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14895 Commits

Author SHA1 Message Date
Daniel Agar 5ded1aedcb sensors/vehicle_angular_velocity: add IMU_GYRO_DNF_HMC to configure number of ESC RPM notch filter harmonics 2022-01-24 09:23:03 -05:00
PX4 BuildBot 6203ad25c7 Update submodule mavlink to latest Sat Jan 22 00:39:17 UTC 2022 
- mavlink in PX4/Firmware (a16a8dceb1b2d234ae963c74621c147f521abce9): https://github.com/mavlink/mavlink/commit/3d8092006ec1b2321f74e84039dadb1ebd3d1f37
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/51abf3c82b3d7137406459dc9b337e57637711ae
    - Changes: https://github.com/mavlink/mavlink/compare/3d8092006ec1b2321f74e84039dadb1ebd3d1f37...51abf3c82b3d7137406459dc9b337e57637711ae

    51abf3c8 2022-01-21 Julian Oes - Component information: add note (#1785)
f5694b29 2022-01-19 Julian Oes - component_info: re-use protocol capabilities (#1786)
 2022-01-21 23:10:05 -05:00
Daniel Agar 7cb8ed3a1f sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats 2022-01-21 09:18:49 -05:00
JaeyoungLim 0607982b23 Publish orbit status also when the waypoint is a loiter waypoint (#19048) 
* Publish orbit status also when the waypoint is a loiter waypoint

* Remove redundant orbit status publishing
 2022-01-21 09:13:03 +01:00
bresch a2260e53da ekf2: replace yaw failure detection criteria 
The existing logic using the angle between velocity vectors failed to
determine a yaw failure in practice because the state velocity is often
too small compared to its uncertainty to be used. In all the failures
reported, the yaw emergency estimator converged properly and yaw reset
would have fixed the issue.
A much simpler check using the yaw difference between the main EKF
and the emergency estimator is now used to tell if the vel/pos update
failure is most likely caused by a wrong heading.
 2022-01-20 11:54:24 +01:00
Jaeyoung Lim 0dea56f88b Use current_sp for publishing orbit status 2022-01-19 12:00:03 -05:00
Jaeyoung-Lim dec5e7e9c8 Publish orbit status whenever the vehicle is in loiter 
This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint
 2022-01-19 12:00:03 -05:00
bresch e89e3c1b0c ekf2: extract logic to test yaw emergency estimate quality 2022-01-19 09:05:41 -05:00
bresch ea80c5027e ekf2: split yaw estimator state getter into several functions 2022-01-19 09:05:41 -05:00
dagar 476c1e5c09 [AUTO COMMIT] update change indication 2022-01-19 09:04:53 -05:00
bresch ffebd8e771 ekf2: initialize cos tilt variable assuming no tilt 2022-01-19 09:04:53 -05:00
Daniel Agar 92a5bbe97f ekf2: improve ring buffer sizing and dynamically allocate 2022-01-19 09:04:53 -05:00
Daniel Agar 36605bfff6 sensors: lower SENS_MAG_RATE default 
- reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4)
 2022-01-19 08:51:57 -05:00
Matthias Grob c9f7c20d46 MulticoperPositionController: time failsafe messages together 
The following output instead of printing the
action "stop and wait" just once:

WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
 2022-01-19 14:31:19 +01:00
Matthias Grob d4e356a1ac PosititionControl: fix integrator windup with invalid setpoint 2022-01-19 14:31:19 +01:00
Matthias Grob 8811482f1d PositionControlTest: add integrator windup with invalid setpoint combination unit test 
This bug was by chance found during simulation testing and debugging.
The unit test is to easily reproduce and cover this case.
 2022-01-19 14:31:19 +01:00
Silvan Fuhrer 632dfa55e6 FW Pos C: add option to disable airspeed setpoint via stick input 
-rename FW_POSCTL_INV_ST to FW_POS_STK_CONF and make bitmask out of it:
  - bit 0: alternative mapping (height rate on throttle stick, airspeed on pitch)
  - bit 1: enable/disable airspeed setpoints via stick

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 10:13:07 +01:00
Silvan Fuhrer cbb8c90245 ControlAllocation: fix calculation of roll/pitch normalization scale 
Take into account the actual number of roll and pitch acutators,
instead of assuming that all actuators have a roll/pitch component.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 08:22:12 +01:00
Silvan Fuhrer 0950bb81ab ControlAllocation: update normalization scale only if matrix updated is forced 
The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-19 08:22:12 +01:00
Daniel Agar dd6b7fa98f sensors: switch status PX4_INFO -> PX4_INFO_RAW 2022-01-18 15:00:18 -05:00
Daniel Agar b1d2a0cc4e sensors: simplify timestamp data validator handling 2022-01-18 14:57:18 -05:00
bresch 953c90d3a6 failure detector: change imbalanced propeller metric 
Use standard deviations instead of variances to get a linear metric
 2022-01-18 12:24:35 -05:00
bresch 408cf011b2 failure detector: fix dt computation 2022-01-18 12:24:35 -05:00
Daniel Agar 548b7d5ece sensors/vehicle_imu: on calibration change don't resume in flight calibration learning immediately 2022-01-18 11:22:41 -05:00
PX4 BuildBot 0bb9cce1ce Update submodule mavlink to latest Tue Jan 18 00:39:07 UTC 2022 
- mavlink in PX4/Firmware (37e04f56da3916dcb518eeba66b0888db1cd8c32): https://github.com/mavlink/mavlink/commit/75204adad281e017e58e0a68fdb0a478c2b74d6f
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/3d8092006ec1b2321f74e84039dadb1ebd3d1f37
    - Changes: https://github.com/mavlink/mavlink/compare/75204adad281e017e58e0a68fdb0a478c2b74d6f...3d8092006ec1b2321f74e84039dadb1ebd3d1f37

    3d809200 2022-01-14 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION - mark as reserved capability (#1775)
68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
 2022-01-17 21:36:02 -05:00
Silvan Fuhrer 0ce44cebb7 WindEstimator: use vehicle heading instead of ground course for initialisation 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 17:42:01 -05:00
Silvan Fuhrer 1a4b2b37bb AirspeedValidator: remove unused variable _tas_gate 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 17:42:01 -05:00
Thomas Stastny 13c36155ce fw_pos_ctrl: allow npfg to operate without wind estimate, dont switch controllers 2022-01-14 22:05:53 +01:00
Thomas Stastny 082e320191 integrate optional NPFG library for wind-aware fixed-wing guidance 2022-01-14 22:05:53 +01:00
Beat Küng 66cbbf9f2e control_allocator: use 'bidirectional' to clarify reversible motors 2022-01-14 12:18:29 -05:00
Roman Bapst dc6067ed12 Update src/modules/fw_att_control/fw_att_control_params.c 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 16:34:44 +03:00
RomanBapst 34bb671a73 improve parameter descriptions for fw maximum/minimum roll/pitch angles 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-01-14 16:34:44 +03:00
RomanBapst 555ee371e8 FixedWingPositionControl: consistently use the same roll and pitch angle 
limits for autonomous and semi-autonomous modes (altitude & position control)

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-01-14 16:34:44 +03:00
Thomas Stastny f8c2ee73db handle line segment termination in navigator 
- if following line segment (fixed-wing position control) switch waypoint when in acceptance radius OR passed the second waypoint. this handles the case of being beyond the second waypoint but not within the acceptance radius without the need to fly back to the waypoint (e.g. after a loiter up to waypoint alt)
- sync navigator and fw pos ctrl waypoint acceptance altitude
 2022-01-13 13:43:02 +01:00
Claudio Micheli 8a01135a93 Commander: more changes to use events with escs and battery failures 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2022-01-13 08:40:34 +01:00
Claudio Micheli d122513197 extend support for Battery status message 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2022-01-13 08:40:34 +01:00
Daniel Agar bb1177d504 sensor_calibration: refactor and centralize calibration slot logic 
- centralize logic for selecting a preferred calibration slot
   - automatically use existing calibration slot if it exists, otherwise
find first available slot, with a preference for a requested index
 - existing commander calibration methods rewrite all calibration slots
to match current sensor ordering
 2022-01-12 16:16:26 -05:00
Silvan Fuhrer 3cd1e0ce19 MCLandDetector: clean up logic for ground effect 
Before: in_ground_effect was always true with the default settings (LNDMC_ALT_GND =-1)
 and when a distance sensor was present with valid data.
Now: default of LNDMC_ALT_GND is set to 2m by default, and if set to a negative value
then in_ground_effect is never set to true

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-12 18:41:16 +01:00
Matthias Grob 443406ea2b FlightTaskAuto: use longerThan() when possible in vector calculations 2022-01-12 15:12:24 +01:00
bresch 4fc7348582 mpc: leave room for altitude error control during descent and descent 
Since the same parameter is used to generate the trajectory and to
saturate the controller, there is no additional space for the output of
the position controller once it is filled with the feedforward, letting
the altitude grow uncontrolled.
 2022-01-12 13:33:48 +01:00
bresch ea7d2334c9 mpc: add parameter for ascent/descent speed in auto modes 2022-01-12 13:33:48 +01:00
Daniel Agar 2eec7842ae sensors/vehicle_imu: fix SENS_IMU_AUTOCAL saving logic 
- on cycles that don't check for updated calibraton (estimated bias) we
check if there's anything valid to save (when disarmed)
 2022-01-11 11:47:02 -05:00
romain-chiap 4e06b40e2b sih: add tailsitter support, disable UAVCAN 2022-01-11 08:29:19 +01:00
Julian Oes b3d830dd11 Mantis: move power off tune to commander 
This way we don't allocate inside the interrupt context.
 2022-01-10 23:04:10 -05:00
Julian Oes 73044c51f9 vmount: only send CONFIGURE cmd if type changes 
We don't always have to send MOUNT_CONFIGURE but really only when the
control data type actually changes.
 2022-01-10 23:04:10 -05:00
Julian Oes 22180a2639 mavlink: make range params optional 
If there is no range sensor compiled in, these two params do not seem to
be available. Hence, we need to make them optional.
 2022-01-10 23:04:10 -05:00
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
Julian Oes c2e0e09b2d commander: reduce PWM max again 
This is no longer required now.
 2022-01-10 23:04:10 -05:00
Julian Oes e4763f15f6 Mantis: add RC hacks 
This changes the way RC is handled for the Mantis:
- The RC values are re-written when arriving over MAVLink. They are
  rescaled from 0..4095 to 1000..2000 and the channel bits added to
  separate channels. This makes the downstream handling easier.
- Gimbal pitch is moved from Aux1 to Aux2 as that should be the default.
- Aux3 and Aux4 are used for the photo and video trigger.
- The speed button is used as the FLTMODE channel and set to switch
  between POSCTL and ALTCTL.
 2022-01-10 23:04:10 -05:00
Julian Oes 9fe7a40673 manual_control: enable sending camera commands 2022-01-10 23:04:10 -05:00