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21780 Commits

Author SHA1 Message Date
Daniel Agar
d14b4221f1
sensor calibration: apply board level adjustment to external sensors (#16127) 
- apply SENS_BOARD_{X,Y,Z}_OFF to external sensors to prevent unnecessary misalignment with internal IMU
 2020-11-12 10:37:30 -05:00
bresch
5f0c572c61 GPS_YAW_OFFSET: fix param description 2020-11-12 09:35:40 +01:00
Daniel Agar
5d7ea62190 estimator_innovations: remove unimplemented fake vel & pos fields 
- easy to readd if and when they're needed
 2020-11-11 20:17:52 -05:00
Daniel Agar
880dc6accd ekf2: compile at MAX_CUSTOM_OPT_LEVEL 2020-11-11 20:17:52 -05:00
Daniel Agar
1e03285405 ekf2: avoid storing in_ground_effect state 2020-11-11 20:17:52 -05:00
Daniel Agar
26de630dc5 ekf2: remove landed flag and use control_status directly 2020-11-11 20:17:52 -05:00
Daniel Agar
89ab6a5dbf ekf2: preflight checks only reset on STANDBY change 
- avoid storing unnecessary state and call setVehicleCanObserveHeadingInFlight() directly
 2020-11-11 20:17:52 -05:00
Daniel Agar
b9fff2c221 ekf2: sensor_selection only updated in non-multi mode 
- publish attitude as soon as possible
 2020-11-11 20:17:52 -05:00
Daniel Agar
7264577eec ekf2: split perf counters (full update or not) and reorganize Run() slightly 2020-11-11 20:17:52 -05:00
Daniel Agar
a68fe4dbd7 ekf2: move parameter update to beginning of cycle 2020-11-11 20:17:52 -05:00
Daniel Agar
5ae7c80a18 ekf2: move rangeSample update to UpdateRangeSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
991015c5c6 ekf2: move magSample update to UpdateMagSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
68f49619b7 ekf2: move gps_message update to UpdateGpsSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
0db706011a ekf2: move FlowSample update to UpdateFlowSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
8ee197acad ekf2: move vehicle_odometry_aligned publication to PublishOdometryAligned() 2020-11-11 20:17:52 -05:00
Daniel Agar
b29f3c7ce5 ekf2: move ExtVisionSample update to UpdateExtVisionSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
0f56793116 ekf2: move BaroSample update to UpdateBaroSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
6b30f01daf ekf2: move AuxVelSample update to UpdateAuxVelSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
651e292d42 ekf2: move AirspeedSample update to UpdateAirspeedSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
f4f3ba47a2 ekf2: move mag calibration to UpdateMagCalibration() 2020-11-11 20:17:52 -05:00
Daniel Agar
96178a6fb0 ekf2: publish yaw estimator status last 2020-11-11 20:17:52 -05:00
Daniel Agar
05de61ff15 ekf2: move estimator innovations publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
387186c11d ekf2: move estimator innovation test ratios publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
3b9965ff8d ekf2: move estimator innovation variances publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
94415a45fa ekf2: move estimator status publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
03388f4656 ekf2: move estimator states publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
98334d1325 ekf2: move local position publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
c09a5e0d9f ekf2: move global position publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
8616345346 ekf2: move estimator_sensor_bias publication to method 
- only publish if there's a change in bias
 - publish current estimated mag bias, including saved mag bias
 2020-11-11 20:17:52 -05:00
Daniel Agar
e397cbf8bb ekf2: move ekf_gps_drift publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
0d657c74bf ekf2: rename publish helpers mixed case (google style guide) 2020-11-11 20:17:52 -05:00
Daniel Agar
68f24954cf imu/st/lsm9ds1: refactor to same form as other new IMU drivers 
- register configuration captured in table and checked periodically
 - simple state machine
 - all driver sleeps removed
 - driver respects IMU_GYRO_RATEMAX
 2020-11-11 19:22:12 -05:00
Silvan Fuhrer
5dd14dfd54 FW Position Control: re-add wrongly removed airspeed_poll() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-11 19:20:03 -05:00
Matthias Grob
ff801fbc08 FlightTasks: remove FlightTaskManualPositionSmooth 
alias first smooth position control version from 2017.

RIP it served well.
 2020-11-11 21:16:18 +01:00
Matthias Grob
e6338d8a2f MulticopterPositionControl: default cases with unsupported POS_MODE 2020-11-11 21:16:18 +01:00
Matthias Grob
0b8f092d2b Add acceleration stick mapping for position mode 2020-11-11 21:16:18 +01:00
Daniel Agar
7ba73b46ca
uORB: tests decrease stack 
- save a bit of memory for running on older boards
 2020-11-10 23:44:02 -05:00
AlexanderAurora
ea09d9ebbf
landing_slope: added wrap_pi to getLandingSlope and getFlareCurve 
- fixes https://github.com/PX4/PX4-Autopilot/issues/16132
 2020-11-10 18:58:14 -05:00
PX4 BuildBot
824238ecb8 Update submodule devices to latest Tue Nov 10 19:18:16 UTC 2020 
- devices in PX4/Firmware (e65317c5fd7440ebb983cb8b07f48d67678ab86e): https://github/commit/592e4289d941eb0b7d84e6da9d72d731083633ee
    - devices current upstream: https://github/commit/0bf63c9820f4af997d0a48743dcc1008d119e49c
    - Changes: https://github/compare/592e4289d941eb0b7d84e6da9d72d731083633ee...0bf63c9820f4af997d0a48743dcc1008d119e49c

    0bf63c9 2020-11-05 Morton Lin - replace non-ascii characters in source code (#61)
 2020-11-10 18:53:40 -05:00
PX4 BuildBot
8b9ae49508 Update submodule ecl to latest Tue Nov 10 19:18:21 UTC 2020 
- ecl in PX4/Firmware (579a8c3a688e536b1ae4177c3e3edcea438e74d5): https://github/commit/a21092804a784d012939f96cc633e7da5f5e8cde
    - ecl current upstream: https://github/commit/da9f314b69585ba169d033fec293e9ea48b9d1fd
    - Changes: https://github/compare/a21092804a784d012939f96cc633e7da5f5e8cde...da9f314b69585ba169d033fec293e9ea48b9d1fd

    da9f314 2020-11-10 bresch - mag: use strength in Gauss
c4d162f 2020-11-04 Claudio Micheli - EKF: range_finder parameterize range sensor quality hysteresis time
6158d6d 2020-11-02 Daniel Agar - EKF: add const reference getters for status flags
 2020-11-10 18:53:03 -05:00
Daniel Agar
d33a48eb24
systemcmds/topic_listener: remove excludes 
- this is a bit wasteful, but we can afford it for now everywhere listener is enabled
 2020-11-10 13:46:48 -05:00
Nicolas Martin
1965cd38ba arm auth: add parameters migration 
should be reverted in v1.13
 2020-11-10 09:03:59 +01:00
Nicolas MARTIN
8b96ff57d7 arm auth: split COM_ARM_AUTH in 3 parameters 
new params are:
- COM_ARM_AUTH_ID
- COM_ARM_AUTH_MET
- COM_ARM_AUTH_TO
 2020-11-10 09:03:59 +01:00
Nicolas MARTIN
6579544fca arm_auth: use ack reception timestamp to compute authorization timeout 2020-11-10 09:03:59 +01:00
Nicolas MARTIN
e89c21155a arm_auth: check authorization timestamp to skip old commands 2020-11-10 09:03:59 +01:00
David Sidrane
defa437b88
Add HY-SRF05 ultrasonic sensor driver 
* nxp_fmuk66-e: Use srf05 distance sensor
 * nxp_fmuk66-v3: Use srf05 distance sensor
 2020-11-08 13:25:58 -05:00
PX4 BuildBot
5ce0b5a32c Update submodule matrix to latest Sat Nov 7 19:38:27 EST 2020 
- matrix in PX4/Firmware (0c3c9bea0f8466d0c14326d134fd0fa06f480cf5): https://github/commit/ce6b10b99af722a4e653387d40019a8428d2a54f
    - matrix current upstream: https://github/commit/a504b6e88152d88dba936bc74e449f2f281b84e2
    - Changes: https://github/compare/ce6b10b99af722a4e653387d40019a8428d2a54f...a504b6e88152d88dba936bc74e449f2f281b84e2

    a504b6e 2020-11-04 Mitchell-Lee-93 - precision of tol for float has been changed
 2020-11-08 12:35:27 +01:00
stou-sandalski
6b23e28971
Fix for missing battery voltage from UAVCAN power modules (#16138) 
It seems that battery.voltage_* is no longer used and QGC is getting voltage data from the cell voltage array instead.
 2020-11-08 12:34:41 +01:00
Adam Blazczak
149ac16bb4 add support for secondary GPS interface 
Useful for navio2 or px4_raspberrypi when attaching a secondary (UART) GPS through one of the USB ports; the default navio2 onboard GPS is running on spi.

Example usage:
gps start -d /dev/spidev0.0 -i spi -e /dev/ttyACM0 -j uart -p ubx
 2020-11-05 08:59:11 +01:00
Daniel Agar
142452f80c replay: print parameter changes and error on mismatch 2020-11-04 11:47:01 -05:00