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21138 Commits

Author SHA1 Message Date
Dusan Zivkovic 1f57d63503 precland: set the previous position setpoint to invalid, in the position setpoint triplet 2020-05-29 09:18:43 +02:00
Dusan Zivkovic 7eee9deb4c mission: handle precision landing inactivation properly 2020-05-29 09:11:01 +02:00
Dusan Zivkovic a758ea1220 RTL: enable precision landing at the end of RTL, configurable by parameter 2020-05-29 09:11:01 +02:00
Dusan Zivkovic ed9e504695 precland: add a method to check if precland is activated 2020-05-29 09:11:01 +02:00
TSC21 ad4d4287fa mavlink odometry: properly set the frame id fields 2020-05-28 15:45:13 +01:00
TSC21 562d57fee8 mavlink: fix odometry frames of reference setup 2020-05-28 15:45:13 +01:00
Daniel Agar 0ec48cfef3 ekf2: increase default baro noise 2 -> 3.5 m 2020-05-28 08:35:07 -04:00
Beat Küng 07b39ec7c0 bmp388: some cleanup 
- avoid unnecessary sensor readout cycle during init
- check status register for data ready
 2020-05-28 08:34:38 -04:00
Hamish Willee 14853539e3 CBRK_FLIGHTTERM: Does not affect takeoff failure safety detection (#14972) 
* CBRK_FLIGHTTERM: Clarify does not affect takeoff failure safety detection

* FD_FAIL_P FD_FAIL_R - clarify apply on takeoff

* Improve param text

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2020-05-28 08:30:48 +02:00
Pandacoolcool 664c79742b navigator_main.cpp: don't reset wv enable status (#14901) 
* navigator_main.cpp: don't reset wv enable status

* fix review
 2020-05-27 15:49:04 +03:00
Daniel Agar c0bf5cc94c systemcmds/gpio: add module documentation 2020-05-27 07:35:27 +02:00
Daniel Agar 094fe269dc systemcmds/gpio: move usage description to bottom and fix formatting 2020-05-27 07:35:27 +02:00
Matthias Grob d92e66863a mc_pos_control: migrate MPC_*_VEL_* parameter to acceleration scaling 
Before #14212 the velocity control gains used in the multicopter
position controller were defined as a scale between velocity error in
one axis (or it's integral and derivative respectively) and the unit
thrust vector. The problem with this is that the normalization of the
unit thrust vector changes per vehicle or even vehicle configuration
as 0 and 100% thrust get a different physical response. That's why
the gains are now defined as scale between velocity error
(integral/derivative) and the output acceleration in m/s².
 2020-05-26 14:44:41 +02:00
Matthias Grob e482081f91 mc_att_control: grab attitude setpoint before processing estimate reset 2020-05-26 15:07:45 +03:00
Matthias Grob 12ee75700a mc_att_control: adapt setpoint on estimation reset 
There was a gap where the attitude controller already used the estimate
with a new reference but the last known attitude setpoint was still based
on the old reference. This leads to a big glitch on reset because until
the attitude setpoint gets updated the error is wrong and as large as the
attitude delta of the reset.
 2020-05-26 15:07:45 +03:00
Matthias Grob cf658494ad mc_attitude_control: keep last attitude setpoint as member 
The last attitude setpoint that is known from the position controller
is now kept inside the AttitudeControl class such that we don't
keep the whole vehicle_attitude_setpoint struct and always copy over from
there to run an update step.
 2020-05-26 15:07:45 +03:00
RomanBapst bd154bf33c FixedWingAttitudeControl: removed parachute from gimbal control group 
- parachute is handled separately based on flight termination in px4io

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-05-25 11:44:35 -04:00
Daniel Agar ade8a13203 commander: CMD_COMPONENT_ARM_DISARM don't block disarm if maybe_landed 2020-05-25 11:43:14 -04:00
Matthias Grob 7b41ce4711 simulator: rename parameter variable according to convention 2020-05-25 11:04:24 +02:00
Matthias Grob 88c21337fa Make all battery sensor drivers report their sample interval 
To make use of the time abstraction in the leaky integrator.
 2020-05-25 11:04:24 +02:00
Matthias Grob 4dc9ca69ab battery: use AlphaFilter class 
Replace the filtered value calculations with calls to the class.
This will allow time abstraction.
 2020-05-25 11:04:24 +02:00
BazookaJoe1900 cd8850b43b mavlink: bring class LogListHelper into MavlinkLogHandler (#14452) 
This is in order to avoid dynamic allocation of LogListHelper when downloading logs.
 2020-05-25 10:08:25 +02:00
Daniel Agar 1c0925a189 Hex/Proficnc Cube Orange support 
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Crabill <jacob@flyvoly.com>
 2020-05-23 18:31:46 -04:00
Daniel Agar e577c3b610 fxos8701cq: sample at nyquist rate, drop duplicates, throttle temperature updates 2020-05-23 13:23:03 -04:00
Daniel Agar e73380f726 fxas21002c: sample at nyquist rate, drop duplicates, throttle temperature updates 2020-05-23 13:23:03 -04:00
PX4 BuildBot 10d67efd13 Update submodule ecl to latest Sat May 23 12:39:43 UTC 2020 
- ecl in PX4/Firmware (1d49243ee21930dc1c0ba1f08a4c03284c4713c1): https://github.com/PX4/ecl/commit/600240d95f6dc08f82e5310b13e9406c4df0f00f
    - ecl current upstream: https://github.com/PX4/ecl/commit/c91c78dcf67dee85225ada6621b6fd19ec008fd5
    - Changes: https://github.com/PX4/ecl/compare/600240d95f6dc08f82e5310b13e9406c4df0f00f...c91c78dcf67dee85225ada6621b6fd19ec008fd5

    c91c78d 2020-05-21 Paul Riseborough - EKF: Allow reset of yaw to EKF-GSF later in flight
 2020-05-23 13:18:36 -04:00
Julian Kent dd9c82eb20 systemcmds/gpio: Add nsh command to manipulate/read GPIO 
* Add basic GPIO test app for R/W on pins from nuttx shell
* Add gpio command to fmu-v3 and fmu-v4
* Sanitize gpio commands by pin configs, --force to override
 2020-05-23 11:47:40 -04:00
David Sidrane 0139acacfd adc:Restore ADC test's usefulness 2020-05-23 11:43:04 -04:00
Dusan Zivkovic b7ebdab7fd mavlink_receiver: handle LANDING_TARGET message: publish irlock_report when landing target position invalid 2020-05-23 11:42:21 -04:00
Daniel Agar 951969ba00 drivers/imu/invensense: new ICM20948 driver on SPI with AK09916 mag 2020-05-22 00:09:30 -04:00
Silvan Fuhrer 504794eddc VTOL: reject transition command in certain flight modes 2020-05-20 15:54:31 -04:00
PX4 BuildBot a4c77056f6 Update submodule ecl to latest Wed May 20 16:46:07 UTC 2020 
- ecl in PX4/Firmware (73de85e258590461b6fe14668df8de1fc9c54cb7): https://github.com/PX4/ecl/commit/24f2e60b7eff664d0035d5f75f410073be28d894
    - ecl current upstream: https://github.com/PX4/ecl/commit/600240d95f6dc08f82e5310b13e9406c4df0f00f
    - Changes: https://github.com/PX4/ecl/compare/24f2e60b7eff664d0035d5f75f410073be28d894...600240d95f6dc08f82e5310b13e9406c4df0f00f

    600240d 2020-05-20 Daniel Agar - EKF: resetGpsAntYaw() fix double promotion
39c09b8 2020-05-19 kamilritz - add basic gps yaw fusion test
21f49c2 2020-05-16 Kamil Ritz - Use resetQuatStateYaw during gps yaw reset
7f21364 2020-05-20 Carl Olsson - EKF: use initial wind uncertainty with no airspeed sensor (#823)
bf78044 2020-05-20 kritz - EKF: fix initialization of local position validity 2 (#820)
716caa5 2020-05-19 kritz - Refactor position resets (#822)
37d9cef 2020-05-19 Mathieu Bresciani - ekf: disable xy accel bias learning before takeoff (#818)
9788c3b 2020-05-15 Mathieu Bresciani - ekf: split accel bias learning in independant xyz components (#817)
19bbea7 2020-05-14 Paul Riseborough - Fix GPS altitude not fused if GPS checks fail and GPS is primary height source (#813)
 2020-05-20 15:48:27 -04:00
Matthias Grob 27586db93e rc_update: remove obsolete RC filtering 2020-05-20 19:30:19 +02:00
Matthias Grob 17d4fd064f FlightTaskManualAltitude: add an optional stick tilt input filter 2020-05-20 19:30:19 +02:00
Matthias Grob 1a3c692e4e mc_att_control: add an optional stick tilt input filter 2020-05-20 19:30:19 +02:00
Beat Küng 6c16a29d26 mavlink: remove unneeded TIMESYNC stream from MAVLINK_MODE_EXTVISION 
set in MAVLINK_MODE_EXTVISIONMIN by fallthrough
 2020-05-20 09:12:50 +02:00
Beat Küng 107ab16e96 mavlink: reorder streams to optimize latency 
In particular this together with the previous commit reduces timesync
round-trip time spikes by more than 10ms, and makes it generally more
stable.

Other streams are reordered according to onboard priority.
 2020-05-20 09:12:50 +02:00
Beat Küng fa8def903d mavlink: move ulog handling after stream updates 
reduces latency for the mavlink streams
 2020-05-20 09:12:50 +02:00
Beat Küng d0ad308eda serial_test: fix build for linux 2020-05-20 09:12:50 +02:00
Julian Oes f2e2ac5def gps: workaround spurious GCC 10.1 warning 
This is a workaround for a warning in GCC 10.1:
src/drivers/gps/devices/src/ubx.cpp:520:8: error: writing 4 bytes into a
region of size 0 [-Werror=stringop-overflow=]

Also see:
https://gcc.gnu.org/bugzilla/show_bug.cgi?id=91707
 2020-05-19 10:10:19 -04:00
Julian Oes 44be9d5568 controllib: fix implicit cast warn with clang 10 2020-05-19 09:58:43 -04:00
Michal Stasiak 4f82f028e7 airspeed_calibration: Fix FD leak 2020-05-19 13:48:43 +02:00
Julian Oes 793eb82153 navigator: allow mission items with same position 
This reverts the addition of a check against mission items that have the
same position. This breaks existing MAVSDK implementations where a
LOITER_TIME item is set right after a WAYPOINT with the same
coordinates. It is an interim hack to allow the vehicle to hold still
during a photo is captured.

This leaves the check in place for gates where we need to be able to
calculate the direction between gate and waypoint.
 2020-05-19 08:51:21 +02:00
Silvan Fuhrer b5cc3c4ef5 mavlink_messages: send EAS instead of IAS (#14858) 
Send equivalent_airspeed_m_s instead of indicated_airspeed_m_s for HUD on groundstation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-05-18 10:34:39 +02:00
JacobCrabill 328477f0be UavcanNode: Add sensor_type to range_sensor pub. 2020-05-15 16:45:52 +01:00
Matthias Grob 03bafd5581 powerCheck: make 5V warning threshold 0.1V lower 
Because of warnings on every flight on setups without
any need for concern. Some even high quality supply voltage regulators
that are rated for 5V can with tolerances and load get lower than 4.9V.
 2020-05-13 11:37:20 -04:00
ealdaz c96b5246ff Improved Hold behaviour 
Added local position as a valid source of position
 2020-05-13 13:08:41 +02:00
kritz 3897030c6f Support odometry velocity in body and local frame (#14703) 
* Update submodule ECL

* increase lower bound on EVV param
 2020-05-13 12:43:02 +02:00
Daniel Agar 05886e053f mavlink_log_info: always print to console and merge with mavlink_and_console_log_info 2020-05-12 08:53:51 +02:00
PX4 BuildBot b933557f56 Update submodule ecl to latest Tue May 12 00:39:54 UTC 2020 
- ecl in PX4/Firmware (286bf4f0b911fcc040788117ea79c432f6a95a83): https://github.com/PX4/ecl/commit/97b437233e6aad5ddb8a4511697a38ced7bc9b87
    - ecl current upstream: https://github.com/PX4/ecl/commit/03191847f9c162dedc2cb45ff775b75cbc9c8b36
    - Changes: https://github.com/PX4/ecl/compare/97b437233e6aad5ddb8a4511697a38ced7bc9b87...03191847f9c162dedc2cb45ff775b75cbc9c8b36

    0319184 2020-05-11 kritz - Fix ev_pos_obs_var(1) entry (#809)
440383f 2020-05-09 Kamil Ritz - Increase matrix library usage and remove white line
 2020-05-11 22:11:19 -04:00