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20421 Commits
Author SHA1 Message Date
Daniel Agar 644c816a2a generate_listener.py don't use message length 2019-10-22 09:19:18 +02:00
Daniel Agar 35398e05ca perf counter cleanup (mostly intervals) 
Some of these perf counters were useful during initial development, but realistically aren't needed anymore, some are redundant when we can now see the average interval from `work_queue status` and some of them simply aren't worth the cost at higher rates.
 2019-10-21 18:54:17 -04:00
Daniel Agar f7e62349b3 px4_posix: increase posix stack overhead (mostly for ASan) 
- sync address sanitizer SITL tests
 2019-10-21 16:56:09 -04:00
Daniel Agar 6a0f5249f8 sensors: split out analog battery handling to new standalone battery_status module 2019-10-21 13:40:23 -04:00
Beat Küng f956bafa4e MixingOutput: remove safety button check 
The assumption is that the system can only ever get into armed state if
the safety button is already off.
 2019-10-21 09:42:08 +02:00
Beat Küng 529da7b33e MIXERIOCLOADBUF ioctl: remove unnecessary string length restriction 
mixer.cpp ensures the string is null-terminated (buffer length is 2048).
 2019-10-21 09:42:08 +02:00
Beat Küng a8f6622831 OutputModuleInterface::updateOutputs return bool to control actuator_outputs pub 
Required for pwm_out_sim: only publish actuator_outputs when we get
actuator_controls. Otherwise lockstep startup does not work.
The issue was there before but hidden, due to a long poll timeout.

Works with HIL too.
 2019-10-21 09:42:08 +02:00
Beat Küng 380247168d mixer_module: avoid using an enum as px4::atomic argument 
Does not compile on MacOS.
 2019-10-21 09:42:08 +02:00
Beat Küng 0871802568 mixer_module: add support for test_motor (motor_test CLI command) 2019-10-21 09:42:08 +02:00
Beat Küng 349469cf75 refactor pwm_out_sim: use mixer_module and run on work queue 
Tested with SITL + HITL
 2019-10-21 09:42:08 +02:00
Beat Küng 2837152983 refactor mixer_module: move some code in update() into separate methods 2019-10-21 09:42:08 +02:00
Beat Küng 72a8be538a mixer_module: more robust logic to set 'stop_motors' flag 
Checking the first output_limited for a disarmed value is fragile.
For example a disarmed value might be within the range of min/max output
values and could then be triggered while armed.
 2019-10-21 09:42:08 +02:00
Hamish Willee 177da1f923 RTL params - proposed updates 2019-10-21 09:08:27 +03:00
RomanBapst 4cc7bb7296 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-10-21 09:08:27 +03:00
RomanBapst b1a9d4b4c7 updated rtl parameter descriptions. 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-10-21 09:08:27 +03:00
Daniel Agar 981f8d5d90 systemcmds/tests: IntrusiveQueue and List fix memory leaks 2019-10-20 10:46:44 -04:00
Daniel Agar 687a3a15c5 top: decrease priority below IMU sensor WQ threads 
- otherwise top can potentially disrupt with sensor sampling
 2019-10-19 13:44:24 -04:00
Nick Steele 070d75496d Handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN 'Do nothing for autopilot' 2019-10-18 15:57:50 -04:00
Matthias Grob 08ec6a28f0 mc_att_control: remove TPA 
because it's mostly unused and we have thrust curve correction
see parameter THR_MDL_FAC
 2019-10-18 15:54:09 -04:00
Julian Oes f9ddbd7e2a mpu6000: remove factory test for fmu-v2 2019-10-18 15:00:41 -04:00
Matthias Grob 22c4bb498c FlightTaskDescend: set no vertical thrust when commanding velocity 2019-10-18 16:18:19 +02:00
Julian Oes de90543d6f FlightTasks: add Descend task to land without GPS 
This adds a flight task to catch the case where we want to do an
emergency descent without GPS but only a baro.

Previously, this would lead to the navigator land class being called
without position estimates which then made the flight tasks fail and
react with a flight task failsafe. This however meant that landed was
never detected and a couple of confusing error messages.

This applies if NAV_RCL_ACT is set to 3 "land".
 2019-10-18 16:18:19 +02:00
Matthias Grob 5f53ae1253 mc_pos_control: execute failsafe with invalid setpoints 2019-10-18 16:18:19 +02:00
Mark Sauder e9c9fb8239 fix multicopter land detector: do not update parameters every cycle (#13212) 
And add updateParams() call in LandDetector::_update_params().
 2019-10-18 09:25:41 +02:00
Tanja BaumannandMartina Rivizzigno be1f966e5f Collision prevention: Option to enable flying outside FOV and rename parameters (new CP group) 
* rename parameters to allow more descriptive names under CP group
* add option to enable moving where there is no data
* add test for param CP_GO_NO_DATA

Co-Authored-By: Martina Rivizzigno <martina@rivizzigno.it>
 2019-10-17 11:23:50 -04:00
Julian Oes 2fcddd9b8d mavlink: fix uninitialized mavlink warnings 2019-10-17 08:44:53 -04:00
Julian Oes ec95378821 logger: fix uninitialized coverity warnings 2019-10-17 08:44:53 -04:00
Timothy Scott cf8f03f190 Changed listener to not busy-wait (#13157) 
* Changed listener to not busy-wait
 2019-10-17 11:29:36 +02:00
Nicolas de Palezieux 40bb209fd2 dshot telemetry: enable telemetry publishing for setups with only one ESC 2019-10-17 11:13:38 +02:00
Daniel Agar 6ccb4af8b0 CollisionPrevention: remove unnecessary double precision floating point math 2019-10-17 08:44:33 +02:00
Daniel Agar e942d3a3b2 FlightTasks: remove unnecessary double precision floating point math 2019-10-17 08:44:33 +02:00
Beat Küng 2296c9acfa uavcan_virtual_can_driver: fix invalid use of px4_sem_getvalue 
sem_getvalue returns 0 on success, -1 on error, and never a value > 0.
 2019-10-16 18:29:26 +02:00
Beat Küng 884621415d dataman: fix invalid use of px4_sem_timedwait 
px4_sem_timedwait expects an absolute time (from CLOCK_REALTIME), but a
relative time was provided.

This is only relevant if FLASH_BASED_DATAMAN is set (only on Intel aero).
 2019-10-16 18:29:26 +02:00
ThomasRigi 17c17f26a9 VTOL GPSF: fix fixed bank loiter (#12778) 
* GPS Failsafe fix for VTOL
* navigator: use new uORB API for VTOL publication
 2019-10-16 17:57:44 +02:00
Matthias Grob a053b7f69b vtol_att_control_main: only reset thrust when disarmed 
to see flaps moving according to attitude control before arming
and not have tailsitter elevons move to follow north heading.
 2019-10-16 16:30:38 +02:00
Julien Lecoeur 4cc7b1319f Fix param update in mc_att_control 
ModuleParams::updateParams() was never called
 2019-10-16 08:17:04 -04:00
Beat Küng 617f37afbf mixer_{multicopter,helicopter}: add buffer size check 
Fixes a potential buffer overflow if an MC/helicopter mixer is used that
exceeds the number of physical pins.
This is not a useful/flyable configuration, but the system still should
not crash.
 2019-10-16 13:13:17 +02:00
Beat Küng 173337e49c uORBManager: print errno for advertisement failures 
Helps with debugging.
 2019-10-16 13:13:17 +02:00
Matthias Grob 45a53726d6 LandDetector: switch to uORB::Publication 2019-10-16 00:47:01 -04:00
Matthias Grob 679e4fedf5 LandDetector: switch land flags to properies instead of one state 2019-10-16 00:47:01 -04:00
modaltb 1e1549a169 Add support for Bosch BMP388 barometer 2019-10-15 23:33:49 -04:00
Ilya Petrov c58cfce6be do not check VP fusion during GPS startup 
This is solution for https://github.com/PX4/Firmware/issues/11864
 2019-10-15 17:01:20 +01:00
kamilritz a4e035d338 Add param to choose vision observation noise source 2019-10-15 16:06:37 +01:00
RomanBapst 6bfb50df8a run arm authorization as last pre-arm check, as it used to be implemented 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-10-15 15:44:24 +01:00
Matthias Grob e843090383 Replace a lot of memset with {} initializers 2019-10-15 10:01:03 -04:00
Matthias Grob b8f70e865c voted_senors_update: remove memset 0 initializations because of zero initializer in header 2019-10-15 10:01:03 -04:00
Matthias Grob 185e2811dc gyro_calibration: use constexpr instead of const 2019-10-15 10:01:03 -04:00
Matthias Grob 09faa4647b ekf2_params: correct typo 2019-10-15 10:01:03 -04:00
Mark Sauder 0cbb693a8d Add return INFINITY; to the LandDetector class _get_max_altitude() method declaration (#12343) 2019-10-15 08:19:53 +02:00
Matthias Grob 9f639d1f3b mc_att_control: move rate control to RateControl class 
This makes the controller more modular, more readable and hence
better maintainable.
 2019-10-15 07:46:47 +02:00