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Author SHA1 Message Date
Lorenz Meier 462f1346bd Add motor_test command to FMUv3 2017-08-09 22:12:25 +02:00
Lorenz Meier 490f40bee1 Sensors: Use temperature for airspeed validation to avoid false positives for high-performance airspeed sensors 
This is required to enable new high-performance sensors which otherwise would provide incorrect readings.
 2017-08-06 20:52:37 +02:00
Lorenz Meier 45f2a52a7d Sensor startup: Simplify and fix Pixhawk 2.1 
This change simplifies the sensor startup and fixes the detection of airspeed sensors on Pixhawk 2.1
 2017-08-06 20:52:23 +02:00
Lorenz Meier d10116e54a Update MAVLink version 2017-08-05 16:00:00 +02:00
Lorenz Meier b82975f73d UAV CAN ESC: Use new task header 2017-08-02 21:18:35 +02:00
Lorenz Meier 36b5795625 UAV CAN node main: Use new task header 2017-08-02 21:18:35 +02:00
Lorenz Meier 22d4178ebc UAVCAN: Use new task header 2017-08-02 21:18:35 +02:00
Lorenz Meier d3aaee65c0 Iridium: Use new task header 2017-08-02 21:18:35 +02:00
Lorenz Meier 144a030676 IO: Use default scheduling priorities 2017-08-02 21:18:35 +02:00
Lorenz Meier a2b23bf23a FMU: Use default scheduling priorities 2017-08-02 21:18:35 +02:00
Lorenz Meier 482a98facb MC pos control: Use default scheduling priorities 2017-08-02 21:18:35 +02:00
Lorenz Meier 727bb4886d Fixed wing: Use default scheduling priorities 2017-08-02 21:18:35 +02:00
Lorenz Meier 08e49806c8 Logger: use default scheduling priorities 2017-08-02 21:18:35 +02:00
Lorenz Meier 60c96d9dd6 Navigator: Use default scheduling priorities 2017-08-02 21:18:35 +02:00
Lorenz Meier 017a29cba1 Sensors hub: Use default scheduling priorities 2017-08-02 21:18:35 +02:00
Lorenz Meier b07dde78e3 Move scheduling priorities into px4_tasks to simplify header usage 2017-08-02 21:18:35 +02:00
Lorenz Meier b26c771ea6 MC attitude controller: Use default scheduling order 2017-08-02 21:18:35 +02:00
Lorenz Meier 5f12259dfd FW att controller: Use attitude controller scheduling order 2017-08-02 21:18:35 +02:00
Lorenz Meier cae4694d6a EKF: Use estimator scheduling order 2017-08-02 21:18:35 +02:00
Lorenz Meier 49198af6c7 FMU driver: Use default actuator output scheduling order 2017-08-02 21:18:35 +02:00
Lorenz Meier 494f7e4efb Properly document scheduling priorities 2017-08-02 21:18:35 +02:00
Lorenz Meier 501cec2469 Scheduling priorities: Formatting and sorting according to current system usage 
this reflects what the system is currently using.
 2017-08-02 21:18:35 +02:00
Lorenz Meier 3ca474f045 Ground rover: Use standard scheduling setup 2017-08-02 21:18:35 +02:00
Lorenz Meier d8cc38728d Multicopter attitude controller: Run at maximum priority. 
This allows for a quicker update from sensors if the estimator runs at the default priority of the estimator class. If there is no direct sensor pass-through then it will wait for an estimator update.
 2017-08-02 21:18:35 +02:00
Lorenz Meier 8dd96e960d Fixed wing attitude controller: Run at maximum priority. 
This ensures attitude control runs first before any other system component.
 2017-08-02 21:18:35 +02:00
Lorenz Meier c94e54bbab Commander: Handle HITL state in all places consistently 2017-08-02 15:12:25 +02:00
Lorenz Meier 9d49690f17 GPS simulation: Manage delays correctly 
The GPS simulation now mimicks the real driver more closely and should provide even GPS delays. The delays themselves are set by the simulator, and default to 120 ms for Gazebo
 2017-08-02 13:06:59 +02:00
Lorenz Meier d69c53827f HRT sim: Remove outputs that smash simulator stack 2017-08-01 20:25:38 +02:00
Lorenz Meier 587f4d8f33 jMAVSIm: Explicitely configure to 500 Hz 2017-08-01 19:50:35 +02:00
Lorenz Meier 879356c25b SITL gazebo plugin: Harden dynamics of delta quad 2017-08-01 19:50:35 +02:00
Lorenz Meier d1973a6c7f jMAVSim: Update submodule to use new timestamp API 2017-08-01 19:50:35 +02:00
Lorenz Meier 1c0dd8ba49 Simulator: Add scaling API to adjust for slow simulators 
The simulation engine had the ability to pause already and properly handled load spikes, however, it was not hardened against constant drift. This addition enables it to run at a constant slower-than-realtime rate successfully.
 2017-08-01 19:50:35 +02:00
Lorenz Meier cf7d4fc1a7 GPS sim: Adjust delay closer to what real u-blox devices do 2017-08-01 19:50:35 +02:00
Lorenz Meier afb40a761d Simulator: Compensate scale error, not just message drops. This makes the whole simulation a lot more stable 2017-08-01 19:50:35 +02:00
Lorenz Meier 94684899a5 Gazebo: Fix usage of timestamps 2017-08-01 19:50:35 +02:00
Lorenz Meier 292dce04aa Gazebo client: Reduce priority to avoid affecting other processes 2017-08-01 19:50:35 +02:00
Lorenz Meier 529def11e8 CMake / Clang: Increase warning level 2017-08-01 12:46:59 +02:00
Lorenz Meier ef233d29f0 VMount: use correct doube interface 2017-08-01 12:46:59 +02:00
Lorenz Meier 91c982758e GEO: Fix double promotion warning 2017-08-01 12:46:59 +02:00
Lorenz Meier 340432e2cf legacy EKF: Use correct constants 2017-08-01 12:46:59 +02:00
Lorenz Meier 576ad4b521 Sensors update: use correct constants 2017-08-01 12:46:59 +02:00
Lorenz Meier f4eaea99c5 Temp cal: Use correct constants 2017-08-01 12:46:59 +02:00
Lorenz Meier ae737d8df0 Camera trigger: use double per interface spec 2017-08-01 12:46:59 +02:00
Lorenz Meier 3c89059199 Update SITL version to fix image triggering 2017-07-31 12:26:08 +02:00
Lorenz Meier 1eb10e431f Create CODE_OF_CONDUCT.md 2017-07-30 19:18:49 +02:00
Lorenz Meier 61b0a81bf9 HITL startup: Further simplification of boot logic in commander 2017-07-29 23:06:50 +02:00
Lorenz Meier 03324e0fb1 ROMFS: Remove stale HITL config 2017-07-29 23:06:50 +02:00
Lorenz Meier 5838556742 HITL handling: Enforce the use of the activation parameter for HITL configuration 2017-07-29 23:06:50 +02:00
Lorenz Meier 8aa1382e08 ROMFS: Switch HIL to a setting orthogonal to airframes 
This makes it easy to flip any airframe config over to HIL.
 2017-07-29 23:06:50 +02:00
Lorenz Meier 8878be5741 MC land speed: Ensure that the difference between land speed and land detection is high enough 2017-07-29 22:25:09 +02:00
Lorenz Meier 6f249472e0 FMUv5: Ensure there is enough UART buffer space - since the board has plenty of RAM, all UARTs are treated equally 2017-07-29 16:12:41 +02:00
Lorenz Meier 235a789a47 FMUv4 configs: ensure there is enough TX buffer space 2017-07-29 16:12:41 +02:00
Lorenz Meier ad21dc3f50 Pixhawk configs: Ensure there is enough TX space on high-speed UART links 2017-07-29 16:12:41 +02:00
Lorenz Meier dc4faa81de MAVLink: Only initialize where required 2017-07-29 16:12:41 +02:00
Lorenz Meier 6b17db35b0 MAVLink: Fix vibration message timestamp 2017-07-29 16:12:41 +02:00
Lorenz Meier 3f048e8a87 MAVLink stream: Do not override interval too much 2017-07-29 16:12:41 +02:00
Lorenz Meier af451ce638 MAVLink time sync: Better output handling 2017-07-29 16:12:41 +02:00
Lorenz Meier f0e8ebb2ac MAVLink: Remove link termination command 
This is no longer required as we have a full shell available now and there is no reason to let the remote terminate the instance.
 2017-07-29 16:12:41 +02:00
Lorenz Meier 37657cf99b MAVLink FTP: Use modern output printing to capture errors in system log 2017-07-29 16:12:41 +02:00
Lorenz Meier 68d70cc8c0 MAVLink: Use modern PX4 output format to enable system logging for errors. 2017-07-29 16:12:41 +02:00
Lorenz Meier 09f1373a08 MAVLink: Adjust stream rates to match real usage 2017-07-29 16:12:41 +02:00
Lorenz Meier 07ced9895c MAVLink: Improve message handling / tracking 
The message handling was not obeying action focused messages and high-rate messages properly before. With this change update rates track the desired rates closely. Critical high-rate messages such as ADS-B are queued additionally to guarantee that all received packets are being correctly forwarded.
 2017-07-29 16:12:41 +02:00
Lorenz Meier dc8caeaedf MAVLink: Default to standard stream config 2017-07-27 10:15:53 +02:00
Lorenz Meier 9124617315 MAVLink: Always enable forwarding for companion link 2017-07-27 10:15:53 +02:00
Lorenz Meier c44322ca15 MAVLink app: Use more advanced forwarding logic 2017-07-27 10:15:53 +02:00
Lorenz Meier 98bd6e43e8 SDP3x: Add model for pitot pressure drop 2017-07-26 09:27:32 +02:00
Lorenz Meier f746f9a9b3 UAVCAN: Reduce memory footprint 2017-07-26 07:55:31 +02:00
Lorenz Meier 286c3d41d3 MAVLink app: Send GPS uncertainty via MAVLink 2 
This is needed by some consumers like transponders.
 2017-07-23 00:16:00 +02:00
Lorenz Meier d83e54cde5 MAVLink v2: Update version 2017-07-23 00:16:00 +02:00
Lorenz Meier c1f5feac83 MAVLink: Queue transponder reports and send them at full data rate 
This will ensure that no transponder reports are dropped and that all received reports are passed on to the GCS and other devices.
 2017-07-20 09:13:53 +02:00
Lorenz Meier dde5781142 MAVLink: Add capture command to command queue 2017-07-18 23:05:43 +02:00
Lorenz Meier cb3222d131 Navigator: Be less verbose 2017-07-18 23:05:43 +02:00
Lorenz Meier 0d30d817b8 Update SITL Gazebo to default triggering to MAVLink 2 2017-07-18 23:05:43 +02:00
Lorenz Meier 8bc0a8aece Geotagging config: Default vehicle to MAVLink 2 2017-07-18 23:05:43 +02:00
Lorenz Meier b1a987f06b Enable camera triggering and gimbal control via MAVLink 2017-07-18 23:05:43 +02:00
Lorenz Meier efba7fa7b9 Update SITL gazebo 2017-07-18 23:05:43 +02:00
Lorenz Meier 8706525d70 Update MAVLink rev 1 2017-07-18 23:05:43 +02:00
Lorenz Meier 6e97aec8ce MAVLink app: Do not warn about required reboot but rely on param meta. Fixes #7642 2017-07-18 22:51:42 +02:00
Lorenz Meier dbc7d805f2 Navigator: Fix pause mode to not continue to next waypoint if already set 2017-07-11 13:23:12 +02:00
Lorenz Meier 6a3e27fe18 PWM command: Be less verbose 2017-07-11 08:15:44 +02:00
Lorenz Meier 57a2ea0cd1 Navigator: Do not change target position if user is only changing altitude 
This is important for multicopters for drift-free altitude changes and important for fixed wing to keep the current loiter center.
 2017-07-10 18:36:03 +02:00
Lorenz Meier c89bd5c8fd HMC5883: Fix range setup 2017-07-10 08:32:19 +02:00
Lorenz Meier f2b8291587 Logger: Run at lower priority than core control pipeline 
This should ensure that controllers run first and log data copying happens after.
;
 2017-07-09 21:59:01 +02:00
Lorenz Meier df173d4d8a Sensors: Do not update calibration when armed. Run at lower priority than attitude control and estimator 
This ensures that the massive (several hundred params if temperature compensation is enabled) param load is not done in flight. We also lower the priority to ensure that attitude controllers and estimators which might consume sensor data directly execute immediately, which should reduce their latency.
 2017-07-09 21:58:48 +02:00
Lorenz Meier 3bdd0e95dd EKF2: Show time slip on console 2017-07-09 21:58:41 +02:00
Lorenz Meier 75faf5c7bd Preflight checks: Increase accel warn limit range 2017-07-09 16:38:56 +02:00
Lorenz Meier 80461fad6b Camera trigger: Support triggering one image immediately. 
This allows to re-enable the distance trigger and immediately take a picture. This is helpful to ensure survey areas are covered on entry and exit.
 2017-07-09 14:49:21 +02:00
Lorenz Meier 1a12326d7d Reserve value in ENUM for simple mode 2017-07-09 14:43:24 +02:00
Lorenz Meier 099a6dfd3e Mission feasibility checker: Improve output messages for humans 
Text to speech will work better with these messages and some of them exceeded the 50 character limit.
 2017-07-09 14:43:24 +02:00
Lorenz Meier eb5b153d10 MAVLink app: send status text only if connected to something that can actually handle it. 
This increases the chance that the operator gets to see the messages that the vehicle emitted before telemetry was connected.
 2017-07-09 14:43:24 +02:00
Lorenz Meier 5a8062e646 MAVLink app: Provide function for connected state 
If we have not received an inbound heartbeat we are probably not connected and so user-facing output (which is even buffered) should go only out once we are connected.
 2017-07-09 14:43:24 +02:00
Lorenz Meier 4ca7187e42 Commander: Do not allow to set mission mode if the mission is failing feasibility checks. Provide clear feedback if telemetry is online and home is set about an invalid mission state. 2017-07-09 14:43:24 +02:00
Lorenz Meier 49bbd0e58d Navigator: Be less verbose 2017-07-08 19:36:58 +02:00
Lorenz Meier d80be2e4ff MAVLink: better output handling 2017-07-08 19:36:58 +02:00
Lorenz Meier 24ffada340 MPU9250: Hold off from reboot a little longer. Fixes #7555 2017-07-08 16:38:18 +02:00
Lorenz Meier 9cd93dcf03 MPU9250: Fix boot on Pixhawk Mini 
This requires further investigation. Hotfix.
 2017-07-08 16:31:12 +02:00
Lorenz Meier 90fdc544fd MAVLink app: Code style fix 2017-07-08 15:34:36 +02:00
Lorenz Meier ddf32e14de MAVLink app: More print improvements 2017-07-08 15:23:46 +02:00
Lorenz Meier d15dd061f9 MAVLink app: More debug string formatting 2017-07-08 14:36:08 +02:00
Lorenz Meier e8aa5a3172 MAVLink app: Fix non-enabled debug string output 2017-07-08 14:23:46 +02:00