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13154 Commits

Author SHA1 Message Date
Jonathan Hahn
7e5e8259f3
fw_pos_control_l1: fix swapped TECS time parameters (#15685) 
Co-authored-by: Jonathan Hahn <hahn@wingcopter.com>
 2020-09-04 15:11:31 -04:00
Daniel Agar
e5879f1bb6 estimator_sensor_bias: add bias variance 2020-09-04 10:48:26 -04:00
Daniel Agar
c54a0ff0c7 estimator_status: add device ids for accel/baro/gyro/mag 2020-09-04 10:48:26 -04:00
Daniel Agar
20c2fe6d28 estimator messages add explicit timestamp_sample 
- timestamp is uORB publication metadata
 - this allows us to see what the system saw at publication time plus the latency in estimation
 2020-09-04 10:48:26 -04:00
Daniel Agar
9215fb57a2 ekf2: advertise immediately to ensure consistent uORB instance numbering 2020-09-04 10:48:26 -04:00
Daniel Agar
9ccc1db649 estimator_status split out estimator_states 2020-09-04 10:48:26 -04:00
Daniel Agar
33a7fed240 ekf2: split out header and rename 2020-09-04 10:48:26 -04:00
Daniel Agar
4879a4e2ef ekf2: use single uORB::Subscription, but change instance 2020-09-03 15:41:33 -04:00
Daniel Agar
59e66e5be9 sensors/vehicle_acceleration: use single uORB::Subscription, but change instance 2020-09-03 15:41:33 -04:00
Daniel Agar
ee88561a33 sensors/vehicle_angular_velocity: use single uORB::Subscription, but change instance 2020-09-03 15:41:33 -04:00
Daniel Agar
94f7b50970 uORB: add Subscription method to change instance 2020-09-03 15:41:33 -04:00
Daniel Agar
19b43b5e9c uORB:: SubscriptionMultiArray fix construction argument 
- uORB::SubscriptionInterval construction requires the interval THEN the instance
 2020-09-03 07:49:57 +02:00
Daniel Agar
6ff361479c
uORB: introduce SubscriptionMultiArray for working with multi-instances 2020-09-02 12:46:47 -04:00
Daniel Agar
5017a7e33a
simulator: publish 2 instances of accel/baro/gyro/mag 2020-09-02 10:42:02 -04:00
Daniel Agar
e56dfe6497
rover_pos_control: revert sensor_combined purge 
- sensor_combined is only used for scheduling in this module under certain circumstances and should be reviewed and replaced 
 - fixes https://github.com/PX4/Firmware/issues/15628
 2020-09-01 21:09:33 -04:00
Matthias Grob
d06425d131 analog_battery: fix missing stdio include 
This was not a problem before because battery.h
included the adc driver and implicitly snprintf
was defined through there.
 2020-09-01 10:25:03 +02:00
Matthias Grob
5bc1df60a2 commander_params: remove some double spaces 2020-09-01 10:25:03 +02:00
Matthias Grob
0db4881413 BatterySimulator: remove SimulatorBattery 
It loads the battery parameters but then overwrites them
with hardcoded values and it breaks the ModuleParams
parent/child hierarchy. Both is undesired.
 2020-09-01 10:25:03 +02:00
Daniel Agar
978e35478f
logger: add_topic_multi optional specify max multi-instance (#15647) 2020-09-01 09:36:32 +02:00
Oleg
172a4e3557 batterry_status: fix checking default v_div 2020-08-30 11:09:59 -04:00
Daniel Agar
9feea0e2fd commander: accel calibration fail early on bad rotations 2020-08-29 11:02:37 -04:00
Daniel Agar
08cfea0b6f commander: mag calibration auto rotation skip all duplicates 
- add simple rotation test with corresponding blacklist
 2020-08-28 18:29:09 -04:00
Oleg
a18f22bd91
batterry_status: fix checking default a_per_v 2020-08-27 21:47:27 -04:00
Oleg Evseev
8eb46b0eb8 mavlink: check type on instance getting by device or network port 
otherwise serial mavlink running in first will occupy default net port 14556 and could be wrongly used for stream configuring instead or udp mavlink running in first will occupy default serial "/dev/ttyS1"and could be wrongly used for stream configuring instead

issue #15558
 2020-08-27 17:28:12 +02:00
SalimTerryLi
407ca0a5d3
mavlink command: new option to completely disable hardware flow control (-Z) (#15566) 2020-08-26 08:40:55 +02:00
Hamish Willee
979243f38f
params: make parameter units more consistent (#15502) 2020-08-24 11:33:08 +02:00
Daniel Agar
1d0188fc07 logger: add vehicle_acceleration to default topics 2020-08-23 17:38:27 -04:00
Daniel Agar
53b3dfa64e rover_pos_control: remove unused sensor_combined subscription 2020-08-23 17:38:27 -04:00
Daniel Agar
a368c7cded muorb: delete unused sensor_combined.h include 2020-08-23 17:38:27 -04:00
Daniel Agar
57721cad9b mavlink: replace sensor_combined with selected vehicle_imu 
- check all ORB_MULTI_MAX_INSTANCES possible instances for future expansion
 2020-08-23 17:38:27 -04:00
Daniel Agar
1d2e424c4c commander: calibration replace sensor_combined with vehicle_acceleration 2020-08-23 17:38:27 -04:00
Daniel Agar
4dee5d6a1c commander: level calibration print changes 2020-08-21 10:12:13 -04:00
Daniel Agar
c76cdaf8a8 commander: mag calibration add simple offset only quick cal using GPS & attitude 2020-08-21 10:12:13 -04:00
Daniel Agar
f6ad9bdb64 commander: don't set RC lost during calibration 2020-08-21 10:12:13 -04:00
Daniel Agar
5242160a26 commander: accel calibration reduce status length 
- this keeps the string within a single Mavlink STATUSTEXT
 - fixes #14829
 2020-08-21 10:12:13 -04:00
Daniel Agar
d824706571 commander: mag calibration keep manually configured special rotations 
- ROTATION_PITCH_9_YAW_180 and ROTATION_ROLL_90_PITCH_68_YAW_293 are
kept if manually configured
 2020-08-21 10:12:13 -04:00
Daniel Agar
0bb6ad01bd commander: mag calibration rotation also compare other internal mags 2020-08-21 10:12:13 -04:00
Daniel Agar
07d727a4a8 commander: mag calibration auto rotation simplify applying calibration and rotation 2020-08-21 10:12:13 -04:00
Daniel Agar
1a6eb7859c commander: mag calibration auto rotation improvements 
- skip rotations that are identical or very close
 - compute mean squared error (MSE) to skip a sqrt
 2020-08-21 10:12:13 -04:00
Daniel Agar
bc6e4c8a92 commander: accel calibration use all queued data 
- print each calibration when finished
 2020-08-21 10:12:13 -04:00
Daniel Agar
f9aca05ede commander: gyro calibration use all queued data 
- print calibration status when finished
 2020-08-21 10:12:13 -04:00
Daniel Agar
f2c9865c9b sensor mag add minimal queue and calibration check all 
- mag calibration acceptance check sphere/ellipsoid fit status
 2020-08-21 10:12:13 -04:00
Daniel Agar
b2e8f6839f commander: mag calibration improve console and debug output 2020-08-21 10:12:13 -04:00
Daniel Agar
2bb04f2261 commander: increase COM_ARM_MAG_ANG 35 -> 45 degrees 
- in practice this is mostly useful for identifying incorrect rotations
which we mostly have in 45 degree increments
 - handling a vehicle on the ground can easily disturb one mag by more than 30 degrees, so this is often distracting noise
 2020-08-21 10:12:13 -04:00
Daniel Agar
44c877c603 sensors: size sensor error_count consistently (uint32_t) 2020-08-21 10:12:13 -04:00
Daniel Agar
e6fd5a43bc commander: magnetometer calibration automatically set the rotation of external magnetometers relative to the first internal 
- see #15120 for more detail
 2020-08-21 10:12:13 -04:00
Daniel Agar
27f23ac290 move initial sensor priority to parameters and purge ORB_PRIORITY 
- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
 2020-08-21 10:12:13 -04:00
Daniel Agar
971b1e4b4d sensors: move mag aggregation to new VehicleMagnetometer WorkItem 
- purge all reminaing magnetometer IOCTL usage
 - mag calibration add off diagonal (soft iron) scale factors
 2020-08-21 10:12:13 -04:00
Daniel Agar
ad148af2fd commander: mag_calibration move to Magnetometer calibration helper 2020-08-21 10:12:13 -04:00
Daniel Agar
d92ddffa5d commander: add simple accelerometer quick calibration 2020-08-21 10:12:13 -04:00