d5e3e9a7bc
[Kconfig] Decompose Kconfig, now each module has its own Kconfig
...
Which is better for versioning and decomposability
2021-10-07 10:09:01 -04:00
a7123f115c
sih:Fix type mismatch
2021-08-13 14:22:00 -04:00
c8346534f1
sih: using Quatf::expq(), fuselage added
2021-08-12 10:10:03 -04:00
718e5b5b5d
sih: add fixed-wing support
2021-08-05 09:16:14 +02:00
883624d915
lib/geo: move from ecl
2021-07-15 10:38:24 -04:00
39c96a8884
gps add device_id
2021-04-08 08:27:07 +02:00
629f7ba15b
params: ensure short description is only a single line
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So a UI can display it properly
2021-03-23 12:55:11 -04:00
f150e1e7aa
sih: time constant added on thrusters, and minor cleanup
2021-03-12 12:04:14 -05:00
d65d06f82d
SIH/gps: express gps position noise in meters and reduce noise value
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Previous horizontal position noise was a white Gaussian noise with std=0.8m
It results in a noise with high frequencies too high making some ekf
position tests fail (test ratio to allow arming).
The new noise values are below real GPS errors but as theses errors are
generally low frequency, so they cannot be modeled with a white noise.
2021-02-23 13:27:28 -05:00
80a73ab5b5
SIH: add distance sensor fault simulation
2021-02-23 12:57:40 -05:00
ab41319009
SIH: add distance sensor
2021-02-23 12:57:40 -05:00
50ec809fdf
SIH: add mag offset from parameters
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An absolute value superior to 10000 block mag publication
2021-02-22 11:56:16 -05:00
8f54dc402d
SIH: add baro offset (or pressure change) from parameters
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An absolute value superior to 10000 block barometer publication
2021-02-22 11:56:16 -05:00
1df63cb6b1
SIH: add gps fix loss simulation from parameters
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A new parameter allows to change the SIH number of gps satellites used
If it is below 4, fix is lost
2021-02-22 11:56:16 -05:00
bb7dd0cf00
modules/sih: move to px4 work queue (wq:rate_ctrl)
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- respect IMU_GYRO_RATEMAX for configured interval
- optionally compile at higher optimization level per board (${MAX_CUSTOM_OPT_LEVEL})
2021-01-31 12:56:45 +01:00
967d35a6b6
rate limit most parameter_update subscriptions
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- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
2021-01-10 21:09:15 -05:00
378cb155d6
simulator: support accel/gyro instances and stuck failure
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- expand simulator to 3 accels and gyros
- PX4Accelerometer/PX4Gyroscope switch to old param usage due to copy constructor issues with ModuleParams
2020-10-07 13:20:13 -04:00
a24488328f
Move GPS blending from ekf2 to sensors module
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- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
- blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU
Co-authored-by: Jacob Crabill <jacob@volans-i.com >
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com >
2020-09-25 23:28:31 -04:00
979243f38f
params: make parameter units more consistent ( #15502 )
2020-08-24 11:33:08 +02:00
27f23ac290
move initial sensor priority to parameters and purge ORB_PRIORITY
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- CAL_ACCx_EN -> CAL_ACCx_PRIO
- CAL_GYROx_EN -> CAL_GYROx_PRIO
- CAL_MAGx_EN -> CAL_MAGx_PRIO
2020-08-21 10:12:13 -04:00
9d962cdfbc
Pr update matrix ( #15520 )
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* Update submodule Matrix
* replace deprecated matrix functions
* update submodule ECL
* Update Matrix submodule
* Use absolute value of loiter radius
* Update ECL submodule
2020-08-11 10:08:41 +02:00
e34bdb4be9
move IMU integration out of drivers to sensors hub to handle accel/gyro sync
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- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu
- sensors: voted_sensors_update now consumes vehicle_imu
- delete sensor_accel_integrated, sensor_gyro_integrated
- merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
- sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
2020-05-30 11:07:54 -04:00
ca998c1822
IMU: parameterize IMU integration time (IMU_INTEG_RATE)
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- default integration rate now 200 Hz (5000 us interval)
- set update rate for all drivers and simulators using PX4Accelerometer/PX4Gyroscope
2020-05-05 20:34:09 -04:00
8787780de4
some printf format and conversion fixes
2020-05-04 09:49:23 +02:00
a89b69b0ea
vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz)
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* attitude_estimator_q: get velocity from local position (if available)
2020-03-11 23:57:43 -04:00
4fef3dd7d5
simulated sensors minor cleanup
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- mavlink receiver use PX4Accelerometer/PX4Gyroscope for hil_sensor and hil_state_quaternion
- simulator module remove unnecessary fake scaling
- sih module remove unnecessary fake scaling
2020-01-24 12:50:22 -05:00
22a005c9f4
delete module's redundant print_status()
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- we can already get the running status from ModuleBase and the other misc information is already available through perf or uORB
2019-11-30 18:22:19 -05:00
b418f937a3
sih update orb usage
2019-11-30 15:52:53 -05:00
3198610f85
src/platforms: move all headers to platforms/common/include/px4_platform_common
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and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
2019-10-30 11:48:47 +01:00
c8e59c4e39
parameter_update use uORB::Subscription consistently
2019-09-29 10:49:03 -04:00
78ef8aab2d
STACK_MAIN increase default 1024 -> 2048
2019-08-30 19:11:51 -07:00
2ad12d7977
sensors: create vehicle_angular_velocity module ( #12596 )
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* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
2019-08-06 12:55:25 -04:00
be99d2f111
sih: fix code style
2019-07-28 11:18:02 -04:00
09eaef82f6
sih: move to PX4Accelerometer/PX4Gyroscope/PX4Magnetometer/PX4Barometer helpers
2019-07-28 11:18:02 -04:00
3135f9f0d2
sih: avoid static variable + style fixes
2019-04-12 09:25:07 +02:00
65f623bd73
acceleration added when hitting the ground
2019-04-12 09:25:07 +02:00
7be1cc389e
removed arguments from constructor
2019-04-12 09:25:07 +02:00
744b50b478
send MAVLink GROUND_TRUTH at 25 Hz, only in SIH mode. And minor cleanup
2019-04-12 09:25:07 +02:00
9adb4410bd
newline added at the end of files
2019-04-12 09:25:07 +02:00
8b6480c1cf
sih.msg removed, serial port communication removed
2019-04-12 09:25:07 +02:00
e8c5d85525
sih param names cleanup
2019-04-12 09:25:07 +02:00
e1d9438f79
sih: remove SYS_SIH parameter and extend SYS_HITL
2019-04-12 09:25:07 +02:00
a9660d9da0
white noise generator updated
2019-04-12 09:25:07 +02:00
cdd7e95a92
added a call to px4_sem_destroy()
2019-04-12 09:25:07 +02:00
6ff228c2ff
sih module implemented with hrt_call_every and semaphore_wait
2019-04-12 09:25:07 +02:00
914a9b78b6
new airframe for sih, HIL_STATE_QUATERION sent through MAVLink
2019-04-12 09:25:07 +02:00
c09e9ec97f
simulator in hardware, new module added that allows to run a simulator in the hardware autopilot, for more documentation visit https://github.com/romain-chiap/PX4_SIH_QuadX
2019-04-12 09:25:07 +02:00
Peter van der Perk