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20374 Commits
Author SHA1 Message Date
Beat Küng 63b2befeed refactor uorb: rename published to advertised 
No semantic change (yet)
 2019-11-23 10:10:05 -05:00
Beat Küng 0f6f795aca uORBDeviceNode: use px4::atomic instead of volatile for _generation 
_generation is read in a multi-threaded context w/o locking.
 2019-11-23 10:10:05 -05:00
Daniel Agar d648d52ac3 Update submodule GpsDrivers to latest Sat Nov 23 12:39:59 UTC 2019 
- GpsDrivers in PX4/Firmware (0913ec7e6df0dfa84203b9a6fed72b1230157d9f): https://github.com/PX4/GpsDrivers/commit/085a85c48aafff6e388f8ce8d15c1371f8556a35
    - GpsDrivers current upstream: https://github.com/PX4/GpsDrivers/commit/781d4f125580d88d24add83b97017e6d771d757f
    - Changes: https://github.com/PX4/GpsDrivers/compare/085a85c48aafff6e388f8ce8d15c1371f8556a35...781d4f125580d88d24add83b97017e6d771d757f

    781d4f1 2019-11-22 Daniel Agar - remove all <cmath> usage
 2019-11-23 09:04:20 -05:00
Silvan Fuhrer 3f92bc26ce airspeed_selector: fix airspeed subscription 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-11-22 18:25:22 -05:00
Daniel Agar 75da6e351b mixer: organize by type 2019-11-22 16:48:10 -05:00
Daniel Agar f271efaf62 local_position_estimator: move to WQ and delete unused SubscriptionPollable 2019-11-22 16:02:54 -05:00
Daniel Agar db69ff0a6e attitude_estimator_q: move to WQ, module base and module params 2019-11-22 16:02:54 -05:00
Daniel Agar c8211dee28 drv_mixer.h - delete unused MIXERIOCGETOUTPUTCOUNT 2019-11-22 15:00:25 -05:00
Daniel Agar a255789be4 mixer: px_generate_mixer use static constexpr 2019-11-22 15:00:25 -05:00
Daniel Agar cc7807c066 mixer: update to List<> container 2019-11-22 15:00:25 -05:00
Daniel Agar 79dc676c8f mixer: move MixerGroup out of Mixer hierarchy and delete mixer.h header 2019-11-22 15:00:25 -05:00
Daniel Agar 011186b8a5 mixer: delete copy constructors and operators 2019-11-22 15:00:25 -05:00
Daniel Agar a172858db2 mixer: move scale() and scale_check() to SimpleMixer 2019-11-22 15:00:25 -05:00
Daniel Agar 9a572b0cf2 mixer: delete unused SimpleMixer::pwm_input() 2019-11-22 15:00:25 -05:00
Daniel Agar 37ec78dc2a mixer library split into separate headers and name consistently 2019-11-22 15:00:25 -05:00
Matthias Grob ccb21e3c4b navigator: remove double member initialization 2019-11-22 13:36:05 -05:00
Matthias Grob 06f667a8b3 vtol_att_control: convert angle in one line 2019-11-22 13:36:05 -05:00
Matthias Grob 9f545ae3cf navigator: convert to radians in configuration getter 2019-11-22 13:36:05 -05:00
Julian Oes 334a599b2d vmount: tell user how to use vmount test 
This confused me, so hopefully it will help the next user, e.g. me.
 2019-11-22 16:48:17 +01:00
Julian Oes a36a3d6c5c vmount: remove commented out code 2019-11-22 16:48:17 +01:00
Julian Oes 1e8ebe20d1 vmount: set correct MAV_MOUNT_MODE 2019-11-22 16:48:17 +01:00
Silvan Fuhrer 5b235c34c2 Rally Points: enable rally points always, except for RTL type == RTL_MISSION 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-11-22 08:18:25 +01:00
Daniel Agar 5aaf1b100b delete unused md25 driver 2019-11-21 18:56:24 -05:00
Matthias Grob dee8d200d8 mc_pos_control: fix position setpoints being logged as zero when NAN (#13557) 
This issue was found by @khabir and reported over slack.
It resulted from the split up of the big pr #12072 into #13262.
I took over the interface while the internal states still stayed the
hard to understand internal ones. One of the follow up refactors will
fix this completely and the entire legacy setpoint restore block can
be removed.
 2019-11-21 16:03:13 -05:00
Silvan Fuhrer ebdc29bc5f Airspeed Selector: enable airspeed_validated in control modules (#12887) 
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
 2019-11-21 14:14:25 -05:00
Julien Lecoeur a46581987c Update matrix submodule and add pseudoinverse tests (tests matrix) 2019-11-21 13:06:59 -05:00
Tanja Baumann 5d3a6d8213 collision_prevention: improve behavior in case of range data loss 
* add test for no incoming range data
 2019-11-21 11:13:28 -05:00
Daniel Agar 45b32b5eaa dataman: add read and write perf counters 2019-11-21 11:10:35 -05:00
Beat Küng 1371887578 board config: add define for adc voltage scaling 2019-11-21 08:19:59 +01:00
Beat Küng 4b290c4903 voltage & current scaling: use px4_arch_adc_dn_fullcount() instead of 4096 
Fixes the scaling on h7 boards (the ADC has 16 bits resolution).
 2019-11-21 08:19:59 +01:00
Matthias Grob b63044393e PositionControl: remove unwanted debug printfs 2019-11-21 00:52:09 +01:00
Daniel Agar 1af7af02db bmp388: cleanup main and add to px4_fmu-v5x board_config.h 2019-11-20 13:12:03 -05:00
Daniel Agar 3f05a7724d navigator: run immediately on vehicle_status updates 
- this allows navigator to process any nav_state changes as soon as possible
 2019-11-20 12:40:55 -05:00
Jannik Beyerstedt 4ce03dfc1e Add support for offboard ActuatorControl set points to RoverPositionControl (fixes #13192) (#13314) 
* fix formatting

* RoverPositionControl: Support Actuator Control Setpoints (fixes #13192)

* RoverPositonControl: remove control modes, that aren't currently implemented

* RoverPositionControl: use new Publication API
 2019-11-20 15:01:51 +01:00
TSC21 16f663ad52 microRTPS bridge: fix UART baudrate set 2019-11-20 11:38:34 +00:00
Matthias Grob 1bef35d843 PositionControl: correct float initialization literals 
according to @bresch's review
 2019-11-20 11:42:09 +01:00
Matthias Grob bd491c8511 PositionControl: add unit tests for directions and limits 2019-11-20 11:42:09 +01:00
Matthias Grob 25a445d5f8 PositionControl: remove parameter dependency 
to make the class easier to understand,
more modular and easily unit testable
 2019-11-20 11:42:09 +01:00
Daniel Agar 84fe64b1c2 create new multicopter rate controller module (mc_rate_control) split out of mc_att_control 2019-11-19 17:03:11 -05:00
Matthias Grob b64abf48b2 mc_pos_control: reset velocity derivatives 2019-11-19 22:18:01 +01:00
Daniel Agar b213e30597 mpu9250: fully remove dead interval perf counter 2019-11-19 13:43:37 -05:00
Daniel Agar 515e896cde navigator: set position setpoint timestamp 2019-11-19 10:24:52 -05:00
Daniel Agar a2bd65460d commander: add vehicle-status nav_state change timestamp 2019-11-19 10:24:52 -05:00
Jannik Beyerstedt bbc028a9e9 RoverPositionControl: make offboard attitude usable without GPS 2019-11-19 10:05:25 +01:00
Beat Küng a543169f1e CollisionPrevention: avoid unnecessary cast from uint16_t to int 2019-11-19 09:32:30 +01:00
Nik Langrind c34b7019a4 Fix mistake in previoust commit, which could the "hil" argument to 
be ignored if px4io were to be started with two or more optional arguments
 2019-11-19 08:31:31 +01:00
Jannik Beyerstedt 38103654e9 RoverPositionContro: Enable driving backwards in attitude control 2019-11-17 11:29:45 +01:00
Claudio Micheli ba99ef0d3b Commander: Add COM_ARM_AUTH_REQ for enabling Arm Authorization 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-11-17 11:22:36 +01:00
Nik Langrind ba5efa5642 px4io: When running HITL, don't publish actuator_outputs. Fixes #13471. 
When running in HITL mode, pwm_out_sim publishes actuator_outputs.

px4io unconditionally publishes the uOrb actuator_outputs. When HITL
is configured, the px4io copy of the uOrb has all zeros.

The result is that there are two publications, one valid, and one
all-zeros. This causes the HIL_ACTUATOR_CONTROLS mavlink message
to be incorrect (all-zeros) and the SERVO_OUTPUTS_RAW mavlink
message to be inconsistent, as it takes the data from one or the
other uOrb randomly each cycle.

The fix is to let px4io know that HITL is in effect when it is
started, and modify px4io to suppress publication in this case.

This is a bigger more complicated fix than I would like, but I
think it is conceptually correct.

Signed-off-by: Nik Langrind <langrind@gmail.com>
 2019-11-17 11:19:35 +01:00
Daniel Agar a694f0bbdd bl_update: build and include board bootloader if config available 2019-11-16 11:43:42 +01:00