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27398 Commits

Author SHA1 Message Date
Silvan Fuhrer 37a49dbb6a AirspeedValidator: improve readability 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 061fb9ac07 AirspeedSelector: add const 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer cd2c366e22 AirspeedSelector: remove unnecessary reboot required and Experimental comments in params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 11dbc7e17f AirspeedSelector: improve description of ASPD_FALLBACK_GW 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
Silvan Fuhrer 0f1207dd7e AirspeedSelector: improve readability 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-22 14:16:22 +01:00
PX4 BuildBot 1d8808183d Update submodule ecl to latest Thu Jan 21 17:04:02 UTC 2021 
- ecl in PX4/Firmware (18bac6aff5): https://github.com/PX4/PX4-ECL/commit/99575d73e10aad06eb7d5b6415ea2db4151c5045
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/b919f3ddf41ab422d09af91eaea2b2f9729fab13
    - Changes: https://github.com/PX4/PX4-ECL/compare/99575d73e10aad06eb7d5b6415ea2db4151c5045...b919f3ddf41ab422d09af91eaea2b2f9729fab13

    b919f3d 2021-01-21 Paul Riseborough - EKF: Restore protection from extreme innovation values
efb78de 2021-01-21 Paul Riseborough - EKF: Set position fusion gate option false by default
556a195 2021-01-19 Paul Riseborough - EKF: Improve handling of non position mode large position innovations
 2021-01-21 12:33:25 -05:00
Daniel Agar e0b33ba842 mavlink: temporarily disable ACTUATOR_OUTPUT_STATUS stream by default 
- the presence of this stream appears to be causing the MAVSDK tests to fail and needs to be investigated
 2021-01-21 11:25:42 -05:00
Matthias Grob 7cdb9e9412 MulticopterPositionControl: altitude comment typo 2021-01-21 09:43:12 -05:00
Matthias Grob 4ce4fe05c5 BlockLowPass: initialize state in definition 2021-01-21 09:43:12 -05:00
ArthurLamberticus 82d32c7f3f mavlink: add ACTUATOR_OUTPUT_STATUS stream 
Co-authored-by: Lise Prunier <lise.prunier@aerialcoboticus.com>
 2021-01-21 09:30:43 -05:00
Hamish Willee bd00aec936 Parameter markdown use page css for layout 2021-01-21 09:08:26 +01:00
Daniel Agar 9a066959d4 delete empty src/lib/DriverFramework 2021-01-20 14:15:49 -05:00
TheLegendaryJedi b3d9efedfa [UPDATE] - Code clean and format 2021-01-20 19:51:45 +01:00
TheLegendaryJedi e450c5a9d9 [UPDATE] - Crazyflie parameter config 2021-01-20 19:51:45 +01:00
TheLegendaryJedi 40f971c082 [NEW] - bmi088 i2c drivers and crazyflie 2.1 conf 2021-01-20 19:51:45 +01:00
bresch d7812f83f1 mag_cal: fix race condition causing invalid mag calibration 
In some cases, the fitness of the optimizer does not shrink at each
iteration, causing the "decreasing fitness check" to fail. This stops
the optimization and returns with sub-optimal, or unrealistic results.
 2021-01-20 10:50:35 -05:00
Mathieu Bresciani 8d8b58efc3 Add logging of mag calibration data (mag_worker_data) 
Co-authored-by: Julian Kent <julian@auterion.com>
 2021-01-20 09:44:45 -05:00
AlexKlimaj 386b56fbce drivers/imu/bosch/bmi088: Add BMI090L accel ID 2021-01-19 15:49:53 -05:00
CUAVcaijie bed77c2988 add notes 2021-01-19 20:42:58 +01:00
CUAVcaijie 297a428cc0 Fix the case where the flight controller is connected to the battery (charge 100), QGC shows no battery 2021-01-19 20:42:58 +01:00
Daniel Agar ac8f4e3c48 mc_pos_control: only update constraints if topic updated 
- update failsafe constraints
 2021-01-19 14:44:42 +01:00
Matthias Grob 39b0c7b2bf battery: report at least one cell for a connected battery 2021-01-18 17:53:17 +01:00
Matthias Grob d9954ecaf0 lib/magnetometer_bias_estimator: Add library for online magnetometer calibration on the ground 
Co-authored-by: bresch <brescianimathieu@gmail.com>
 2021-01-18 11:44:58 -05:00
Daniel Agar 3e5e5ab1d5 control_allocator and angular_velocity_controller throttle parameter_update subscription 2021-01-18 11:25:37 -05:00
Beat Küng c36340d29a ActuatorEffectivenessMultirotor: set effectiveness to zero when computing the matrix 
Just to be on the safe side.
 2021-01-18 11:25:37 -05:00
Beat Küng 212ec821b1 control_allocator: set unused actuators to trim instead of min 2021-01-18 11:25:37 -05:00
Beat Küng 3606f86518 control_allocator: ensure unused outputs are initialized to min 
Mostly important in cases where the ouputs would change (e.g. param change)
 2021-01-18 11:25:37 -05:00
Beat Küng 3dad79d8f5 control_allocator: inline one-line setters & getters 2021-01-18 11:25:37 -05:00
Beat Küng 164511a7b5 control_allocator: avoid vector copies and sqrt() 2021-01-18 11:25:37 -05:00
Beat Küng 0e66b0876b control_allocator: change SequentialDesaturation to existing MC mixer 
And limit the operations to the number of configured outputs.

Only using the number of configured actuators reduces CPU load by ~2% on
F7 @1khz.
 2021-01-18 11:25:37 -05:00
Beat Küng 308f614735 refactor control_allocator: directly get the effectiveness matrix when updated 
Reduces stack + RAM usage
 2021-01-18 11:25:37 -05:00
Beat Küng 38782029ad fix control_allocator: set _last_run at the correct place 2021-01-18 11:25:37 -05:00
Beat Küng 0e86ab47f6 fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory 2021-01-18 11:25:37 -05:00
Beat Küng 066464c4e8 control_allocator: remove unused _task_start 2021-01-18 11:25:37 -05:00
Beat Küng 25f3fe8456 fix control_allocator_status: torque_setpoint_achieved and thrust_setpoint_achieved are bool 2021-01-18 11:25:37 -05:00
Julien Lecoeur 343cf5603e initial control allocation support 
- control allocation module with multirotor, VTOL standard, and tiltrotor support
 - angular_velocity_controller
 - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
 2021-01-18 11:25:37 -05:00
Julian Kent fc6b61dad1 Try 'min' for units 2021-01-18 16:26:53 +01:00
Julian Kent d99d52960e Fix default _rtl_xxx values 2021-01-18 16:26:53 +01:00
Julian Kent 5a9fe312b5 Fix test failure on rebase: set lpos valid 2021-01-18 16:26:53 +01:00
Julian Kent af8d178ae5 Fix spurious RTL triggers 
Two sources:
1. global to local conversion was sometimes giving issues, so do everything in global
2. on startup the RTL didn't check if the home position was valid before processing it
 2021-01-18 16:26:53 +01:00
Julian Kent b5f0a7ea03 Fix RangeRTL test 2021-01-18 16:26:53 +01:00
Julian Kent 5500a84b6a Add timestamp to RTL message 2021-01-18 16:26:53 +01:00
Julian Kent f169247bc2 Add RTL topics to ulog default profile 2021-01-18 16:26:53 +01:00
Julian Kent 67082ccb2b Test the vehicle type parameter usage 2021-01-18 16:26:53 +01:00
Julian Kent 100c64c790 Test the navigator side, and fix another trig edge case 2021-01-18 16:26:53 +01:00
Julian Kent a736ba2435 Minor tweak in wind handling 2021-01-18 16:26:53 +01:00
Julian Kent e847ef1a4d Add trig tests for wind calculations, and fix bugs / edge cases 2021-01-18 16:26:53 +01:00
Julian Kent 7482413005 Add Range-based RTL 2021-01-18 16:26:53 +01:00
Ricardo Marques e817fb83f5 pwm_extra: Add PWM_EXTRA parameters. 
Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>
 2021-01-18 15:43:28 +01:00
Matthias Grob 02c0f08060 flashfs: fix alignment ambiguity 
Instead of ignoring the warnings.
Thanks to @Ole2mail and @yuhaim for the suggestions.
 2021-01-18 14:19:29 +01:00