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33,495 Commits 852 Branches 161 Tags
5f27407acd8948e46bc605721ce34892fe529c8b
Commit Graph
60 Commits
Author SHA1 Message Date
Daniel Agar 8d1b99be31 mavlink: telemetry status only log simple HEARTBEAT validity 
* delete telemetry_heartbeat msg
 * delete unused _telemetry_status_mutex
 2020-10-13 13:37:10 -04:00
Daniel Agar d71ca37087 navigator: publish navigator mission item changes for logging 
- new msg navigator_mission_item for inspecting navigator mission item processing
 2020-10-13 12:12:03 -04:00
Daniel Agar f557fa46e8 gyro_fft improve peak finding, parameterize min/max frequencies, remove debug logging 
- add min/max frequency parameters for peak detection (IMU_GYRO_FFT_MIN, IMU_GYRO_FFT_MAX)
 - remove full FFT debug logging
 - fix Quinn's second estimator
 - log sensor_gyro_fft
 - fake_gyro use PX4Gyroscope
 2020-10-12 15:19:39 -04:00
Daniel Agar 8ee0c62e57 examples: add Gyro FFT using CMSIS 5 on Cortex-m (#15104) 
- this is a work in progress experiment to compute real time FFTs from raw gyro FIFO data on Cortex-m hardware (stm32f4/f7/h7, etc)
 2020-10-02 11:47:27 -04:00
Jacob DahlJacob CrabillJacob Dahl
 		a24488328f Move GPS blending from ekf2 to sensors module 
- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
 - blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU

Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2020-09-25 23:28:31 -04:00
Daniel Agar 861e06dfd7 mavlink: handle receiving GENERATOR_STATUS 
- only published (ORB_ID(generator_status)) and logged for now
 2020-09-25 11:36:58 -04:00
Daniel Agar 60d613ea04 sensors: sensor_preflight_imu -> sensors_status_imu and run continuously 
- 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
Daniel Agar 9ccc1db649 estimator_status split out estimator_states 2020-09-04 10:48:26 -04:00
TSC21 d09cb8d1f0 microRTPS: reduce the number of streams on the bus 2020-08-28 09:22:36 +02:00
Daniel Agar 971b1e4b4d sensors: move mag aggregation to new VehicleMagnetometer WorkItem 
- purge all reminaing magnetometer IOCTL usage
 - mag calibration add off diagonal (soft iron) scale factors
 2020-08-21 10:12:13 -04:00
Daniel Agar 3002e74b4f mavlink: publish telemetry_status per instance with all HEARTBEATS from the same system 
- one telemetry_status publication per mavlink instance
 - each telemetry_status has an array of HEARTBEATS
 2020-08-07 12:23:52 -04:00
Daniel Agar 81f57bccb6 px4io: servorail_status -> px4io_status and log all flags 2020-07-21 09:56:13 -04:00
Daniel Agar e34bdb4be9 move IMU integration out of drivers to sensors hub to handle accel/gyro sync 
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu 
 - sensors: voted_sensors_update now consumes vehicle_imu
 - delete sensor_accel_integrated, sensor_gyro_integrated
 - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
 - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
 2020-05-30 11:07:54 -04:00
Paul Riseborough ab92b46e69 Update ecl to add ability to recover from bad magnetic yaw 
* msg: Add EKF-GSF yaw estimator logging data
* ecl: update to version with EKF-GSF yaw estimator
* ekf2: Add param control and logging for EKF-GSF yaw estimator
* logger: Add logging for EKF-GSF yaw esimtator
 2020-03-15 12:57:25 -04:00
TSC21 69b38c9ced RTPS: add IDs to 'orb_test' related multitopics 2020-03-12 11:10:50 +00:00
Daniel Agar 9585055e9e uORB: add bitset for faster orb_exists check and remove uORB::Subscription lazy subscribe hack/optimization 
- add PX4 bitset and atomic_bitset with testing
 - add uORB::Subscription constructor to take ORB_ID enum
 - move orb test messages into msg/
 2020-03-11 09:06:33 -04:00
TSC21 2568d9ae20 mavlink: timesync: readd timesync_status uORB to report Mavlink timesync 2020-03-10 12:15:18 +00:00
TSC21 170835f3f8 microRTPS: add timesync for the agent side 2020-03-10 12:15:18 +00:00
Julian Kent 6e1185d4f2 Add uORB messages for bezier curve trajectories 2020-03-09 09:51:49 +01:00
bresch ca0b5700ab uorb_rtps_message_ids: add hover_thrust_estimate msg 2020-02-07 11:52:52 +01:00
Roman Dvořák c8a58c5c9d drivers: add PCF8583 RPM sensor (#14018) 2020-02-02 12:10:20 -05:00
Daniel Agar 931a3f2684 logger: publish initial logger_status orb message 2020-01-29 17:29:30 -05:00
Daniel AgarandJulien Lecoeur 1237402fa4 sensors: compute and publish vehicle_angular_acceleration 
- introduces parameter IMU_DGYRO_CUTOFF to configure the angular acceleration low pass filter
 - the angular acceleration is computed by differentiating angular velocity after the notch filter (IMU_GYRO_NF_FREQ & IMU_GYRO_NF_BW) is applied

Co-authored-by: Julien Lecoeur <jlecoeur@users.noreply.github.com>
 2020-01-27 16:44:01 -05:00
Daniel Agar 10410fc868 msg: rename sensor_bias -> estimator_sensor_bias 2020-01-27 09:03:27 +01:00
Daniel Agar 697dbfb9f8 sensors/vehicle_imu: incremental step towards multi-EKF 2020-01-22 18:04:29 -05:00
Daniel Agar bb465ca5b7 sensor accel/gyro message cleanup 
- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
 - publish sensor_gyro at full rate and remove sensor_gyro_control
 - limit sensor status publications to 10 Hz
 - remove unused accel/gyro raw ADC fields
 - add device IDs to sensor_bias and sensor_correction
    - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
 2020-01-18 01:15:00 -05:00
TSC21 d6cff809f3 uorb_rtps_message_ids.yaml: onboard_computer_status to be received 2020-01-15 19:40:09 +00:00
kamilritz b73c80428e ECL: Clean velPos logging, deprecate ekf2_innovations msg 2019-12-05 11:29:29 +01:00
Daniel Agar 1a395fb6d9 ST ISM330DLC IMU driver 2019-12-03 16:16:49 -05:00
TSC21 16f53ec18d msg: add a deprecated uORB msgs list to CMake 2019-11-22 15:00:53 +01:00
JaeyoungLim 6bd4273b9c mavlink: handle cellular_status messages for logging 2019-11-13 09:19:02 -05:00
Beat Küng 0db0981b1b uavcan: remove actuator_direct (no publisher) 2019-11-07 10:40:03 +01:00
Jaeyoung-Lim dcfe226638 Add onboard computer status rtps message 2019-10-27 11:47:10 +00:00
TSC21 9a4a02a255 uorb_rtps_message_ids.yaml: fix typo 2019-10-07 12:58:15 +01:00
kamilritz 35c50f693f Add missing id for vehicle_visual_odometry_aligned for rtps 2019-09-24 10:49:33 +01:00
TSC21 693d89583d RTPS: add check for ID space 2019-08-25 23:04:09 +01:00
TSC21 1fa43a707f uorb_rtps_message_ids: enlarge id space for base type msgs 2019-08-25 23:04:09 +01:00
TSC21 ac6ee972d3 airspeed_validated: move it out of the alias space 2019-08-25 23:04:09 +01:00
Daniel Agar dacaabe92e introduce sensor_gyro_control message for vehicle_angular_velocity (#12145) 2019-08-16 13:53:59 -04:00
Silvan Fuhrer 5bc6979796 AirspeedSelector: added RTPS ID for airspeed_validated message 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-09 10:55:05 +02:00
Daniel Agar a917f22b65 sensors: create vehicle_acceleration module (#12597) 2019-08-07 05:05:48 -04:00
Daniel Agar b945e28e08 uORB fix vehicle_angular_velocity RTPS id 2019-08-06 13:39:56 -04:00
Daniel Agar 2ad12d7977 sensors: create vehicle_angular_velocity module (#12596) 
* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
 2019-08-06 12:55:25 -04:00
Daniel Agar a6777ca4f1 uORB add RTPS message id for new wheel_encoders msg 2019-08-05 12:34:48 -04:00
TSC21 618ce49479 rtps: ids: add missing aliased topics 2019-08-04 20:04:19 +01:00
TSC21 5b2d952e4b add checker for multitopic msg naming 2019-07-26 15:05:54 +02:00
TSC21 3d9f83a4f2 microRTPS_bridge: structural change to make possible to generate pub/sub code for multi-topics/aliased msgs 2019-07-26 15:05:54 +02:00
TSC21 a747116eab microRTPS bridge: make mandatory that all the uORB messages have their RTPS id 2019-07-26 15:05:54 +02:00
TSC21 a78c9c4370 uorb_rtps_message_ids: for now, remove vehicle_global_position send 2019-01-07 12:46:36 +01:00
TSC21 065f97e87b add more relevant messages to the RTPS stream 2019-01-01 11:21:36 +00:00