5d47a4c9e0
Commander: fix rc override threshold scaling ( #15807 )
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Improve parameter description for threshold
and lower the threshold a bit.
2020-09-24 14:52:19 +02:00
00e955cc3e
rotations: sync rotation enum, SENS_BOARD_ROT, CAL_MAGx_ROT with MAV_SENSOR_ORIENTATION
2020-09-22 11:10:31 -04:00
09af5e0637
commander: mag calibration use expected WMM sphere radius to reject samples if GPS is available
2020-09-20 12:22:56 -04:00
a9c4f269bd
simulator: use failure injection to block GPS
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This uses the new failure injection system using vehicle_commands
instead of specific parameters. For now it implements GPS only.
2020-09-16 12:51:56 -04:00
504730386a
fix COM_ARM_AUTH comment
2020-09-15 22:12:55 -04:00
13db2ebb2b
accel/gyro/mag calibration set default priority uninitialized
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- this allows the default priority to be set differently for internal/external sensors
- accel and gyro initialize default priority like mag in preparation for fully supporting external sensors
- fixes #15652
2020-09-13 21:02:53 -04:00
d70e183f5b
commander: sensor calibration check parameter save success
2020-09-13 21:00:40 -04:00
9116acc431
change message critical state for arm authorization
2020-09-09 08:59:21 +02:00
f70dda12a6
failureDetectorCheck: remove string manipulation
2020-09-08 11:42:30 +02:00
5eba25d2b5
Commander: remove duplicate flag changes
2020-09-08 11:42:30 +02:00
ab17b6bad4
failureDetectorCheck: revise messageing
2020-09-08 11:42:30 +02:00
981e05c633
FailureDetector: move esc topic check into esc status update
2020-09-08 11:42:30 +02:00
c180e09b9a
FailureDetector: replace resetAttitudeStatus
2020-09-08 11:42:30 +02:00
390edb770d
Commander: separate failure detector cases
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One case could lead to the action for the other!
2020-09-08 11:42:30 +02:00
f47bb95b26
FailureDetector: remove obsolete bit switch checks
2020-09-08 11:42:30 +02:00
c9b81eaf08
FailureDetector: simplify updated/changed check
2020-09-08 11:42:30 +02:00
2bb5917188
FailureDetector: refactor naming, member order
2020-09-08 11:42:30 +02:00
25cdb383c6
Commander: simplify main failure detector condition
2020-09-08 11:42:30 +02:00
60d613ea04
sensors: sensor_preflight_imu -> sensors_status_imu and run continuously
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- inconsistency checks now run continuously instead of only preflight
- keep inconsistencies for all sensors
- add per sensor data validator state as overall health flag
2020-09-06 22:06:13 -04:00
ca9b6bc137
commander: quick mag cal with fixed heading use MAV_CMD_FIXED_MAG_CAL_YAW message
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- use proper Mavlink MAV_CMD_FIXED_MAG_CAL_YAW command for initiating magnetometer quick cal
- MAV_CMD_FIXED_MAG_CAL_YAW allows specifying the yaw and optionally latitude and longitude if the vehicle doesn't have GPS
2020-09-06 19:25:11 -04:00
1ac31100cc
commander: HITL skip auto disarm if lockdown
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- auto disarm when locked down was added in #14766 to prevent user confusion in regular usage, but also breaks HITL where lockdown is enabled for safety
- fixes #15686
2020-09-06 18:38:05 -04:00
9ccc1db649
estimator_status split out estimator_states
2020-09-04 10:48:26 -04:00
6ff361479c
uORB: introduce SubscriptionMultiArray for working with multi-instances
2020-09-02 12:46:47 -04:00
5bc1df60a2
commander_params: remove some double spaces
2020-09-01 10:25:03 +02:00
9feea0e2fd
commander: accel calibration fail early on bad rotations
2020-08-29 11:02:37 -04:00
08cfea0b6f
commander: mag calibration auto rotation skip all duplicates
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- add simple rotation test with corresponding blacklist
2020-08-28 18:29:09 -04:00
979243f38f
params: make parameter units more consistent ( #15502 )
2020-08-24 11:33:08 +02:00
1d2e424c4c
commander: calibration replace sensor_combined with vehicle_acceleration
2020-08-23 17:38:27 -04:00
4dee5d6a1c
commander: level calibration print changes
2020-08-21 10:12:13 -04:00
c76cdaf8a8
commander: mag calibration add simple offset only quick cal using GPS & attitude
2020-08-21 10:12:13 -04:00
f6ad9bdb64
commander: don't set RC lost during calibration
2020-08-21 10:12:13 -04:00
5242160a26
commander: accel calibration reduce status length
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- this keeps the string within a single Mavlink STATUSTEXT
- fixes #14829
2020-08-21 10:12:13 -04:00
d824706571
commander: mag calibration keep manually configured special rotations
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- ROTATION_PITCH_9_YAW_180 and ROTATION_ROLL_90_PITCH_68_YAW_293 are
kept if manually configured
2020-08-21 10:12:13 -04:00
0bb6ad01bd
commander: mag calibration rotation also compare other internal mags
2020-08-21 10:12:13 -04:00
07d727a4a8
commander: mag calibration auto rotation simplify applying calibration and rotation
2020-08-21 10:12:13 -04:00
1a6eb7859c
commander: mag calibration auto rotation improvements
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- skip rotations that are identical or very close
- compute mean squared error (MSE) to skip a sqrt
2020-08-21 10:12:13 -04:00
bc6e4c8a92
commander: accel calibration use all queued data
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- print each calibration when finished
2020-08-21 10:12:13 -04:00
f9aca05ede
commander: gyro calibration use all queued data
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- print calibration status when finished
2020-08-21 10:12:13 -04:00
f2c9865c9b
sensor mag add minimal queue and calibration check all
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- mag calibration acceptance check sphere/ellipsoid fit status
2020-08-21 10:12:13 -04:00
b2e8f6839f
commander: mag calibration improve console and debug output
2020-08-21 10:12:13 -04:00
2bb04f2261
commander: increase COM_ARM_MAG_ANG 35 -> 45 degrees
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- in practice this is mostly useful for identifying incorrect rotations
which we mostly have in 45 degree increments
- handling a vehicle on the ground can easily disturb one mag by more than 30 degrees, so this is often distracting noise
2020-08-21 10:12:13 -04:00
e6fd5a43bc
commander: magnetometer calibration automatically set the rotation of external magnetometers relative to the first internal
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- see #15120 for more detail
2020-08-21 10:12:13 -04:00
27f23ac290
move initial sensor priority to parameters and purge ORB_PRIORITY
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- CAL_ACCx_EN -> CAL_ACCx_PRIO
- CAL_GYROx_EN -> CAL_GYROx_PRIO
- CAL_MAGx_EN -> CAL_MAGx_PRIO
2020-08-21 10:12:13 -04:00
971b1e4b4d
sensors: move mag aggregation to new VehicleMagnetometer WorkItem
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- purge all reminaing magnetometer IOCTL usage
- mag calibration add off diagonal (soft iron) scale factors
2020-08-21 10:12:13 -04:00
ad148af2fd
commander: mag_calibration move to Magnetometer calibration helper
2020-08-21 10:12:13 -04:00
d92ddffa5d
commander: add simple accelerometer quick calibration
2020-08-21 10:12:13 -04:00
e3e8c55e82
accel & gyro calibration helpers
2020-08-21 10:12:13 -04:00
7958586f35
Only use roll/pitch not centered for RC override, and increase override threshold
2020-08-20 11:50:16 -04:00
f19a20dc43
commander: preflight power check ignore module count if USB connected
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- this check isn't relevent during bench testing
2020-08-12 11:48:38 -04:00
97fc1db768
vehicle_local_position: rename yaw -> heading and add reset logic
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- vehicle_global_position yaw removed (redundant)
2020-08-10 11:42:03 +02:00
Matthias Grob