Agar 248f42f9ec boards/diatone/mamba-f405-mk2: fix code style 2022-04-25 22:07:21 -04:00
Daniel Agar 3d590af115 mc_att_control: only apply quat reset if estimate is newer than setpoint 2022-04-25 21:25:29 -04:00
Daniel Agar 23c89429ac systemcmds/param: set-default should mark parameter active to avoid race conditions 2022-04-25 21:24:18 -04:00
Daniel Agar 980f696023 commander: mag calibration tolerate fit failure if sensor disabled 2022-04-25 12:41:20 -04:00
Daniel Agar 89374b2e1d mavlink: delete Mavlink instance if early startup fails 2022-04-25 12:38:28 -04:00
Daniel Agar 6359c8c008 mavlink: shell expand locking (#19308) 
- on some H7 boards (cuav x7pro tested) there's an occasional hard fault when starting the mavlink shell that is no longer reproducible with the slightly expanded locking
 - this is likely just changing the timing (holding the sched lock for longer), but this should be harmless for now until we can identify the root cause
 2022-04-25 11:53:22 -04:00
Daniel Agar 8df3932d6a icm20948: disable debug output (_debug_enabled=true) 2022-04-24 15:45:51 -04:00
Daniel Agar 503f97c8bc logger: add default ground truth logging for HITL/SITL 2022-04-24 12:45:23 -04:00
Daniel Agar 6f87a4546d platforms/nuttx: cdc_acm_check implement mavlink reboot directly 2022-04-22 21:16:07 -04:00
Daniel Agar 9073f3ccdf px4flow allow delayed background startup 2022-04-22 21:11:02 -04:00
Daniel AgarandPX4 BuildBot 435a474dff Update submodule GPSDrivers to latest Thu Apr 21 12:38:20 UTC 2022 
- GPSDrivers in PX4/Firmware (e9c07fac6f): https://github.com/PX4/PX4-GPSDrivers/commit/ddb1825fe33f517853ca8a3ef75ac6f2df76f613
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/6534b050ee1a48af7932c46a9a87277eed1cc997
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/ddb1825fe33f517853ca8a3ef75ac6f2df76f613...6534b050ee1a48af7932c46a9a87277eed1cc997

    6534b05 2022-04-19 Jonas Perolini - ubx: disable gps heading for in RTK float fix type (#104)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-04-21 11:41:24 -04:00
Daniel Agar 5e05d98fe2 output modules simplify locking for mixer reset and load 
- fixes the deadlock in px4io ioctl mixer reset
   - px4io Run() locks (CDev semaphore)
   - mixer load goes through px4io ioctl MIXERIOCRESET which calls MixingOutput::resetMixerThreadSafe()
   - MixingOutput::resetMixerThreadSafe() stores a Command::Type::resetMixer command in an atomic variable, schedules a work queue cycle, then sleep spins until the command is cleared
   - the execution of the cycle eventually calls back into PX4IO::updateOutputs(), which tries to lock (and waits forever)
 2022-04-19 08:52:17 +02:00
Daniel Agar 2e290345d3 boards: px4_fmu-v5_stackcheck disable unused systemcmds to save flash 2022-04-18 10:01:29 -04:00
Daniel Agar 90e2cab3fa boards: px4_fmu-v5/v5x run default & rtps boards through kconfiglib to cleanup 2022-04-18 09:58:36 -04:00
Daniel Agar 3cdeeb8d64 px4iofirmware: convert most files to c++ 2022-04-17 20:44:30 -04:00
Daniel Agar 3211d0ff19 boards: px4_fmu-v2_multicopter disable lightware_laser_serial to save flash 2022-04-17 18:59:56 -04:00
Daniel Agar d06032d7f3 boards: px4_fmu-v5_uacanv0periph disable systecmds/sd_bench to save flash 2022-04-17 16:04:01 -04:00
Daniel Agar cbc37f9fcd boards: px4_fmu-v6x_default disable systemcmds/sd_bench to save flash 2022-04-14 20:07:28 -04:00
Daniel Agar 3f13c70cae px4io cleanup LED and heater handling 
- most px4_io-v2 boards have a blue LED that breathes for status
 - the pixhawk 2.1 (hex) re-used this blue LED for as an IMU heater (active low), but kept the same board id (so we have to detect at runtime)
 - the new cubepilot boards (yellow, orange) inverted the polarity of this heater pin
 - untangle the mess slightly so that things we know statically (eg cubepilot cubeorange LEDs and heater polarity) are handled at build time.
 2022-04-13 18:43:59 -04:00
Daniel Agar 9c381a60b5 Tools/ecl_ekf: fix vibe_metrics usage (moved to vehicle_imu_status instances) 2022-04-13 10:36:45 -04:00
Daniel Agar b4158c1b48 sensors/vehicle_imu: Integrator use 1 microsecond for minimum DT 
- this is a more realistic minimum for the system
 2022-04-13 10:36:45 -04:00
Daniel Agar d2f1349d1a sensors/vehicle_imu: replace coning metric with actual integrator coning correction (averaged) 
- this saves a relatively expensive higih rate cross product and gives
better visibility into what's actually happening internally
 2022-04-13 10:36:45 -04:00
Daniel Agar 0a0987a6e0 ROMFS: move px4flow start to rc.sensors 2022-04-12 21:22:41 -04:00
Daniel Agar 1d66f2cf83 posix: HRT hrt_lock() sem_wait try again if error returned 2022-04-12 12:46:29 -04:00
Daniel AgarandPX4 BuildBot c30475b04b Update submodule GPSDrivers to latest Tue Apr 12 12:38:56 UTC 2022 
- GPSDrivers in PX4/Firmware (c04e66a890c75f57f5588d669eec45c8da8c3ed5): https://github.com/PX4/PX4-GPSDrivers/commit/ad1094aaf16fcc650b270431a1d0bdcf38e8d89a
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/ddb1825fe33f517853ca8a3ef75ac6f2df76f613
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/ad1094aaf16fcc650b270431a1d0bdcf38e8d89a...ddb1825fe33f517853ca8a3ef75ac6f2df76f613

    ddb1825 2022-03-29 Daniel Agar - ubx: print relevent UBX-MON-VER output

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-04-12 10:12:46 -04:00
Daniel Agar 8166a500ac Update world_magnetic_model to latest Mon Apr 11 11:14:11 UTC 2022 (#19475) 2022-04-12 10:11:51 -04:00
Daniel Agar bb2ea574aa ekf2: properly reset IMU biases on calibration change (non-multi-EKF) 
- this was working in the multi-EKF case using vehicle_imu, but missing
in sensor_combined
 2022-04-11 12:23:55 -04:00
Daniel Agar 8f891332f1 boards: px4_fmu-v2_multicopter disable load_mon to save flash 2022-04-11 12:23:35 -04:00
Daniel Agar 04f37222f8 ekf2: fix IMU missed perf count when not using multi-EKF 2022-04-10 11:07:33 -04:00
Daniel Agar 091fca701e px4io: input_rc only publish new successful decodes 
- previously an invalid decode would continue to be transferred to the FMU (at 50 Hz) and published to the rest of the system as successfully decoded new RC data
 - by only publishing new successful decodes we can more effectively discard invalid data in downstream consumers
 2022-04-09 14:28:16 -04:00
Daniel Agar 77a37c26bf rc_update: further tighten timing requirements for valid data 
- any real RC data input will be much faster than 3 Hz, so this is an
easy way to minimize bogus decoded data from propagating
 2022-04-07 14:42:05 -04:00
Daniel Agar 98623f69a3 update mavlink submodule to latest 
- update MAV_TYPE VTOL usage for current mavlink
 2022-04-07 20:35:41 +02:00
Daniel Agar 6e9c673262 boards: omnibus_f4sd_ekf2 disable frsky telemetry to save flash (and fix build) 
- this isn't great, but our options are limited at the moment and this
can be fixed later once the old mixing system is deleted
 2022-04-05 11:10:33 -04:00
Daniel Agar 8c3ba7adb4 commander: silence GPS no longer validity PX4_WARN 2022-04-04 14:43:11 -04:00
Daniel Agar 803cc6814f boards: px4_fmu-v2_fixedwing disable drivers/camera_trigger to save flash 2022-04-01 11:08:03 -04:00
Daniel Agar f0be554857 boards: px4_fmu-v5_uavcanv0periph disable modules to save flash 2022-03-31 09:59:58 -04:00
Daniel Agar 82c1ffb8f8 boards: px4_fmu-v5_stackcheck disable common telemetry modules to save flash 2022-03-30 10:07:05 -04:00
Daniel Agar 8a552fac78 uavcannode: publish RelPosHeading (from sensor_gnss_relative) 2022-03-29 07:59:41 +02:00
Daniel Agar 84e796c385 drives/gps: add new sensor_gnsss_relative msg 
- for ublox this corresponds to NAV_RELPOSNED
 2022-03-29 07:59:41 +02:00
Daniel Agar dfe13e16e8 boards: px4_fmu-v2_multicopter disable distance_sensor/tfmini to save flash 2022-03-28 15:40:46 -04:00
Daniel Agar 67920f089b boards: px4_fmu-v5x_rtps disable unused systemcmds and examples to save flash 2022-03-28 12:01:21 -04:00
Daniel Agar 0595efbd9b sensors/vehicle_magnetometer: publish sensors_status_mag and other minor updates to stay in sync with air data 2022-03-26 16:08:41 -04:00
Daniel Agar 0c31f63896 sensors: add baro calibration and cleanup 
- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting
 2022-03-26 16:08:41 -04:00
Daniel Agar 5800c417c8 boards: px4_fmu-v2_rover disable unused drivers to save flash 2022-03-25 17:30:42 -04:00
Daniel Agar 01eb27c703 Jenkinsfile-compile: skip px4_sitl_rtps for now 2022-03-25 15:07:20 -04:00
Daniel Agar eb666e94a4 bords: omnibus_f4sd move ekf2 from default to new ekf2 board variant 
- temporary solution to flash overflow
 2022-03-25 12:47:25 -04:00
Daniel Agar bc26b73c07 px4io: only publish valid input_rc 2022-03-25 10:56:24 -04:00
Daniel Agar 3d08e031d2 rc_update: improve manual_switches simple protections 
- require back to back matching switch decode to match within 1 second
 - clear any previous manual switches if RC is unstable
 2022-03-25 10:56:24 -04:00
Daniel Agar 875a2cc423 commander: remove loop counters and update UI LED control to use monotonic time 2022-03-24 22:43:26 -04:00
Daniel Agar 879622547c commander: only process one vehicle_command/action_request per cycle 
- things like arming requests can be dependent on current nav state
that might requested by a previous command, but the state machine
transition will only happen after command processing
 2022-03-24 22:43:26 -04:00
Daniel Agar e528eb5dc4 commander: fix status flags usage (condition_global_position_valid->global_position_valid) 
- broken due to the merge timing of https://github.com/PX4/PX4-Autopilot/pull/19378 and https://github.com/PX4/PX4-Autopilot/pull/19351
 2022-03-24 09:40:15 -04:00
Daniel Agar 6135bb384b cleanup module callback registration failed errors 2022-03-23 20:44:50 -04:00
Daniel Agar f4c3084c26 init adjustments to ensure used topics are advertised early (primarily for logging) 
- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
 2022-03-23 16:51:16 -04:00
Daniel Agar 94e30f5efb boards: delete unused px4_fmu-v2_test 2022-03-23 10:39:58 -04:00
Daniel Agar c86d5769ea boards: px4_fmu-v2_{fixedwing,multicopter} module selection changes to save flash 2022-03-19 14:43:45 -04:00
Daniel Agar 475bd42ab8 sensors: add 2nd static notch and migrate existing parameters 
- new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW
 - existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become
IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW
 2022-03-19 14:38:04 -04:00
Daniel Agar afeab9587e gyro_fft: peak detection exclude side FFT buckets 
- when estimating the peak frequency the magnitude of side buckets will
be factored in, so it doesn't make sense to potentially treat them as
separatey detected peaks
 2022-03-19 14:37:36 -04:00
Daniel Agar 36e6527013 ROMFS: MAV_TYPE cleanup 
- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary
 - cleanup MAV_TYPE param metadata and commander helper to only include
what's currently used in PX4
 2022-03-17 09:28:10 -04:00
Daniel Agar 4746a19c0c boards: px4_fmu-v5_stackcheck disable UUV modules to save flash 2022-03-15 12:10:03 -04:00
Daniel Agar 233c7fd293 goertek/spl06: parameters.c add copyright header and fix formatting 2022-03-15 10:14:46 -04:00
Daniel Agar 7ef38112d2 ekf2: return saved mag bias variance when not in 3d magnetometer fusion 
- the estimated mag bias was requiring > 30 seconds of continuous 3d
mag fusion to be reported stable (and saved back to mag cal), this
restores the original intent requiring 30 seconds of accumulated valid
3d mag fusion
 2022-03-14 21:03:41 -04:00
Daniel Agar 5717434e93 ekf2: initialize GPS drift metrics to NAN rather than 0 2022-03-14 10:09:24 -04:00
Daniel Agar a430f0ccae ekf2: add simple zero velocity update when vehicle at rest (#19149) 
- further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates
 2022-03-12 12:56:31 -05:00
Daniel Agar 3d54d25867 sensor calibration delete temperature (CAL_ACCx_TEMP, CAL_GYROx_TEMP, CAL_MAGx_TEMP) 
- this was an experiment to casually monitor sensor offsets relative to temperature, but now that all calibration offsets can be adjusted post-flight the stored temperature can be misleading
 - deleting to save a little bit of flash (and storing the temperature wasn't useful)
 2022-03-12 11:38:49 -05:00