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Author SHA1 Message Date
Jukka Laitinen
714df398eb lib/version: Don't link to drivers_board 
The needed version specific things come from px4 layer. Since version
is used both in kernel an user sides in protected build, it can't directly
link to drivers_board

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
ff4eae2c9b Fix px4_impl_os for protected build 
For NuttX protected or kernel build, the prebuilds can't contain libraries which are
different for kernel and user-space in protected/kerenl builds

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
d94cc1e114 Add kernel/userspace and nuttx_syscall libraries to build 
Build NuttX proxies, stubs and separate user space and kernel space libraries

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Daniel Agar
49d9d1c987 ekf2: only set fault status bad_acc_clipping if clipping frequently 2022-01-27 09:59:50 -05:00
Daniel Agar
f499749c23 ekf2: mag field strength check respect requirements 
- requires valid mag data (_mag_data_ready)
 - respect mag_fusion_type (including MAG_FUSE_TYPE_INDOOR)
 2022-01-27 09:05:13 -05:00
CUAVmengxiao
0ddf76ed7f uavcan: Add support for BatteryInfoAux message 2022-01-26 13:44:48 -05:00
CUAVmengxiao
425d03d909 msg: Add full_charge_capacity_wh 2022-01-26 13:44:48 -05:00
zhaoxiaowei
996b01acbc uavcannode need link conversion 2022-01-26 13:43:29 -05:00
Roman Dvořák
c8349811d1
Enable logging of mavlink tunnel messages 
Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
 2022-01-26 11:10:43 -05:00
Daniel Agar
ae3070bbf1 ekf2: make filter update period configurable 
- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
 - actual filter update period will be an integer multiple of IMU
 2022-01-26 10:57:09 -05:00
Daniel Agar
3f25349eb9 commander: don't reject VEHICLE_CMD_DO_SET_ACTUATOR 2022-01-25 18:44:58 -05:00
Oleg Kalachev
2945ce7c87 ekf2: fuse optical flow when magnetometer is disabled 
Co-authored-by: bresch <brescianimathieu@gmail.com>
 2022-01-25 15:42:10 +01:00
bresch
82e88a9547 [AUTO COMMIT] update change indication 2022-01-25 15:07:48 +01:00
bresch
d20e46567e ekf2: improve flow for terrain unit test 2022-01-25 15:07:48 +01:00
bresch
1502d77df2 ekf: refactor fake position control logic 2022-01-25 15:07:48 +01:00
Matthias Grob
42404ade77 FlightTaskOrbit: Use cruise speed and manual acceleration for radius and velocity changes 
instead of arbitrary fractions of the maximum radius and velocity.
 2022-01-25 11:45:31 +01:00
Matthias Grob
7c55229db7 FlightTaskOrbit: Fix altitude adjustment by stick 
This is done by inheriting from FlightTaskManualAltitudeSmoothVel again.
The altitude change by command is taken care of by switching
to the apporach when the altitude difference is big enough and
switching back once the altitude is close enough.

The altitude of the command is not perfectly reached but this can
only be done smoothly when the Orbit has full control over the
altitude smoothing. The independent altitude smoothing is not kept
because it was lacking stick handling like altitude lock and smooth
transitions when opening and closing the vertical position loop.
 2022-01-25 11:45:31 +01:00
Matthias Grob
d73d8f390b FlightTaskOrbit: Fix vertical speed limit 2022-01-25 11:45:31 +01:00
Matthias Grob
38de07186d FlightTaskOrbit: include acceleration and jerk in approach setpoint publishing 
I think they were forgotten and it leads to side effects:
- The acceleration feed-forward does not get executed
- The acceleration setpoint is NAN when initializing the altitude
  smoothing when arriving at the circle
 2022-01-25 11:45:31 +01:00
Matthias Grob
b9fb8490ba FlightTaskOrbit: initialize position smoothing with previous setpoints instead of current state 2022-01-25 11:45:31 +01:00
Matthias Grob
e0337a484b FlightTaskOrbit: remove unnecessary _sanitizeParams() in activation 
the parameters are anyways sanitized on every update so even if activate()
sets unfeasible one's they get adjusted on the first update.
 2022-01-25 11:45:31 +01:00
Matthias Grob
661496ab24 FlightTaskOrbit: improved naming in applyCommandParameters() 2022-01-25 11:45:31 +01:00
Matthias Grob
8525a8e520 FlightTaskAuto: fix typo pos(i)tion 2022-01-25 11:45:31 +01:00
Thomas Debrunner
4671a741dc FlightTaskOrbit: Do not switch out of circle orbit control logic on radius change. 2022-01-25 11:45:31 +01:00
Beat Küng
bbc2b703c3 mavsdk_tests: update catch2 to 2.13.8 
Fixes this issue on Fedora: https://github.com/catchorg/Catch2/issues/2178
 2022-01-24 16:16:29 -05:00
Daniel Agar
8d03e71c16 drivers/magnetometer/bosch/bmm150: init and self test improvements 
- if self test fails consistently proceed with startup, but report failure
 2022-01-24 16:16:03 -05:00
Daniel Agar
8217e0f335 drivers/magnetometer/bosch/bmm150: add self test fail perf counter to status 2022-01-24 13:06:32 -05:00
Daniel Agar
5ded1aedcb sensors/vehicle_angular_velocity: add IMU_GYRO_DNF_HMC to configure number of ESC RPM notch filter harmonics 2022-01-24 09:23:03 -05:00
SungTae Moon
4c6e746360
uorb graph: fix the link problem for multi topics (#19062) 2022-01-24 09:18:21 +01:00
Jaeyoung-Lim
ee98a3336d Spawn at different height for multivehicle simulation 
This commit fixes the spawn location of the multivehicle gazebo sitl script
 2022-01-23 17:59:42 -08:00
Daniel Agar
07e6c274d5 uavcan/uavcannode: bridge LogMessage and PX4 ORB_ID(log_message_s) 2022-01-23 20:21:39 -05:00
PX4 BuildBot
ed28b216c7 Update submodule sitl_gazebo to latest Sat Jan 22 12:38:57 UTC 2022 
- sitl_gazebo in PX4/Firmware (6203ad25c70f197cfe6a4614e3f02fb927725239): 27298574ce
    - sitl_gazebo current upstream: 831aa36fea
    - Changes: 27298574ce...831aa36fea

    831aa36 2021-10-09 Shaochang Tan - fix imu noise model.
 2022-01-22 12:24:49 -05:00
PX4 BuildBot
6203ad25c7 Update submodule mavlink to latest Sat Jan 22 00:39:17 UTC 2022 
- mavlink in PX4/Firmware (a16a8dceb1b2d234ae963c74621c147f521abce9): 3d8092006e
    - mavlink current upstream: 51abf3c82b
    - Changes: 3d8092006e...51abf3c82b

    51abf3c8 2022-01-21 Julian Oes - Component information: add note (#1785)
f5694b29 2022-01-19 Julian Oes - component_info: re-use protocol capabilities (#1786)
 2022-01-21 23:10:05 -05:00
Beat Küng
92769bd2b2 dshot: remove BOARD_DSHOT_MOTOR_ASSIGNMENT & handle timer channel gaps 2022-01-21 20:41:15 -05:00
Daniel Agar
4de9c598fa bmm150: retry probe up to 3 times 2022-01-21 15:51:43 -05:00
David Sidrane
a11fe60135 imxrt:ADC extend timeout 2022-01-21 13:07:44 -05:00
Daniel Agar
7cb8ed3a1f sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats 2022-01-21 09:18:49 -05:00
JaeyoungLim
0607982b23
Publish orbit status also when the waypoint is a loiter waypoint (#19048) 
* Publish orbit status also when the waypoint is a loiter waypoint

* Remove redundant orbit status publishing
 2022-01-21 09:13:03 +01:00
Beat Küng
bcd057ac3e uORB: fix copy-paste mistake in orb_print_message_internal 
Could have led to invalid memory access.
 2022-01-20 12:58:20 -05:00
bresch
a2260e53da ekf2: replace yaw failure detection criteria 
The existing logic using the angle between velocity vectors failed to
determine a yaw failure in practice because the state velocity is often
too small compared to its uncertainty to be used. In all the failures
reported, the yaw emergency estimator converged properly and yaw reset
would have fixed the issue.
A much simpler check using the yaw difference between the main EKF
and the emergency estimator is now used to tell if the vel/pos update
failure is most likely caused by a wrong heading.
 2022-01-20 11:54:24 +01:00
Daniel Agar
446729566d platforms/nuttx: px4io_serial always cleanup DMA before next bus exchange 
- this really shouldn't be necessary, but worst case it's harmless and
much better than potentially falling out of the sky
 2022-01-19 18:00:18 -05:00
Jaeyoung Lim
0dea56f88b Use current_sp for publishing orbit status 2022-01-19 12:00:03 -05:00
Jaeyoung-Lim
dec5e7e9c8 Publish orbit status whenever the vehicle is in loiter 
This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint
 2022-01-19 12:00:03 -05:00
Thomas Stastny
19c98b8841 npfg: fix typo in Vector2f indexing 2022-01-19 11:17:44 -05:00
bresch
e89e3c1b0c ekf2: extract logic to test yaw emergency estimate quality 2022-01-19 09:05:41 -05:00
bresch
ea80c5027e ekf2: split yaw estimator state getter into several functions 2022-01-19 09:05:41 -05:00
dagar
476c1e5c09 [AUTO COMMIT] update change indication 2022-01-19 09:04:53 -05:00
bresch
ffebd8e771 ekf2: initialize cos tilt variable assuming no tilt 2022-01-19 09:04:53 -05:00
Daniel Agar
92a5bbe97f ekf2: improve ring buffer sizing and dynamically allocate 2022-01-19 09:04:53 -05:00
Daniel Agar
36605bfff6 sensors: lower SENS_MAG_RATE default 
- reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4)
 2022-01-19 08:51:57 -05:00