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13343 Commits

Author SHA1 Message Date
Daniel Agar
7baeb78964 mavlink: STATUSTEXT track missed mavlink_log messages 2020-11-17 19:47:06 -05:00
Daniel Agar
e1168070d1 mavlink: decrease task stack 2020-11-17 19:47:06 -05:00
Daniel Agar
ed8a30d73e mavlink: STATUSTEXT directly use mavlink_log subscription 
- ORB_ID(mavlink_log) increase queue depth now that mavlink ringbuffer is gone
 2020-11-17 19:47:06 -05:00
Silvan Fuhrer
b58e270fd4 FW Position Control: remove manual climbout mode trigger via pitch stick 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-16 14:41:01 +01:00
Daniel Agar
ee9ce1087a IMU_DGYRO_CUTOFF add conservative default (0 Hz -> 30 Hz) 2020-11-13 21:26:35 -05:00
Daniel Agar
29658961ef mavlink: move DISTANCE_SENSOR to streams header 2020-11-13 10:05:22 -05:00
Daniel Agar
860a7fd1db mavlink: move ALTITUDE to streams header 2020-11-13 10:05:22 -05:00
Daniel Agar
a8f0987028 mavlink: move WIND_COV to streams header 2020-11-13 10:05:22 -05:00
Daniel Agar
4a9f293596 mavlink: move MOUNT_ORIENTATION to streams header 2020-11-13 10:05:22 -05:00
Daniel Agar
4a6c90b8ea
mavlink: STATUSTEXT check TX buffer before sending 
- Note the TX buffer size check is lazily ignoring the possibility of messages that span multiple Mavlink STATUSTEXT. This at least accommodates the calibration use case and it's no worse than before for longer messages.
 2020-11-13 09:52:05 -05:00
Daniel Agar
d14b4221f1
sensor calibration: apply board level adjustment to external sensors (#16127) 
- apply SENS_BOARD_{X,Y,Z}_OFF to external sensors to prevent unnecessary misalignment with internal IMU
 2020-11-12 10:37:30 -05:00
Daniel Agar
5d7ea62190 estimator_innovations: remove unimplemented fake vel & pos fields 
- easy to readd if and when they're needed
 2020-11-11 20:17:52 -05:00
Daniel Agar
880dc6accd ekf2: compile at MAX_CUSTOM_OPT_LEVEL 2020-11-11 20:17:52 -05:00
Daniel Agar
1e03285405 ekf2: avoid storing in_ground_effect state 2020-11-11 20:17:52 -05:00
Daniel Agar
26de630dc5 ekf2: remove landed flag and use control_status directly 2020-11-11 20:17:52 -05:00
Daniel Agar
89ab6a5dbf ekf2: preflight checks only reset on STANDBY change 
- avoid storing unnecessary state and call setVehicleCanObserveHeadingInFlight() directly
 2020-11-11 20:17:52 -05:00
Daniel Agar
b9fff2c221 ekf2: sensor_selection only updated in non-multi mode 
- publish attitude as soon as possible
 2020-11-11 20:17:52 -05:00
Daniel Agar
7264577eec ekf2: split perf counters (full update or not) and reorganize Run() slightly 2020-11-11 20:17:52 -05:00
Daniel Agar
a68fe4dbd7 ekf2: move parameter update to beginning of cycle 2020-11-11 20:17:52 -05:00
Daniel Agar
5ae7c80a18 ekf2: move rangeSample update to UpdateRangeSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
991015c5c6 ekf2: move magSample update to UpdateMagSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
68f49619b7 ekf2: move gps_message update to UpdateGpsSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
0db706011a ekf2: move FlowSample update to UpdateFlowSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
8ee197acad ekf2: move vehicle_odometry_aligned publication to PublishOdometryAligned() 2020-11-11 20:17:52 -05:00
Daniel Agar
b29f3c7ce5 ekf2: move ExtVisionSample update to UpdateExtVisionSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
0f56793116 ekf2: move BaroSample update to UpdateBaroSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
6b30f01daf ekf2: move AuxVelSample update to UpdateAuxVelSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
651e292d42 ekf2: move AirspeedSample update to UpdateAirspeedSample() 2020-11-11 20:17:52 -05:00
Daniel Agar
f4f3ba47a2 ekf2: move mag calibration to UpdateMagCalibration() 2020-11-11 20:17:52 -05:00
Daniel Agar
96178a6fb0 ekf2: publish yaw estimator status last 2020-11-11 20:17:52 -05:00
Daniel Agar
05de61ff15 ekf2: move estimator innovations publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
387186c11d ekf2: move estimator innovation test ratios publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
3b9965ff8d ekf2: move estimator innovation variances publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
94415a45fa ekf2: move estimator status publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
03388f4656 ekf2: move estimator states publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
98334d1325 ekf2: move local position publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
c09a5e0d9f ekf2: move global position publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
8616345346 ekf2: move estimator_sensor_bias publication to method 
- only publish if there's a change in bias
 - publish current estimated mag bias, including saved mag bias
 2020-11-11 20:17:52 -05:00
Daniel Agar
e397cbf8bb ekf2: move ekf_gps_drift publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar
0d657c74bf ekf2: rename publish helpers mixed case (google style guide) 2020-11-11 20:17:52 -05:00
Silvan Fuhrer
5dd14dfd54 FW Position Control: re-add wrongly removed airspeed_poll() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-11 19:20:03 -05:00
Matthias Grob
ff801fbc08 FlightTasks: remove FlightTaskManualPositionSmooth 
alias first smooth position control version from 2017.

RIP it served well.
 2020-11-11 21:16:18 +01:00
Matthias Grob
e6338d8a2f MulticopterPositionControl: default cases with unsupported POS_MODE 2020-11-11 21:16:18 +01:00
Matthias Grob
0b8f092d2b Add acceleration stick mapping for position mode 2020-11-11 21:16:18 +01:00
Daniel Agar
7ba73b46ca
uORB: tests decrease stack 
- save a bit of memory for running on older boards
 2020-11-10 23:44:02 -05:00
Nicolas MARTIN
8b96ff57d7 arm auth: split COM_ARM_AUTH in 3 parameters 
new params are:
- COM_ARM_AUTH_ID
- COM_ARM_AUTH_MET
- COM_ARM_AUTH_TO
 2020-11-10 09:03:59 +01:00
Nicolas MARTIN
6579544fca arm_auth: use ack reception timestamp to compute authorization timeout 2020-11-10 09:03:59 +01:00
Nicolas MARTIN
e89c21155a arm_auth: check authorization timestamp to skip old commands 2020-11-10 09:03:59 +01:00
Daniel Agar
142452f80c replay: print parameter changes and error on mismatch 2020-11-04 11:47:01 -05:00
Silvan Fuhrer
99833eb001 FW Position Control: remove duplicated position_sp_triplet update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-03 15:47:57 +01:00