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34,409 Commits 852 Branches 161 Tags
8087fac3fc4090c25aef608ab7cce634c1f25e81
Commit Graph

13664 Commits

Author SHA1 Message Date
bazooka joe 8087fac3fc gps_blending add protection against accessing non-exist array item 2021-02-06 12:59:04 +01:00
bazooka joe a0d500b30a changing gps_blending to be non-template class 
because there is no multiple instance types on singular machine
 2021-02-06 12:59:04 +01:00
Claudio Micheli d4bea8323f PreFlightCheck: Detect missing FMU SD card 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-02-05 20:14:48 +01:00
bresch 44872807b3 MC auto: add parameter to set the trajectory slow-down 
In some cases e.g.: (VTOL in wind) a good tracking cannot be
achieved. This condition then needs to be relaxed, otherwise the
drone cannot land properly.
 2021-02-05 20:13:30 +01:00
Daniel Agar 6633ff5089 commander: vehicle_status_flags add attitude and angular velocity 2021-02-05 20:11:13 +01:00
bresch a399bb9894 ekf2: fix mismatch between ecl and firmware flag definition 2021-02-05 14:30:09 +01:00
Matthias Grob f13c3a7d44 state_machine_helper: stop mission on RC loss 
This allows to still fly missions completely without RC
but reacts if RC is lost during the mission because
the safety pilot expects to be able to take over.
 2021-02-04 10:54:52 +01:00
Matthias Grob f87dbe57c2 state_machine_helper: don't finish mission if all links are lost except for when no reaction is configured 2021-02-04 10:54:52 +01:00
Matthias Grob cd51cf2996 state_machine_helper: handle zero failsafe_timestamp 2021-02-04 10:54:52 +01:00
Matthias Grob b44b770972 commander: RC loss delay renaming/reordering 2021-02-04 10:54:52 +01:00
Matthias Grob e2e5fc85f8 state_machine_helper: fix infinite delay with intermittent failsafes 2021-02-04 10:54:52 +01:00
Matthias Grob 1736be41cf state_machine_helper: only apply delay on manual piloted rc loss cases 2021-02-04 10:54:52 +01:00
Matthias Grob e65cc6bd6f state_machine_helper: do failsafe delay for all modes 2021-02-04 10:54:52 +01:00
Matthias Grob 26d74bf57d Commander: enable failsafe delay for position and mission mode 
Instead of directly doing the link loss reaction which by default is RTL a delay
can be configured such that the drone first switches to hold and waits
for the link to be regained.
 2021-02-04 10:54:52 +01:00
Antonio Sanjurjo Cortés fa45eacea3 Fix and unify the maximum allowed PDOP references 2021-02-04 10:20:22 +01:00
Julian Oes be3cdc0439 sensors: correct comment logic 
By removing the no the comment matches the implementation (which I think
makes sense).
 2021-02-04 10:14:44 +01:00
Matthias Grob 3ab4213314 IO safety button: cleanup disabling safety 2021-02-04 06:25:43 +01:00
Lorenz Meier 867b006861 IO safety button: Latch to disabled state 
As hardware buttons are not particularly reliable and the user flow is to disable safety then arm, then disarm via software / remote, it makes sense to make the button safety state itself sticky and require it to be reset via software.
 2021-02-04 06:25:43 +01:00
xdwgood 89878fcc88 clean up 2021-02-03 17:54:27 +01:00
Paul Riseborough 4b4a9a925b logger: Log takeoff_status 2021-02-03 17:44:12 +01:00
Paul Riseborough 9d1de3118f land_detector: Rework ground effect calculation for MC 2021-02-03 17:44:12 +01:00
Benoit Landry 8b0ec5a78e mavlink: ATTITUDE_TARGET thrust use thrust_body magnitude 
- vehicle_attitude_setpoint thrust_body is a vector, but mavlink ATTITUDE_TARGET thrust is only a magnitude
 - this allows the stream to be correct for both MC & FW use cases
 2021-02-01 21:31:36 -05:00
Silvan Fuhrer b9b9c55325 Navigator: change default of GF_ACTION to 2 (Hold) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-01 11:07:53 +01:00
Claudio Micheli c2154df2f6 ekf2checks: split GPS checks from AHRS checks - minor cleanup 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-02-01 09:02:19 +01:00
Daniel Agar 78dff6adcb boards: add CONSTRAINED_MEMORY build option 
- currently the main change is that it reduces the max number of ORB multi instances to 4, but usage will be expanded as needed
 - limits number of EKF2 multi instances to 2.
 - enabled on all cortex m4 boards
 2021-02-01 08:56:22 +01:00
Chungkyeong Lee 834ac38841 fix condition in ekf2Check 2021-02-01 08:55:41 +01:00
Daniel Agar 5097d531bf mavlink: send LINK_NODE_STATUS 2021-01-31 15:02:30 +01:00
Daniel Agar bb7dd0cf00 modules/sih: move to px4 work queue (wq:rate_ctrl) 
- respect IMU_GYRO_RATEMAX for configured interval
 - optionally compile at higher optimization level per board (${MAX_CUSTOM_OPT_LEVEL})
 2021-01-31 12:56:45 +01:00
Daniel Agar 0c58d12216 mavlink: receiver estimate total lost messages 2021-01-31 11:41:56 +01:00
Matthias Grob fbd64fbdd8 FlightModeManager: publish takeoff status 2021-01-31 11:37:00 +01:00
Igor Mišić f80a422f9c mavlink receiver: battery status - publish temperature 2021-01-31 11:20:42 +01:00
Igor Mišić 5f0a014595 mavlink receiver: battery status - publish cells voltage 2021-01-31 11:20:42 +01:00
Daniel Agar 6a4835bbcc sensors: vehicle_magnetometer combine extra _vehicle_magnetometer_pub 2021-01-30 21:50:01 -05:00
Daniel Agar ce76c84ce2 sensors: vehicle_magnetometer respect publication rate limit SENS_MAG_RATE 2021-01-30 21:50:01 -05:00
Daniel Agar 318c7e83b3 support up to PWM 14 
- generate PWM_MAIN 1-14
 - generate PWM_AUX 1-8
 - generate PWM_EXTRA 1-8
 - px4io and pwm_out directly read configuration parameters
    - only available and active physical outputs are actually shown for configuration
 - overall saves flash despite adding many new parameters
 2021-01-30 15:55:53 +01:00
bresch cdd6df4e27 VehicleGPSPosition: remove unused "using" 2021-01-30 11:32:47 +01:00
bresch 6abbbdeb4b gps blend: add parameter to select the primary instance 2021-01-30 11:32:47 +01:00
bresch 889602ed5e gps blend: always pass through GpsBlending class for selection 2021-01-30 11:32:47 +01:00
bresch b4051b62a3 gps blend: add failover logic and unit test 
also remove dependency to hrt library
 2021-01-30 11:32:47 +01:00
bresch 9bff7a1c41 gps blend: add selector unit tests 2021-01-30 11:32:47 +01:00
bresch 1dbf4957df vehicle gps pos: remove useless gps_updated array 2021-01-30 11:32:47 +01:00
bresch b60bfb920c gps blend: add initial working test 2021-01-30 11:32:47 +01:00
bresch 1cde5074ea gps blend: move definition to header file 2021-01-30 11:32:47 +01:00
bresch 1333664a14 gps blend: move blending logic to class 2021-01-30 11:32:47 +01:00
Claudio Micheli c2a68debd9 add jamming_state to gps sensor module 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-01-30 11:26:42 +01:00
Daniel Agar e7f2195a9b ekf2: error if unable to copy every sensor publication 2021-01-29 22:12:29 -05:00
Silvan Fuhrer 85d8e74609 Navigator: yaw error from param and pos_ctl_status.acceptence_rad checks before using 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer 4d6749edc2 mission_block: change loiter handling logic 
- add ability of "heading wait" for NAV_CMD_LOITER_TIME_LIMIT
- For both LOITER_TIME and LOITER_TO_ALT in fixed-wing flight, unify logic:
--> reach position --> start loitering --> reach altitude --> start timer (if applicable)
	--> reach exit heading (if applicable) --> declare mission item reached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer 5c9fac58c8 Mission: do not autocontinue if in multicopter mode and next wp has a hold time 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer f3adf6d67f mission_block: rename altitude_amsl to mission_item_altitude_amsl to make clear it's a setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00