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10956 Commits

Author SHA1 Message Date
Thomas Stastny 8551d2eb9d mission feasibility: add small tolerance to fw landing slope alt 2018-06-29 12:10:53 +00:00
Mark Sauder d3c169b1e0 Fix whitespaces in PreflightCheck.cpp, tilt_quad.aux.mix, and tilt_quad.main.mix 2018-06-28 20:20:32 -04:00
Daniel Agar 96f47d4772 EKF2 add perf counters (#9795) 2018-06-28 17:28:03 -04:00
Beat Küng bb8e653469 mc_att_control: keep integral enabled based on land detector 
Previously the rate controller disabled updating the integral below 20%
throttle. This is not ideal for several reasons:
- some racers already hover with 20% throttle.
- for acro it is important to always keep the integral enabled, it has a
  noticeable effect on flight performance.
 2018-06-27 09:11:23 +00:00
Beat Küng bf1c11a33c commander: move comment to the right place 
It's now the same way as in the ARM logic further down.
 2018-06-27 10:41:21 +02:00
Beat Küng 02fc68a53e commander arming: disable stick (dis-)arming when arming switch/button is used 
A reason for using switch arming in the first place is that you cannot
accidentally disarm in-air with the sticks during acrobatic flights.

It also adds a low-throttle arming requirement for switch arming.
 2018-06-27 10:41:21 +02:00
Beat Küng db2b010630 commander arming: add a grace period of 5 seconds to allow re-arming w/o preflight checks 
This changes the arming logic such that the preflight checks don't need
to be satisfied if arming happens < 5 seconds after the last disarming.
This allows to recover from accidental in-air disarming.
 2018-06-27 10:41:21 +02:00
Beat Küng 8c3cf0167c commander arming_state_transition: respect fRunPreArmChecks properly 
if fRunPreArmChecks was set to false, there were still cases where the
preflight checks could be called. This fixes that.

arming_state_transition() with fRunPreArmChecks=false is only called
when entering & leaving preflight calibration mode.
All other places use fRunPreArmChecks=true, which means there is no change
for these.
 2018-06-27 10:41:21 +02:00
Beat Küng 469b5f98e2 commander Preflight::preflightCheck: transition condition_system_sensors_initialized only to true 
- this matches the logic in arming_state_transition()
- if Commander::preflight_check was run in armed state and the checks
  failed, disarming was not possible anymore
  (because disarming checks for condition_system_sensors_initialized).
  That is currently not the case, but the existing logic is way too fragile.

Alternative solution: check if armed in Preflight::preflightCheck, and
only transition to false if disarmed (but also respect the re-arming
grace period).
 2018-06-27 10:41:21 +02:00
Daniel Agar 9eae8e7c5b Update submodule libuavcan to latest Wed Jun 27 01:27:03 UTC 2018 (#9779) 
- libuavcan in PX4/Firmware (fab974fde713b9de0ece1b85239d9dc52622052e): https://github.com/UAVCAN/libuavcan/commit/231b221b64265db4e98f86e53721316f9e17e143
    - libuavcan current upstream: https://github.com/UAVCAN/libuavcan/commit/dfcdf22eda16ff06847976fd6c7f40671fc92eb5
    - Changes: https://github.com/UAVCAN/libuavcan/compare/231b221b64265db4e98f86e53721316f9e17e143...dfcdf22eda16ff06847976fd6c7f40671fc92eb5

    dfcdf22 2018-06-26 Pavel Kirienko - Merge pull request #142 from thirtytwobits/feature/issue141
529a376 2018-06-21 Dixon, Scott - Issue #141 Add Vagrantfile to automate dev environment
 2018-06-27 00:09:19 -04:00
Beat Küng 0ac1ef12c7 gpssim: unadvertise gps topics 2018-06-26 15:51:17 +02:00
Beat Küng ddde968a6f mavlink: allow resetting streams to their default via 'mavlink stream' command 2018-06-25 12:19:56 +02:00
Beat Küng ec15fc333b mavlink: add 'mavlink status streams' command 
Displays all enabled streams and their configured rates.
Example output:
instance #1:
        Name                Rate Config (current) [Hz] Message Size (if active) [B]
        HEARTBEAT                       1.00 (1.000)    21
        STATUSTEXT                     20.00 (6.320)
        COMMAND_LONG                  unlimited
        ALTITUDE                        1.00 (0.316)
        ATTITUDE                       25.00 (7.900)    40
        ATTITUDE_TARGET                10.00 (3.160)    49
        ESTIMATOR_STATUS                1.00 (0.316)    44
        EXTENDED_SYS_STATE              1.00 (0.316)    14
        GLOBAL_POSITION_INT            10.00 (3.160)    40
        GPS_RAW_INT                     1.00 (0.316)    62
        HOME_POSITION                   0.50 (0.158)
        RC_CHANNELS                     5.00 (1.580)
        SERVO_OUTPUT_RAW_0              1.00 (0.316)    49
        SYS_STATUS                      5.00 (1.580)    43
        SYSTEM_TIME                     1.00 (0.316)    24
        VFR_HUD                        25.00 (7.900)    32
        WIND_COV                        2.00 (0.632)
 2018-06-25 12:19:56 +02:00
Beat Küng 84841236cb mavlink: allow resetting mavlink streams to default via MAV_CMD_SET_MESSAGE_INTERVAL 
This implementation does not need more resources.
It's not super efficient in terms of runtime, but it's also not something
that is called often.
 2018-06-25 12:19:56 +02:00
Beat Küng 333fd9cf45 mavlink: improve status output 
- add datarate
- add UDP remote port
- add partner IP
 2018-06-25 12:19:56 +02:00
Beat Küng f59412ba65 mavlink: only enable HIL_ACTUATOR_CONTROLS in hil if link has enough bandwidth 
Plus correct return value.
Iridium links are below that.
 2018-06-25 12:19:56 +02:00
Beat Küng 4553992760 mavlink: refactor get_client_source_address() to return a reference instead of a pointer 2018-06-25 12:19:56 +02:00
Daniel Agar aa270fcd89 Mission feasibility: remove 2/3rds distance warnings that don't reject a mission (#9743) 2018-06-23 10:39:23 -04:00
Daniel Agar d21cf7123e version library add ECL 2018-06-22 08:46:30 +02:00
Philipp Oettershagen 7a82c777b2 LandDetector FW: Fix param min/max values and descriptions as well as some variable names which were wrong/outdated (#9708) 2018-06-20 16:13:33 -04:00
Julien Lecoeur c73944c7a2 Mavlink: initialize _ping_stats 
Uninitialized `_ping_stats.last_ping_time` caused ping statistics to be printed even when no ping was received.
 2018-06-19 13:00:36 +02:00
Beat Küng d1343b0ccb calibration_routines: fix 'Command denied during calibration' error message 
The uorb subscribe logic got changed for queued topics with
https://github.com/PX4/Firmware/pull/9436, meaning an orb_subscribe will
return past messages as well now.

This lead to an error 'Command denied during calibration' for the previously
received calibration start command.
 2018-06-18 15:06:58 +02:00
rolandash ebc40067c7 otherwise posix_sitl_rtps fail to build (MACOS) 2018-06-16 10:13:33 +02:00
Beat Küng ff365cad08 rtl: change "RTL: land at home" message from critical to info 2018-06-15 15:53:28 +02:00
Philipp Oettershagen 753ad0e0df Fixed-wing autoland: Fix bug that could cause a steep pitch increase and thus aircraft stall during the flare (#9674) 2018-06-14 11:29:03 -04:00
Oleg Kalachev 23cd6adbe7 precland: put land precision parameter to MAVLink mission item 2018-06-13 23:32:51 -04:00
Oleg Kalachev 86d3603e2d precland: fix landing target pose validity checking 
In precland the copter may switch to horizontal approach state with an
old landing target pose message.
 2018-06-13 23:32:51 -04:00
Beat Küng f241e49ebf voted_sensors_update: initialize _last_magnetometer & _last_airdata 2018-06-13 16:19:34 +02:00
Beat Küng 76c94b08f1 PositionControl: use constant references instead of pass-by-value for structs 2018-06-13 16:19:34 +02:00
Beat Küng 226d7c79da sensors: initialize adc only if BOARD_NUMBER_BRICKS > 0 
Fixes the SITL startup error:
ERROR [sensors] no ADC found: /dev/adc0 (9)

Introduced in 8404889098
 2018-06-13 15:54:45 +02:00
Beat Küng 08064c2b71 mavlink_main: remove nonexisting streams 
Removes SITL startup warnings:
WARN  [mavlink] stream SCALED_IMU2 not found
WARN  [mavlink] stream SCALED_IMU3 not found

Introduced in 9122725052
 2018-06-13 15:54:45 +02:00
Ivo Drescher 42ebbd14bb Changed the intendation to tabs 
Signed-off-by: Ivo Drescher <ivo.drescher@gmail.com>
 2018-06-13 12:46:42 +02:00
Ivo Drescher 77d4554e6d Modified comment about feed forward of yaw setpoint rate. 
Added more explanations regarding the coordinate transformation.

Signed-off-by: Ivo Drescher <ivo.drescher@gmail.com>
 2018-06-13 12:46:42 +02:00
Daniel Agar daa6f29b58 commander ignore failsafe transitions when in mission and disarmed 2018-06-13 08:37:00 +02:00
David Sidrane 8aa1d4d68d BUGFIX hardfault FMUv5 List was used before being initalized. 
_uavcan_open_request_list was accessed before it was initalized.
 2018-06-12 13:44:04 -07:00
David Sidrane b42794f3b9 Updated libuavcan to 883cba97 + NuttX IRQ patch 2018-06-12 13:01:12 -07:00
Florian Achermann 4697bf428b Navigator Fix: Do not set the closest mission item in normal mission mode (#9646) 
- fixes #9606
 2018-06-12 12:11:14 -04:00
Daniel Agar 20aabd3566 move systemlib/airspeed to standalone lib 2018-06-12 09:06:30 +02:00
Daniel Agar b23e40ca42 move systemlib/pid to standalone lib 2018-06-12 09:06:30 +02:00
Daniel Agar e468a9bbcc move systemlib/pwm_limit to standalone lib 2018-06-12 09:06:30 +02:00
Daniel Agar 387bc81f26 move systemlib/circuit_breaker.cpp to standalone lib 2018-06-12 09:06:30 +02:00
Daniel Agar 7eeba7b8ca systemlib delete unused board_serial 2018-06-12 09:06:30 +02:00
Daniel Agar 965eaecf4d systemlib printload naming consistency 2018-06-12 09:06:30 +02:00
Daniel Agar dfb98b2a70 systemlib delete unused getopt_long 2018-06-12 09:06:30 +02:00
Daniel Agar f913e062da systemlib delete unused err.c 2018-06-12 09:06:30 +02:00
Daniel Agar d3f7de6f9c systemlib delete unused state_table.h 2018-06-12 09:06:30 +02:00
Daniel Agar d73d20bcce systemlib delete unused systemlib.h 2018-06-12 09:06:30 +02:00
Daniel Agar fda25e9f3a systemlib delete unused ppm_decode 2018-06-12 09:06:30 +02:00
Daniel Agar d0bde9ab2a replace geo _wrap_pi with matrix::wrap_pi 2018-06-12 09:00:52 +02:00
TSC21 518daa4a8d fastrtps: clean up and fix template for client/agent code 2018-06-11 22:54:58 +02:00