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Author SHA1 Message Date
Daniel Agar
5fcd7932e9
mavlink: replace MavlinkOrbSubscription with uORB::Subscription 
* uORB orb_stat() and update(uint64_t *time, void *dst) are now obsolete and have been deleted
 * mavlink messages add more advertised checks in streams get_size() check to improve data rate calculation across different scenarios
 2020-03-14 12:52:46 -04:00
Lorenz Meier
4f2d39cb15 SITL plane: Do not configure trigger 
We have a plane_cam configuration for survey applications instead.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
35ed5607b4 Mission feasibility checker: Prevent zero-length trajectories 
The mission logic depends in a number of locations on being able to calculate the direction from one waypoint to another. Missions that have waypoints that are in the same physical location do not make sense and need to be rejected (the GCS / SDK generating them needs to be fixed). By enforcing this we can work with a reasonable and simpler state machine while executing the mission.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
76d20be29d Mission block: Gate math cleanup and checks 
This change simplifies the gate calculation.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
4876e7bd6b Navigator: Improve documentation of mission block 
The default for the gate check condition is to pass and this needed to be explicitly documented
 2020-03-14 17:50:40 +01:00
Lorenz Meier
5e7ff47aac Navigator: Improve code readibility 
This diff does not contain any functional changes but just makes the code more readable and adds comments.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
417d172a72 Navigator: Warn only for non-zero missions 
Previously a zero-length mission that failed checks
(e.g. because a mandatory element was not present) would lead to a
warning.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
39e473f988 Gazebo plane model: Enable tighter turns 
This helps to fly smaller / faster test missions.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
027e52d402 Camera trigger: Improve code readability 
This helps to trace the code, no functional changes.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
8a6d444467 Enable Gazebo mock optical flow 2020-03-14 17:50:40 +01:00
Lorenz Meier
f1f185d209 Mission feasibility checker: Handle mission with zero elements silently 
A mission with zero elements is invalid but should not lead to a warning. Previously a fixed wing aircraft without a mission did emit warnings about a missing land item.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
09595f88fc Mission block: Style improvement 
Boolean logic improvement to avoid double assignment of true
 2020-03-14 17:50:40 +01:00
Lorenz Meier
76b3c18625 Add dedicated survey camera plane model 
This is to allow us to test triggering properly in SITL
 2020-03-14 17:50:40 +01:00
Lorenz Meier
320cc8bae6 POSIX SITL: Enable trigger control in plane model 
This allows to test plane survey missions with the camera trigger included in SITL.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
5936844595 Update to latest mission API 2020-03-14 17:50:40 +01:00
Lorenz Meier
b405c7e9bd Navigator: Add ability to wait for a position gate with executing the mission 
This enables the navigator to wait for a specific gate coordinate to pass orthogonally to the current trajectory. This is particularly helpful for payload / camera handling in missions and avoids a dependency of payload handling on navigation waypoints.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
ed8cb1c5a7 MAVLink: Add support for new gate command 
This enables the vehicle to be able to wait with executing the next item until a position has been passed.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
8842977d80 Camera trigger: Handle trigger distance handling better 2020-03-14 17:50:40 +01:00
Lorenz Meier
cb63fcdcc4 Vehicle command: Add mission item to gate mission execution on line orthogonal to current trajectory 2020-03-14 17:50:40 +01:00
BazookaJoe1900
5e343b104e
logger: using ModuleParams (#14316) 
and some cleanups on main()
 2020-03-13 11:31:43 +01:00
Daniel Agar
0eca583ecf sensors: move baro aggregation to new sensors/vehicle_air_data 2020-03-12 19:06:34 -04:00
Daniel Agar
093e9ba1ce
mc_rate_control: use vehicle_angular_acceleration topic instead of differentiating 
* mc_rate_control: use vehicle_angular_acceleration topic
* IMU_DGYRO_CUTOFF change default to 30 Hz
* improve IMU_DGYRO_CUTOFF param documentation (updated from MC_DTERM_CUTOFF)
 2020-03-12 15:07:03 -04:00
Daniel Agar
2b03aa3d1b px4_fmu-v2: disable vtol_att_control to save flash 2020-03-12 14:10:39 -04:00
Matthias Grob
2dccc0dcfc posix.h: remove duplicate stdint.h include 2020-03-12 17:49:37 +00:00
TSC21
69b38c9ced RTPS: add IDs to 'orb_test' related multitopics 2020-03-12 11:10:50 +00:00
PX4 BuildBot
2da38ae81c Update submodule matrix to latest Thu Mar 12 00:38:40 UTC 2020 
- matrix in PX4/Firmware (db0c95ed5620e8ffad3dd3281b511cf5f9ee7848): 649c837b6b
    - matrix current upstream: 4873dc1c1e
    - Changes: 649c837b6b...4873dc1c1e

    4873dc1 2020-03-04 kritz - Analytic inverse implementation (#122)
 2020-03-12 00:01:38 -04:00
Daniel Agar
a89b69b0ea
vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz) 
* attitude_estimator_q: get velocity from local position (if available)
 2020-03-11 23:57:43 -04:00
Daniel Agar
5d33b9e999
delete Outback Challenge (OBC) AUTO_RTGS (datalink loss) and AUTO_RCRECOVER (rc loss) 2020-03-11 22:45:55 -04:00
Daniel Agar
0ce9e113ff boards: stm32f4/f7 enable SPI_DMATHRESHOLD=32 2020-03-11 22:08:37 -04:00
Beat Küng
179c89b6bd board configs: extend board_dma_map.h with a table 2020-03-11 22:08:37 -04:00
Daniel Agar
aeff85322d px4_fmu-v2: leave SPI DMA disabled for now (flash space) 2020-03-11 22:08:37 -04:00
Daniel Agar
c8509892a6 intel_aerofc-v1: add board_dma_map.h and enable SPI1 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
8c2ba5f39f mro_x21-777: add board_dma_map.h and enable SPI1 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
38a10fc7fc mro_x21: add board_dma_map.h and enable SPI1 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
f309e3a5ba mro_ctrl-zero-f7: add board_dma_map.h and enable SPI1/SPI5 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
5660ea0fd2 av_x-v1: add board_dma_map.h and enable SPI1/SPI2 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
98108bc4da airmind_mindpx-v2: add board_dma_map.h and enable SPI1 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
e24fcee214 modalai_fc-v1: add board_dma_map.h and enable SPI1/SPI2 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
01b90fefaf uvify_core: add board_dma_map.h and enable SPI1 DMA 
- synced with px4_fmu-v4
 2020-03-11 22:08:37 -04:00
Daniel Agar
772ddd7f5e px4_fmu-v2/v3: add board_dma_map.h and enable SPI1/SPI4 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
bd16c2b4f6 px4_fmu-v5x: add board_dma_map.h and enable SPI{1,2,3} DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
6ed4b6978e px4_fmu-v5: add board_dma_map.h and enable SPI1 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
6834f089cc px4_fmu-v4pro: cleanup board_dma_map.h 2020-03-11 22:08:37 -04:00
Daniel Agar
147e37ac88 px4_fmu-v4: cleanup board_dma_map.h 2020-03-11 22:08:37 -04:00
Daniel Agar
f9794e99f8
move hover_thrust_estimator to new module (mc_hover_thrust_estimator) 
* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.

* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2020-03-11 21:20:54 -04:00
David Sidrane
4b9e6964f4 uavcan:Support runtime setting of CAN interfaces 2020-03-11 20:36:58 -04:00
David Sidrane
82ab1413fc px4_fmu-v5:Add Manifest Entries for UAVCAN interfaces 2020-03-11 20:36:58 -04:00
Daniel Agar
46a09b711f boards: increase STDIO buffer size where we can afford it 2020-03-11 17:19:44 -04:00
Daniel Agar
9cd8bb4f88
sensors: move to WQ 
Running the sensors module out of the same WQ thread as the estimator, position, and attitude controllers is a bit safer and prevents potential priority and starvation issues. There is a very small increase in latency (~50 us) between sensors and ekf2 execution (on average). This also saves a little bit of memory (~ 3 kB) and cpu (~1-1.5% depending on the board).
 2020-03-11 11:34:04 -04:00
TSC21
2b8eb736e1 microRTPS: timesync: fix comment indentation 2020-03-11 15:13:07 +00:00