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1743 Commits

Author SHA1 Message Date
Daniel Agar 84724d5e1d param show default only active parameters 
- add -a option to display all possible system parameters
 2019-01-18 11:50:37 -05:00
Daniel Agar 91dcfb7ab2 PX4 sensor driver helpers 2019-01-18 10:39:15 -05:00
bresch a2e9d9ffce AutoSmoothVel - Handle NAN in velocity and position properly 2019-01-17 17:55:37 +01:00
Beat Küng beac53d775 cdev_platform: remove unused code (sim_delay) 2019-01-14 11:08:48 +01:00
Beat Küng eda45b4df2 sbus: add time-based hardening (only for IO and NuttX) 
Since SBUS does not have CRC, we can use timing information to improve
parsing reliability and reject unexpected bytes.
 2019-01-07 10:17:37 +01:00
Beat Küng 4cd8fe0a30 sbus: simplify logic 2019-01-07 10:17:37 +01:00
Beat Küng 9ebd052ac7 sbus: remove unused variables & improve some comments 2019-01-07 10:17:37 +01:00
Daniel Agar 60f2a92e3d replace <cfloat> with <float.h> 
- <cfloat> isn't available in the NuttX c++ library
 2019-01-06 19:20:57 -05:00
Daniel Agar c0b464e9e2 replace <cinttypes> with <inttypes.h> 
- <cinttypes> isn't available in the NuttX c++ library
 2019-01-06 19:20:57 -05:00
Alessandro Simovic aa74aa2b80 CollisionPrevention: curly brace inits 2019-01-04 15:39:40 +01:00
Alessandro Simovic e1dcc46578 CollisionPrevention: consistent var init 2019-01-04 15:39:40 +01:00
Alessandro Simovic ae6ae47bed CollisionPrevention: unused var 2019-01-04 15:39:40 +01:00
Beat Küng 5b4a77a67b params: add possibility to access files if flash-based params are enabled 
- the flash-backend is selected by specifying nullptr as file or -1 as fd
- the default file is nullptr, and thus the FLASH
- 'param select' has no effect, FLASH is always the default

Thus there should be no functional change to existing setups.
 2018-12-23 15:49:37 -05:00
Julian Oes 73ed9deac5 mixer: add missing include 2018-12-22 10:32:18 +01:00
Julian Oes ea87bcb5a2 DriverFramework: update submodule 
Now that the lockstep changes are merged to master.
 2018-12-22 10:32:18 +01:00
Julian Oes 14e5ebbbbc platforms: fix clock build for macOS (yet again) 2018-12-22 10:32:18 +01:00
Julian Oes 06c5037025 platforms: use CLOCK_MONOTONIC 
For the non-lockstep case we want to use CLOCK_MONOTONIC if possible.
 2018-12-22 10:32:18 +01:00
Julian Oes 8e4296d000 parameters: remove unneeded usleep 
According to @bkueng this was to schedule other processes but can now be
removed.
 2018-12-22 10:32:18 +01:00
Julian Oes b4382d4a71 DriverFramework: updated submodule 2018-12-22 10:32:18 +01:00
Julian Oes 185ddb2ab6 lockstep_scheduler: format to PX4 style 
Consistency over taste :(.
 2018-12-22 10:32:18 +01:00
Julian Oes f3aad419ac DriverFramework: update submodule 
Hopefully, we can fix the defines for macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes 393a665424 DriverFramework: update submodule 
Fixes the unit test on macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes e046a6255f DriverFramework: update submodule 
This brings a couple more build fixes.
 2018-12-22 10:32:18 +01:00
Julian Oes d75389b2e4 platforms: consolidate latency_buckets 
These symbols were duplicated all over the place.
 2018-12-22 10:32:18 +01:00
Julian Oes b2f1a59164 DriverFramework: update submodule 
This fixes the build on macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes 6ed6941aba DriverFramework: update submodule 
This fixes the SITL speedup for macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes 876d4ebd76 posix: remove appalling errno hack 2018-12-22 10:32:18 +01:00
Julian Oes 66e7b4d578 posix: remove random lies 2018-12-22 10:32:18 +01:00
Julian Oes e36e0b6ad0 posix: print warning before backtrace 2018-12-22 10:32:18 +01:00
Julian Oes 4ef0d74ea3 platforms: remove old lockstep functionality 
These functions won't be used any longer with the new implementation.
 2018-12-22 10:32:18 +01:00
Julian Oes cc7cae4e7f DriverFramework: updated submodule 
This fixes a race/lockup happening in the DriverFramework scheduler.
 2018-12-22 10:32:18 +01:00
Julian Oes 3f508c99fd parameters: commented out strange usleep 2018-12-22 10:32:18 +01:00
Julian Oes 3e6e1f5c2b POSIX: use lockstep_scheduler to fake time 
This integrates the lockstep_scheduler, so that the system time is set
by the mavlink HIL_SENSOR message.

This means that the speed factor is removed and the speed is entirely
given by the simulator.
 2018-12-22 10:32:18 +01:00
Julian Oes 6466e690fe DriverFramework: update submodule 2018-12-22 10:32:18 +01:00
Julian Oes db6de38b19 Work in progress to support a speed factor in SITL 
These contains some rough changes trying to get SITL to speed up by a
SPEED_FACTOR.

This platform time code probably requires some more thought and refactor
but this gets a demo at 4x working.
 2018-12-22 10:32:18 +01:00
Julian Oes d70b0f1c8c Replace sleep with px4_sleep 
This is another step to isolate time from the system.
 2018-12-22 10:32:18 +01:00
Julian Oes 5b9dea5604 Replacing usleep with px4_usleep 
This is a step towards isolating time from the system.
 2018-12-22 10:32:18 +01:00
PX4 Build Bot 582658f2e0 Update submodule matrix to latest Sat Dec 22 00:38:42 UTC 2018 
- matrix in PX4/Firmware (3e5d66580520e5ae64555c5fc9252c6c661389e3): https://github.com/PX4/Matrix/commit/9c0acfba36a928b7b002eea3a9dca54a5a0c1250
    - matrix current upstream: https://github.com/PX4/Matrix/commit/18fba8221cc1840964c43f04d8c2aa21857e1b9b
    - Changes: https://github.com/PX4/Matrix/compare/9c0acfba36a928b7b002eea3a9dca54a5a0c1250...18fba8221cc1840964c43f04d8c2aa21857e1b9b

    18fba82 2018-12-16 Matthias Grob - quaternion: improve comments
a4f39c0 2018-12-16 Matthias Grob - quaternion: reuse existing dot product
 2018-12-21 23:39:07 -08:00
Christian Rauch 0764c76836 check CONFIG_I2C for I2C 2018-12-21 05:43:21 -08:00
Matthias Grob 3d42c495aa FlightTaskOrbit: clip radius to range 2018-12-19 18:22:08 +01:00
Matthias Grob 25de837c23 FlightTaskOrbit: fix rotation direction in telemetry 2018-12-18 14:40:07 +01:00
Matthias Grob 8b419efa2c FlightTaskOrbit: fix rotation direction from command 2018-12-18 14:40:07 +01:00
Matthias Grob 25aa2b9c8c orbit: fix telemetry message content 2018-12-18 14:40:07 +01:00
Alessandro Simovic f11465bb26 orbit: publish uorb message 2018-12-18 14:40:07 +01:00
Beat Küng cfad556a16 mixer_multirotor: use reduce_only instead of -1000 for yaw thrust reduction 
This is more accurate, because if we use -1000 as lower bound, a very large
yaw command can reduce thrust more than needed.

The difference can be seen in the following example
(with roll/pitch airmode):
p_dot_sp = -1.0 # roll acceleration
q_dot_sp = 0.9 # pitch acceleration
r_dot_sp = -0.9 # yaw acceleration
 2018-12-13 09:50:07 +01:00
Beat Küng 418df2516d mixer multirotor: add to CI 2018-12-13 09:50:07 +01:00
Beat Küng e8e3b00a10 refactor mixer: rename delta_outputs to desaturation_vector 2018-12-13 09:50:07 +01:00
Beat Küng 3eefc93e5d mixer_multirotor.py: avoid scientific notation for vector printf 
makes it easier to compare.
 2018-12-13 09:50:07 +01:00
Beat Küng cf66656258 mixer multirotor: add unit-tests 
To run:
cd src/lib/mixer
make tests

This will validate the C++ implementation by taking the python
implementation as ground-truth. It runs through various actuator control
command values for all airmode variations and several mixer types.

The python script also allows to prototype new mixer algorithms.

It is not integrated into the existing build system, because it's easier
to use that way, with less dependencies, and faster testing workflow.
It could however be a bit more integrated.

Reference: https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
 2018-12-13 09:50:07 +01:00
Beat Küng c659d2bcc2 mixer: minor refactoring to reduce header include dependencies 
- avoid including <px4_defines.h> from the math headers
- avoid driver include <drivers/drv_mixer.h> from the mixer
 2018-12-13 09:50:07 +01:00