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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): 9c0acfba36
    - matrix current upstream: 18fba8221c
    - Changes: 9c0acfba36...18fba8221c

    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