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7859 Commits

Author SHA1 Message Date
tumbili
7e282f579b sensors app: logic fixed and cleanup 
- do not exit sensors app if sensor init failed
- do not spam console if we fail over first/second gyro

Signed-off-by: tumbili <roman@px4.io>
 2016-07-01 23:11:38 +02:00
Hidenori
506d1855ff rename files and add navio target 2016-07-01 23:08:17 +02:00
Hidenori
76ee17e532 RC input and PWM output for Navio2 2016-07-01 23:08:17 +02:00
James Goppert
cb3120764a Made LPE var pub threshold a parameter. (#4959) 2016-07-01 13:27:29 -04:00
Lorenz Meier
ed19d1ff6b EKF2 wrapper: Optimize for size 2016-07-01 18:22:56 +02:00
Lorenz Meier
82b2fa5ecb Commander should not depend on MAVLink 2016-07-01 18:04:09 +02:00
James Goppert
00dfc99e08 LPE Variance Dependent Publication (#4914) 
* Use variance to control publishing for LPE.

* Don't stop publishing if we have gps/ baro.

* LPE tuning and cleanup.

* Added bias saturation to LPE.

* Added vector enabled low pass filter block.

* Added rk4 integration and pub lowpass to LPE.

* Fix std::abs issue on mac/ reset lowpass on state reset.

* Don't estimate gyro bias when rotating at high speed  att_est_q.

* Lowered low pass on position to 5 Hz for LPE.

* Streamline state space update for LPE.

* Added health flags to est2 log.

* Revert to old tuning, more conservative, less faults.

* Formatting.

* Fix for fault message on LPE.

* Added subscription throttling to LPE.

* Formatting.
 2016-07-01 11:43:09 -04:00
Andreas Antener
25e749de77 use MC auto rates always in AUTO 
removed duplicate weathervaning limit
 2016-07-01 11:31:57 +02:00
Lorenz Meier
2214e7c202 Commander: Remove annoying GPS fix regained warning 2016-06-30 16:59:17 +02:00
tumbili
998579befc mc pos control: zero yaw setpoint move rate in attitude setpoint topic 
- fixed bug where a non-zero yaw setpoint move rate could make the drone
yaw around in non-manual modes

Signed-off-by: tumbili <roman@px4.io>
 2016-06-30 16:42:51 +02:00
Lorenz Meier
0a40034159 Takeoff: Fix coordinate scaling (#4947) 2016-06-30 16:26:05 +02:00
Andreas Antener
5dcc62d8f9 allow yaw setpoint offset to be reduced once maxed out 2016-06-30 14:30:59 +02:00
Daniel Agar
377726a9a7 sitl gazebo plane fix land detector startup order (#4932) 2016-06-30 13:56:06 +02:00
Daniel Agar
07fa814597 FW vtol landing always forced (#4939) 2016-06-30 13:55:47 +02:00
Beat Küng
8a12dee125 cmake: remove all module.mk files & cmake conversion script (#4918) 
It seems these files are leftovers.
 2016-06-28 09:26:36 +02:00
Beat Küng
b28bfce186 position_estimator_inav: fix compiler issue for GCC 6.1.1 (#4923) 
GCC output:
implicit conversion from ‘float’ to ‘double’ to match other operand of
binary expression [-Werror=double-promotion]

It seems gcc 6.1.1 uses the float variant of fabs, whereas older gcc's
use the double version. This makes it compile for both.
 2016-06-28 09:25:36 +02:00
Daniel Agar
050eedc4f8 mavlink publish WIND_COV (#4913) 
* mavlink publish WIND_COV

-closes #4678

* px4fmu-v2_default disable logger and sync configs
 2016-06-27 16:16:24 +02:00
James Goppert
5935b18581 Added EPH/EPV min to LPE. (#4915) 2016-06-27 08:46:00 +02:00
Daniel Agar
b8b855f2aa param.c fix style 2016-06-26 17:36:45 -04:00
Lorenz Meier
3c2bd4f6dd Param interface: Only mark as changed if value changed 2016-06-26 22:29:14 +02:00
Daniel Agar
cb320f6e8a param set default battery parameters (#4912) 2016-06-26 21:27:11 +02:00
Henry Zhang
ae6600e48f MAVLink app: fix mavlink forwarding issue. (#4907) 2016-06-25 11:02:01 +02:00
Andreas Daniel Antener
705a08bbbd do not modify attitude setpoint in velocity controlled mode (#4905) 2016-06-25 10:59:50 +02:00
Roman
eabc4647c2 mavlink receiver: fixed unit conversions for current 
Signed-off-by: Roman <bapstr@ethz.ch>
 2016-06-24 08:35:27 +02:00
Roman
f754d23a0f mavlink receiver: fixed computation of cell count 
Signed-off-by: Roman <bapstr@ethz.ch>
 2016-06-24 08:10:35 +02:00
Beat Küng
e0c11f5545 fix ekf2_replay_main.cpp: remove timestamp_velocity from gps topic 2016-06-24 00:22:01 +02:00
Beat Küng
cf5d959f1b gnss.cpp: switch to relative gps timestamp 2016-06-24 00:22:01 +02:00
Beat Küng
940ac5471d ekf2: remove unused gps_msg.time_usec_vel 2016-06-24 00:22:01 +02:00
Beat Küng
f8e9a19889 gps_position: convert uint64 timestamp_time -> int32 timestamp_time_relative 
We need to make this timestamp relative to the main timestamp. Necessary
for replay, and saves some space.
 2016-06-24 00:22:01 +02:00
Beat Küng
e2a7145379 vehicle_gps_position: remove timestamp_variance & timestamp_velocity (they're not used) 2016-06-24 00:22:01 +02:00
Beat Küng
89f5bd27e8 vehicle_gps_position: use timestamp field instead of timestamp_position 
timestamp was unused. This allows to remove timestamp_position.
 2016-06-24 00:22:01 +02:00
Lorenz Meier
024a86c309 Simulator: fix battery sim 2016-06-23 22:32:14 +02:00
Roman Bapst
571798c318 Pr external battery monitoring (#4881) 
* mavlink receiver: added handling of battery status

handle incoming battery status messages in order to support external
battery monitoring

Signed-off-by: Roman <bapstr@ethz.ch>

* sensor params: added parameter for battery monitoring source

Signed-off-by: Roman <bapstr@ethz.ch>

* sensors: only publish battery status if we don't have external battery
monitoring activated

Signed-off-by: Roman <bapstr@ethz.ch>
 2016-06-23 18:41:38 +02:00
tumbili
c2825f701a ekf_att_pos_estimator: fixed saving params when landed 
fixed logic such that parameters are saved when vehicle just landed.
only save parameters once when state changed from in_air to landed.

Signed-off-by: tumbili <roman@px4.io> and bkueng <beat-kueng@gmx.net>
 2016-06-23 15:56:51 +02:00
tumbili
8026273cb0 land_detector: do not publish if landing or freefall state has not changed 
Signed-off-by: tumbili <roman@px4.io> and bkueng <beat-kueng@gmx.net>
 2016-06-23 15:56:51 +02:00
Nate Weibley
0551e001e2 Properly reflect flow control state if IOCTL fails (#4873) 
The flow control state is improperly reflected as enabled if the arch/HAL rejects an IOCTL to turn it on. Mavlink::enable_flow_control updates _flow_control_enabled only if the IOCTL call does not fail.
 2016-06-23 10:17:17 +02:00
Roman
27e61127a8 ekf2: fix if else logic 
Signed-off-by: Roman <bapstr@ethz.ch>
 2016-06-23 09:08:35 +02:00
Roman
6f6ae78cf2 ekf_att_pos_estimator: added logic for airspeed modes 
Signed-off-by: Roman <bapstr@ethz.ch>
 2016-06-23 09:08:35 +02:00
tumbili
c1ba7ab62b vtol attitude control: fixed code style 
Signed-off-by: tumbili <roman@px4.io>
 2016-06-23 09:08:35 +02:00
sander
bbf852787e Rename param to throttle 2016-06-23 09:08:35 +02:00
sander
3002852bfa Allow throttle updates below 10% 2016-06-23 09:08:35 +02:00
sander
f2e425b75b commenting 2016-06-23 09:08:35 +02:00
sander
9d59ba125d remove debug info 2016-06-23 09:08:35 +02:00
sander
37531c018a Implement MAV_CMD_DO_CHANGE_SPEED throttle 2016-06-23 09:08:35 +02:00
Roman
7f8c183d99 added airspeed mode enum to control state topic 
Signed-off-by: Roman <bapstr@ethz.ch>
 2016-06-23 09:08:35 +02:00
Roman
22db94e352 removed debug printf 
Signed-off-by: Roman <bapstr@ethz.ch>
 2016-06-23 09:08:35 +02:00
sander
cea2350d2e Time based front transition blending 2016-06-23 09:08:35 +02:00
sander
b54982965b Allow VTOL transition based on time 2016-06-23 09:08:35 +02:00
tumbili
1bce38bd9b code style formatting 2016-06-23 09:08:35 +02:00
tumbili
c2da51ccf5 use airspeed mode parameter to decide which method used to publish 
control state airspeed
 2016-06-23 09:08:34 +02:00