82746af07a
ekf2: use new IMU and mag bias and variance getters in ecl/EKF
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- reset IMU bias on calibration change (only works with multi-ekf)
- standardize PX4_INFO/PX4_WARN/PX4_ERR output for multi-ekf with instance number
- https://github.com/PX4/PX4-ECL/pull/924
2020-12-08 16:06:18 -05:00
8f5f564c05
commander: preflightcheck only report failure once per sensor type
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- either way the user action is to recalibrate, so we might as well try
to minimize the noise/annoyance
2020-12-08 13:18:22 -05:00
edaf9f2bb6
FW Position Controller: consolidate mission throttle adaptions for position and loiter waypoints
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-08 12:08:36 -05:00
6d255df0a8
airspeed selector: disable beta fusion when not in fixed-wing mode
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-08 11:43:27 -05:00
59564af860
wind_estimate message: add identifier for source
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-08 11:43:27 -05:00
681590c510
ekf2: multi-ekf force initial selection (and sensor_selection publication)
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- depending on the particular sensor configuration and startup timing we were getting an initial sensor_selection publication without valid accel & gyro device ids (only applies to Multi-EKF)
- fix faulty accel and gyro device ids
- initialize unused test ratio fields to NAN for logging clarity
2020-12-07 21:37:24 -05:00
3276916df9
HomePos: check corresponding validity before using data
2020-12-07 10:24:23 -05:00
711bd2ce87
Commander: use helper to set home position
2020-12-07 10:24:23 -05:00
f3e5b86b06
Commander: set home position in air
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en/dis-able in-air home position via parameter COM_HOME_IN_AIR
2020-12-07 10:24:23 -05:00
a2ff53b018
mavlink: remove typedef of anonymous struct
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Clang doesn't seem to like these.
2020-12-06 23:55:59 -05:00
8900c6200d
commander: remove typedef of anonymous struct
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Clang doesn't seem to like these.
2020-12-06 23:55:59 -05:00
e6992db1ca
Use enums for set attitude setpoint typemasks for offboard mode ( #16327 )
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This commit switches the typemask comaparision to enums for better readability
2020-12-04 17:44:33 +01:00
01620420fa
ekf2: update to latest ecl with RingBuffer minor improvements
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- includes https://github.com/PX4/PX4-ECL/pull/938
2020-12-03 21:17:22 -05:00
c305774fae
commander: move vehicle_status into class
2020-12-02 10:20:50 +01:00
b7de10fca3
commander: move vehicle_status_flags to class
2020-12-02 10:20:50 +01:00
dc435c4c90
commander: control_status_leds() use _armed directly
2020-12-02 10:20:50 +01:00
8ac2581d7b
commander: handle_command() use _armed directly
2020-12-02 10:20:50 +01:00
741a0b43e8
commander: move mavlink_log_pub into class
2020-12-02 10:20:50 +01:00
a03b91c01e
commander: move answer_command() to class
2020-12-02 10:20:50 +01:00
d5dc7e2873
commander: move actuator_armed state into class
2020-12-02 10:20:50 +01:00
de66616341
MulticopterPositionControl: don't switch out of Orbit task
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when it got started via vehicle_command
2020-12-01 10:00:46 -05:00
8f40558f41
MulticopterPositionControl: reset task when switching mode
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to make sure the state is clean between auto mode switches.
2020-12-01 10:00:46 -05:00
85f3ab1960
rc_update: only decode if RC input is stable (channel count and source)
2020-12-01 09:40:24 -05:00
bd943d872c
Use explicit typemasks for offboard position setpoints ( #16296 )
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This uses enums of the POSITION_TARGET_TYPEMASK in order to separate typemasks that are part of the mavlink specs more explicitly
2020-11-30 22:12:06 +01:00
a63e8cc149
fix mavlink: ensure vehicle_command topic exists
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If the first publisher publishes multiple commands right after each other
(e.g. on 'commander takeoff'), mavlink would miss the first and print an
error like 'vehicle_command lost, generation 0 -> 2'.
This is due to a recent uORB behavior change.
2020-11-30 11:53:22 -05:00
05a3492174
commander: remove low priority thread, run tasks in a worker thread on demand
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- removes race conditions
- removes dependencies on static data & methods
- reduces RAM usage by ~3.8KB
2020-11-30 11:53:22 -05:00
419b336a15
commander: fix ModuleBase usage, remove volatile flag
2020-11-30 11:53:22 -05:00
aa80167b47
mavlink: rename OPTICAL_FLOW header and defines to OPTICAL_FLOW_RAD
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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
7dde298664
mavlink: move COLLISION to streams hpp
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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
2243931abd
mavlink: move ATTITUDE_TARGET to streams hpp
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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
ce28aa089b
mavlink: move ATTITUDE_QUATERNION to streams hpp
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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
8ac2ada0e6
mavlink: move ATTITUDE to streams hpp
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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
0bf622e211
mavlink: move OPTICAL_FLOW to streams hpp
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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
d59ba2032f
Handle takeoff waypoints for rover
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Fix
2020-11-29 00:08:53 +01:00
3309bf21dd
FW att C: do not lock or reset integrator if tailsitter and in hover
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-11-27 17:28:52 +03:00
3215c50660
commander: Fix comment typos.
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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2020-11-27 10:25:32 +01:00
bd09be43c0
simulator mavlink actuator limits ( #15861 )
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using unified way to decide which output should be scale as rotor
fixed case that actuator that wasn't set (value 0 "PWM") results output of -3
make default actuator mode to set all actuator to range of -1 to +1
cleanups
2020-11-26 14:42:31 +01:00
ce8f4dece2
rc_update_params: clarify failsafe channel and threshold
2020-11-26 10:55:35 +01:00
ec9f8998a7
commander: limit mode switch re-evaluation logic on estimate validity changes
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- re-evaluating mode switches on altitude or position validity change can create confusing when also relying on mode changes via mavlink
- limiting this logic to only apply when disarmed solves the original problem (respecting initial switch position) without introducing potential problems mid-flight
- fixes https://github.com/PX4/PX4-Autopilot/issues/16235
2020-11-25 21:14:55 -05:00
3e4c38f6e8
ekf2: Fix bug causing excessive lane selection switching
2020-11-25 10:00:07 -05:00
5e855c6747
commander: preflightcheck and calibration remove hash (#) from mavlink message
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- QGroundControl is reading these as "Hash" and I don't think it's ambiguous if removed
2020-11-23 21:56:23 -05:00
615333badb
logger: log gps_dump if GPS_DUMP_COMM is set
2020-11-20 11:04:52 -05:00
65e1b702c9
GPS_GLOBAL_ORIGIN: simplify send logic
2020-11-19 19:00:37 +01:00
0ca63120eb
mavlink_messages: add GPS_GLOBAL_ORIGIN
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sending out local position reference.
Only send as anser to a request message command or
when the origin was changed from externally to verify.
2020-11-19 19:00:37 +01:00
41b56f20b8
mavlink_messages: fix raw rpm message size
2020-11-19 19:00:37 +01:00
c845265b1b
mavlink_receiver: use SET_GPS_GLOBAL_ORIGIN to set the origin
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The message GPS_GLOBAL_ORIGIN is meant as a telemtry information message
to send out the components reference and not to set it. I had to switch
to listen to SET_GPS_GLOBAL_ORIGIN such that I can implement sending out
GPS_GLOBAL_ORIGIN.
2020-11-19 19:00:37 +01:00
f18e70029a
Correct topic name for thermal corrections
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The message used is ./msg/sensor_correction.msg
2020-11-19 08:23:25 +01:00
fabeb22ae4
mavlink_receiver: remove unused decode_switch_pos function
2020-11-17 19:48:01 -05:00
7baeb78964
mavlink: STATUSTEXT track missed mavlink_log messages
2020-11-17 19:47:06 -05:00
e1168070d1
mavlink: decrease task stack
2020-11-17 19:47:06 -05:00
Daniel Agar