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22797 Commits

Author SHA1 Message Date
Julian Oes
71bd35fcaa mavlink: keep track of seq for any component 
Instead of only keeping track of the sequence ID of specific "supported"
components, we now keep track of any sysid/compid of an incoming
message. Before this change, unknown components (such as jMAVSim) would
completely screw up the mavlink message stats and create confusion (at
least in my case).

With this change we currently keep track of up to 8 other components.
Once we reach the limit, we will print a warning.
 2021-05-02 13:45:39 -04:00
Julian Oes
6ae23e7b7b mavlink: fix HITL battery status publication 
Without these fields the pre-arm check would complain and fail.

Also, the voltage is adjusted to be at around 70% rather than 30% which
would almost start to trigger warnings.
 2021-05-02 13:45:39 -04:00
Julian Oes
cfcc074e9d mavlink: remove unused methods 2021-05-02 13:45:39 -04:00
TSC21
18dc0e4900 update submodule micro-CDR 2021-05-02 13:05:16 -04:00
SalimTerryLi
514d4fd57b
drivers/distance_sensor: GY-SR04 sonar range finder driver 2021-05-02 12:09:35 -04:00
PX4 BuildBot
32d354e5fe Update submodule ecl to latest Sun May 2 12:39:08 UTC 2021 
- ecl in PX4/Firmware (cb999f37d4891ebfbbc21b4ce9b3851888b39ad4): 5d34d7a24e
    - ecl current upstream: a7b8afe420
    - Changes: 5d34d7a24e...a7b8afe420

    a7b8afe 2021-04-30 Eike - Allow rangefinder fusion in vision height mode (Fix for #994) (#999)
4ac57d3 2021-04-25 Daniel Agar - EKF: increase fault flags value size to fit current flag bits (> 16)
 2021-05-02 11:47:36 -04:00
PX4 BuildBot
8ef10c9b38 Update submodule public_regulated_data_types to latest Sat May 1 12:41:36 UTC 2021 
- public_regulated_data_types in PX4/Firmware (bb5225ddae32f3a85f6c01fa5957f1b30cb73a14): 309b251a7e
    - public_regulated_data_types current upstream: 1337b1c86f
    - Changes: 309b251a7e...1337b1c86f

    1337b1c 2021-04-23 Pavel Kirienko - Update the `nominal_voltage` in battery parameters (#114)
 2021-05-01 19:17:02 -04:00
PX4 BuildBot
199db72d5f Update submodule public_regulated_data_types to latest Sat May 1 12:41:39 UTC 2021 
- public_regulated_data_types in PX4/Firmware (d052cf4a6963d576e0e108b6c95b6fa4fab57584): 309b251a7e
    - public_regulated_data_types current upstream: 1337b1c86f
    - Changes: 309b251a7e...1337b1c86f

    1337b1c 2021-04-23 Pavel Kirienko - Update the `nominal_voltage` in battery parameters (#114)
 2021-05-01 19:16:42 -04:00
mcsauder
4eb758edf0 Alphabetize flight_mode_manager CMakeLists.txt list, and group/format types in FlightTask.cpp/hpp. 2021-05-01 10:46:27 -04:00
Daniel Agar
186bc2bda4
Update submodule GPSDrivers to latest Sat May 1 00:38:31 UTC 2021 2021-05-01 10:31:09 -04:00
TSC21
4f098a01bc drivers: protocol_splitter: some style updates 2021-04-29 11:57:35 +02:00
Jari Nippula
9980d2a556 Utilize header struct instead of control bytes directly 2021-04-29 09:37:48 +02:00
Jari Nippula
757f1df068 Protocol_splitter: 4-byte header with checksum 2021-04-29 09:37:48 +02:00
CUAVcaijie
b898aabfed Fix the repeated configuration of PWM rate after initialization 2021-04-28 00:22:07 +02:00
Kalyan Sriram
b2d73dca26 uavcan_v1: cmake: nunavut generation message 2021-04-27 10:30:33 -04:00
Beat Küng
38c1ec6a9c ekf2: check if ChangeInstance succeeded 2021-04-27 10:29:09 -04:00
Beat Küng
1a89f165fd fix bmi088: set correct accel scale 
This affected the clipping limit, which was set too low
 2021-04-27 10:27:57 -04:00
RomanBapst
171c26373b land_detector: robustify land detection by using distance to ground info 
- if distance to the ground is available then hysteresis times will be increased
by a factor of 3 if vehicle is higher than 1m above ground

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-04-27 08:19:19 +02:00
RomanBapst
f6a34e1e80 vtol_type: reset accel to pitch integrator 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-04-27 07:43:38 +03:00
Alex Mikhalev
cbf34109d1 paw3902: Default to using SENS_FLOW_ROT rotation 
This restores the behavior to what it was previous to #16338 (74083d6).

Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
 2021-04-26 15:14:17 -04:00
Daniel Agar
c266c3e43a parameters: remove unnecessary param_get_system_default_value() locking 2021-04-26 09:49:15 +02:00
benjinne
3664d9e4ce
rover: publish actuator controls with rate of gyro 
Some ESC's with DShot don't initialize otherwise (as the 200Hz of the vehicle attitude rate is too low).
 2021-04-26 08:53:20 +02:00
Daniel Agar
6e9e503ee6
sensors/vehicle_imu: accel clipping warning minor improvements 
- no warning if accel is disabled
 - threshold increased 100 -> 1000 (only warn if severe ongoing clipping)
 - more generic warning message (vehicle isn't necessarily in air flying)
 2021-04-25 17:03:43 -04:00
Daniel Agar
8478d1ea37
sensors/vehicle_angular_velocity: properly handle filter reset on FIFO data scale changes 
For the sake of efficiency (at 8 kHz) all filtering is performed on the raw data before the calibration and rotation is applied to only the final output. As a result we have to be a bit more careful when switching between sensors or in cases where the gyro scale factor changes (eg icm42688p 20 bit data rescaled to fit in int16 output).
 2021-04-25 14:20:32 -04:00
Daniel Agar
ed0fa99198 icm42688p: limit to 8 kHZ for now 2021-04-24 20:23:19 -04:00
Daniel Agar
59b70a881d
commander: temporarily increase worker thread stack substantially 2021-04-23 22:13:12 -04:00
Matthias Grob
6df299738e FlightTask: reactivate tasks on ground with empty setpoint 
Such that they properly reset and don't try to take over smoothly from
their own setpoints generated in the last loop iteration.
 2021-04-23 21:57:27 -04:00
Matthias Grob
9e2375ab91 FlightTaskManualAcceleration: change reset order, check all components for NAN 
Just cleanup and completeness.
 2021-04-23 21:57:27 -04:00
Matthias Grob
5e75f17680 StickAccelerationXY: fix acceleration reset using x component instead of y 
This entire feature only has an impact if the last mode set
a huge acceleration and we have to take over as smooth as possible.
But it's stil lworth fixing.
 2021-04-23 21:57:27 -04:00
Matthias Grob
fee4728b1f StickAccelerationXY: change function name feasibility limit -> jerk limit 
for clarity because it's more accurate.
 2021-04-23 21:57:27 -04:00
bazooka joe
112fc5c9cd log battery status every 0.2sec instead of 0.3sec 
Battery status is logged every 0.3Sec.
but BMS data published every 0.25Sec, so there are many drops of data.
 2021-04-23 16:46:02 -04:00
Beat Küng
51f527d845 param: update 'param show-for-airframe' to use set-default 2021-04-23 16:44:55 -04:00
Beat Küng
1730cd1971 param: avoid warning for 'param show -c' or 'param show -a' 2021-04-23 16:44:55 -04:00
Igor Mišić
d631a5d39f Commander: checking COM_ARM_CHK_ESCS param for ESCs telemetry 
COM_ARM_CHK_ESCS set to 0. The user will need to enable it manually.
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2021-04-22 13:46:08 +02:00
Claudio Micheli
bff99f9794 Commander:esc_checks minor improvements 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-04-22 13:46:08 +02:00
Claudio Micheli
371fa98579 Commander/preflight checks: Add monitoring to ESC failures 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-04-22 13:46:08 +02:00
Matthias Grob
789d91900d commander_params: lower COM_DISARM_PRFLT but disable for fixed-wing 2021-04-21 14:55:04 +02:00
Peter van der Perk
8b3aa46c01 [UAVCANv1] Publisher default timeout, has to be tuned further for all publishers 2021-04-20 21:44:40 +02:00
Peter van der Perk
1804cea92c [UAVCANv1] TX deadline fix and other fixes 2021-04-20 21:44:40 +02:00
Peter van der Perk
02a4d93c74 [UAVCANv1] snprintf and cleanup ram usage ~4KB 2021-04-20 21:44:40 +02:00
Peter van der Perk
399815469f [UAVCANv1] Subscriber multi topic subscription 
reg.drone.bms full support
legacy.equipment.bms support
 2021-04-20 21:44:40 +02:00
Matthias Grob
5e7ebbe47c FlightTask: correct comment about setpoints 2021-04-20 18:18:21 +02:00
Matthias Grob
45ada2dd4c MulticopterLandDetector: remove unnecessary newline 2021-04-20 18:18:21 +02:00
Matthias Grob
4865d027f9 StickAccelerationXY: factor in stricter tilt limit on takeoff 2021-04-20 18:18:21 +02:00
Matthias Grob
29e07b1e52 MulticopterPositionControl: publish stricter tilt limit during takeoff 2021-04-20 18:18:21 +02:00
Matthias Grob
ff67da1bb4 SlewRate: add getter for current state without update 2021-04-20 18:18:21 +02:00
Lorenz Meier
3d8a35288e Rename Snapdragon Spektrum RC 
The previous name was confusing because it did not clarify that this driver was specific to the Snapdragon platform.
 2021-04-18 18:35:03 +02:00
Daniel Agar
38bc46fd1a re-add RC_MAP_RATT_SW (unused) and mark active for QGC 2021-04-16 13:07:02 -04:00
mcsauder
3b72f3b641 Create publish_status() method in the heater driver, add a status field to indicate if the temperature setpoint has been met within 2.5C, breakout update_params() method from the Heater::Run() method and simplify logic. 2021-04-16 08:09:51 -04:00
benjinne
3dad16bc40 RTPS client remove redundant baudrate check 2021-04-16 14:01:27 +02:00