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27398 Commits

Author SHA1 Message Date
Beat Küng aa6f9280e1 fix commander: set _have_taken_off_since_arming when !landed upon arming 
If arming and already !landed, _have_taken_off_since_arming will not be set
and thus auto-disarm after 10s will be triggered (with default config).

This can only happen due to quick state changes, as land detector generally
sets landed=true if !armed.
 2020-04-08 14:59:26 +02:00
Daniel Agar cf37be8c44 ekf2 handle accelerometer clipping 
- track clipping per IMU axis and pass through to ecl/EKF
 - update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663)
 2020-04-07 20:11:08 -04:00
JacobCrabill 74aa3201ce uavcannode: Fix Kelvin/Celcius in RawAirData pub 2020-04-07 18:31:10 +02:00
Beat Küng 4e0441ab0b logger: add data format version tag 2020-04-07 09:59:12 -04:00
Julien Lecoeur 7b12a21565 mavlink: Enable offboard attitude for coaxial airframes 2020-04-07 09:23:03 -04:00
Jacob Dahl d682ddb510 UAVCAN differential pressure sensor support 
* added airspeed handling (differential pressure) to uavcan and uavcannode

Co-authored-by: Jacob Crabill <jacob@flyvoly.com>
 2020-04-07 00:15:31 -04:00
Daniel Agar ff74a2a48b new mpu6000/mpu6500/mpu9250 always schedule backup cycle if using data ready 2020-04-06 23:32:04 -04:00
Daniel Agar 0860a61fa6 new InvenSense IMU drivers review temperature sensitivities and offsets 2020-04-06 22:53:16 -04:00
AlexKlimaj d8c140be04 UAVCAN Smart Battery Improvements 2020-04-06 21:09:02 -04:00
Beat Küng 08bfeb3dc7 mavlink: fix potential busy loop upon USB disconnect 
When disconnecting USB poll returns successfully, but the read returns
-1 with ENOTCONN.
In addition this also ensures there's no busy loop when poll returns an
error.

MAVLink continues to work after reconnecting USB.
 2020-04-06 12:42:10 -04:00
Claudio Micheli 4cdc58ce8d EscBattery: only publish data if all the ESCs are online 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-04-06 15:56:54 +02:00
Julian Oes c1884975ed esc_battery: several review fixes 
Thanks @bkueng.
 2020-04-06 15:56:54 +02:00
Julian Oes 5927bb3635 battery: add requirements to ESCs as battery 2020-04-06 15:56:54 +02:00
Julian Oes ae219c3272 esc_battery: fix timeout check 2020-04-06 15:56:54 +02:00
Julian Oes f650b91718 battery: check source param inside battery lib 
This moves the handling of the BAT%d_SOURCE param inside of the battery
library. Users of the library now pass the source instead of the flag
whether to publish. The battery library then checks if the source is
selected using the param and publishes accordingly.

Since we removed the strange system_source flag, we now need to look at
all batteries in commander.
For current estimation - I think - it makes sense to sum them up.
 2020-04-06 15:56:54 +02:00
Julian Oes b01cdafcf6 boards: add esc_battery to build 2020-04-06 15:56:54 +02:00
Julian Oes 509b8b6b4b First skeleton for esc_battery module 2020-04-06 15:56:54 +02:00
Julian Oes dcd34ed08d battery: add ESCs source, remove wrong unit 2020-04-06 15:56:54 +02:00
Daniel Agar ad559a66a1 examples: add simple work_item example module 2020-04-06 09:43:55 -04:00
Julian Kent 9404b19906 Fix bezier scaling 2020-04-06 09:02:12 +02:00
Claudio Micheli dc29a994b7 msg: extend field definition in msg/esc_report (arming & failure states) 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-04-03 09:16:43 +02:00
Julian Oes 4e091a369d uavcannode: fix format 2020-04-03 09:08:33 +02:00
Jacob Dahl ff1e5a595d uavcannode: battery info publishing 2020-04-03 01:30:31 -04:00
Beat Küng dfb5b5d7d9 fix param import transition 
* fix param import transition for MC_DTERM_CUTOFF

The previous implementation did not work, as there was a check for
param_find_no_notification() returning PARAM_INVALID for IMU_DGYRO_CUTOFF,
and therefore would not call param_modify_on_import().

This moves param_modify_on_import() before the check and makes it modify
the bson node directly.

* parameters: fix param import transition when testing is enabled

BUILD_TESTING is used for unit test builds, PX4_TESTING is used to enable additional test material within PX4

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2020-04-02 18:41:00 -04:00
Matthias Grob 2baa5ca4d7 minor build fixes and ignored warnings for GCC 9 (#14159) 
- px4io task_main_trampoline add return
 - iridiumsbd main_loop_helper add return
 - drivers/uavcan ignore Wcast-align, Wdeprecated-copy, and Waddress-of-packed-member for now
 - flashparams ignore Wvla-larger-than
 - test_time fix printf type
 2020-04-02 10:24:36 -04:00
Matthias Grob ab6606aa46 PreFlightCheck: fix magnometer typo 2020-04-02 13:53:47 +02:00
RomanBapst 2522435f9c vtol_att_control: got rid of VT_B_DEC_SP 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 13:45:52 +03:00
Roman Bapst 47f0e91076 Apply suggestions from code review 
Co-Authored-By: Mathieu Bresciani <brescianimathieu@gmail.com>
 2020-04-02 13:45:52 +03:00
RomanBapst 005bc97959 tiltrotor: enable l1 and deceleration control during transition 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 13:45:52 +03:00
RomanBapst a916cc2a26 better comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 13:45:52 +03:00
RomanBapst 0184d8196f vtol_type: calculate backtransition acceleration in forward direction 
- use track angle to calculate the current forward acceleration

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 13:45:52 +03:00
RomanBapst 47b5d51369 vtol_type: added explicit control over deceleration during backtransition 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 13:45:52 +03:00
RomanBapst baf5e86f81 transition flighttask: don't control yaw and altitude during trans 
Signed-off-by: RomanBapst <bapstroman@gmail.com>

# Conflicts:
#	src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
 2020-04-02 13:45:52 +03:00
RomanBapst b6a80253d7 run l1 during transition 2020-04-02 13:45:52 +03:00
Beat Küng 1f60a86d32 fix commander: need to copy all battery states in a cycle 
Previously if in a cycle only a disconnected battery status updated, the
battery health state would switch to unhealthy during that time.

Fixes intermittent 'Arming denied! Check battery' preflight failures on
v5x with 1 power module connected.
 2020-04-02 12:42:00 +02:00
Matthias Grob 70c28c7274 mc_pos_control_params: update MPC_POS_MODE description 
- remove deprecated sport mode
- clarify wording
 2020-04-02 11:52:44 +02:00
Daniel Agar aa2f3a6624 sensors: complete move to uORB::Subscription 2020-04-01 16:17:14 -04:00
Daniel Agar 02f4ad61ec I2C/SPI require device type in constructor 2020-04-01 12:24:22 -04:00
Daniel Agar 04bf9afd1b CDev delete unused pub_blocked 2020-04-01 11:23:26 -04:00
Daniel Agar b3fe235129 drv_mag: delete unused MAGIOCSRANGE, MAGIOCCALIBRATE, MAGIOCEXSTRAP, MAGIOCSTEMPCOMP 2020-04-01 10:07:08 -04:00
Daniel Agar cfc087c6ad rm3100: move to PX4Magnetometer and cleanup 2020-04-01 10:07:08 -04:00
Daniel Agar a59aa865da qmc5883: move to PX4Magnetometer and cleanup 2020-04-01 10:07:08 -04:00
Daniel Agar ade52d612b lsm9ds1_mag: minor cleanup 2020-04-01 10:07:08 -04:00
Daniel Agar c9c08d00c3 lsm303agr: move to PX4Magnetometer and cleanup 2020-04-01 10:07:08 -04:00
Daniel Agar 5f6f1c554b lis3mdl: move to PX4Magnetometer and cleanup 2020-04-01 10:07:08 -04:00
Daniel Agar cf12969a29 ist8310: move to PX4Magnetometer and cleanup 2020-04-01 10:07:08 -04:00
Daniel Agar 1c333cb664 isentek/ist8308: minor cleanup 2020-04-01 10:07:08 -04:00
Daniel Agar 7e173048bb ak09916: minor cleanup 2020-04-01 10:07:08 -04:00
Daniel Agar 613168b598 hmc5883: move to PX4Magnetometer and cleanup 2020-04-01 10:07:08 -04:00
Daniel Agar 9899748d12 bmm150: move to PX4Magnetometer and cleanup 2020-04-01 10:07:08 -04:00