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23145 Commits

Author SHA1 Message Date
InspiredBrandon
b2def13d6f
NCP5623c RGB LED driver I2C address auto detect 
* Enables the LED on mRobotics GPS receivers
 * Probes I2C addresses and sets colors accordingly
 2021-08-02 20:36:09 -04:00
Daniel Agar
93aa6e3f78 ekf2: baro bias publish minor cleanup 
- naming consistency (estimator prefix as "namespace")
 - only publish if baro is available and bias is changing as a small logging optimization
 - avoid unnecessary copying (get const reference to status directly)
 - trivial code style fixes
 2021-08-02 13:59:38 -04:00
Daniel Agar
d997a8d308 mavlink: receiver fix HIL_STATE_QUATERNION map projection init 
- fixes https://github.com/PX4/PX4-Autopilot/issues/17977
 2021-08-02 09:59:09 -04:00
David Jablonski
9c36236565 ekf2: increase stack size to 3600 2021-08-02 09:47:38 -04:00
murata
e33d2141ec px4io: Changing the timeout time description (NFC) 2021-08-01 20:27:25 -04:00
Daniel Agar
54918f650b
Update world_magnetic_model to latest Sun Aug 1 16:57:37 UTC 2021 2021-08-01 13:53:53 -04:00
Igor Mišić
af2247bd94
mavlink: use dynamic camera comp id instead of hardcoded value 2021-07-31 12:41:49 -04:00
Dima Ponomarev
d08d0443bc
Add internal combustion engine status uavcan bridge and mavlink EFI_STATUS stream 2021-07-30 22:31:43 -04:00
Sam Chamberlin
7764183f89
Broadcom AFBR-S50LV85D Distance Sensor Driver: Automatic Range Mode Switching 2021-07-30 22:27:27 -04:00
bresch
1016600ded Revert "mc_pos_control: omit initial warning" 
This reverts commit 446598d00359d42acef2619c157a493d2997edd5.

The first warning was due to a race condition that is fixed by the previous commit;
don't omit the first warning anymore
 2021-07-30 21:39:18 -04:00
bresch
e7a2c1d88e MCPosControl: fix invalid setpoint race condition 
Only modify the _setpoint for takeoff when there is a new uORB message
to avoid a race condition where both vel_sp(2) and accel_sp(2) can be
NAN at the same time.
 2021-07-30 21:39:18 -04:00
Daniel Agar
713a1d08a3 sensors: add accel/gyro current priority to sensors_status_imu 
- later the sensor priorities (user configurable) can be factored into the estimator selection criteria
 2021-07-30 21:20:01 -04:00
leonardosimovic
e6166dfc76 AirspeedSelector: Improve wording of sensor failure message 2021-07-28 07:37:38 +02:00
bresch
521b9f5dcc control: do not constantly ask for mag reset if yaw not aligned 
This also prevents triggering the `_mag_yaw_reset_req` flag in magless
mode; preventing the GNSS fustion from starting.
 2021-07-27 13:34:53 +02:00
bresch
639e0a39cf EKF2: add yaw estimator alignment test 2021-07-27 13:34:53 +02:00
Mathieu Bresciani
17ebcd2456
mag_control: fuse fake heading during leveling fine alignment (#17964) 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-07-27 11:50:50 +02:00
Daniel Agar
f2ae8ae814 sensors/vehicle_imu: vibration metrics use acceleration and angular velocity 
- this avoids any jitter in the integration timespan from impacting the vibration metrics
 - vehicle_imu_status vibration metrics are not consumed by anything
(yet), so changing the scaling of the metric shouldn't matter
 2021-07-26 13:55:47 -04:00
Daniel Agar
e01b631465 ekf2: change indication test limit float precision to minimize false positives 2021-07-26 13:54:36 -04:00
Daniel Agar
e9f84ba708 keep minimal legacy battery parameters for older QGC usability 
- BAT_V_EMPTY, BAT_V_CHARGED, BAT_V_LOAD_DROP, BAT_N_CELLS
 2021-07-23 15:07:53 -04:00
Daniel Agar
fe1eb8cd62 cmake cleanup jlink flashing helpers 2021-07-23 15:07:25 -04:00
Daniel Agar
7846771c68 sensors: populate sensors_status_imu healthy flags even in multi-EKF mode 2021-07-23 11:17:08 -04:00
Julian Oes
11480cdbc7 mavlink: fix offboard velocity input 
This reverts the behavior for offboard velocity setpoint.

Back in v1.11, the velocity input in NED_BODY was assumed to be in the
world frame but rotated by yaw to the vehicle frame. With the current
state the frame is completely fixed to the body. While this might be
technically correct, it doesn't seem much intuitive for multicopters
and breaks the MAVSDK offboard velocity API.

So as an example, with a velocity setpoint of 5 m/s forward, the drone
would in
- v1.11: fly forward with 5 m/s
- v1.12: start to fly forward by pitching down but then descend rapidly
  as the forward velocity would translate to a setpoint in Z into the
  ground as it is pitched down.

This commit restores the behavior to what we had previously.
 2021-07-22 09:40:29 +02:00
alessandro
bd17653383 Fix template_module header 
- SubscriptionInterval.hpp includes Subscription.hpp, but not vice versa
- The time literal 1_s is defined in the namespace time_literals
 2021-07-21 09:44:09 -04:00
Oleg Evseev
440449b85f mavlink: use explicit routing for message forwarding 
Forward message to other mavlink channels only if it is broadcast or the target component was seen on this link before (at least one message was received)
 2021-07-21 10:39:14 +02:00
Daniel Agar
b1eb762753 drivers/imu: set sample timestamp from interrupt (if available) 
- minor scheduling improvements
   - if expected number of samples larger than expected adjust timestamp sample and save sample for next iteration
   - when scheduling via data ready interrupt (with no FIFO watermark) count continuously without clearing
 2021-07-21 02:19:11 -04:00
DonLakeFlyer
0af1716864 Fix incorrect max for INT32 2021-07-20 16:29:39 -04:00
Kirill Shilov
e13884410b heater: added support of inverted IMU heat controller output 2021-07-20 10:37:53 -04:00
dagar
a8e3c46cdb [AUTO COMMIT] update change indication 2021-07-19 16:53:45 -04:00
bresch
54c7e74de3 EKF: add baro bias estimator using GNSS altitude 2021-07-19 16:53:45 -04:00
Daniel Agar
10f4fc7783 ekf2: don't print distance_sensor selection unless there are multiple options 2021-07-19 12:17:12 -04:00
Daniel Agar
87610957a4 flight_mode_manager: pass deltas on estimator reset 2021-07-19 09:34:07 -04:00
Daniel Agar
d79eea0c41
Jenkins: HIL flash bootloaders 
- add new jlink_upload_bootloader helper target
 2021-07-18 23:33:00 -04:00
Daniel Agar
774ad80ba0 systemcmds/tests: split out microbenchmarks and remove obsolete tests 
- reorganize Jenkins HIL tests
 2021-07-18 18:02:33 -04:00
Daniel Agar
0101934f47 ekf2: multi-EKF instance message INFO -> DEBUG 2021-07-18 18:02:33 -04:00
Daniel Agar
0ad65738db gyro_calibration: reset on any parameter change 
- perform fresh calibration once system has settled
 2021-07-18 18:02:33 -04:00
Daniel Agar
9ac860ac33 ekf2: test fix double promotion warnings 2021-07-18 15:49:53 -04:00
Daniel Agar
9087ba2259 world_magnietc_model: update to latest and fix code style 
- minimize test_geo_lookup.cpp optimization to improve compile times
 2021-07-18 15:49:53 -04:00
mcsauder
f34862f143 Delete redundant Ekf class member variable constructor initilizations and add missing C++ style initializers to the header file. 2021-07-17 12:24:56 -04:00
Daniel Agar
eeb73fdbe6 ekf2: resetting IMU bias message INFO -> DEBUG 2021-07-17 10:57:09 -04:00
Daniel Agar
858a30df21 systemcmds/tests: replace warnx -> PX4_INFO 2021-07-17 10:57:09 -04:00
Igor Mišić
54c91002cd mavlink_ulog: update ulog_stream message lost errors to perf counter 2021-07-16 21:38:56 -04:00
Beat Küng
cfef0c5d5a mavlink_ulog: check for lost ulog_stream ulog messages 2021-07-16 21:38:56 -04:00
Daniel Agar
65745a3676 purge broken qurt support and atlflight boards 2021-07-16 08:53:36 -04:00
Daniel Agar
c8e6d93cc0 ekf2: backend apply code style (generated code still exempt) 2021-07-15 21:15:41 -04:00
Daniel Agar
12ad7b17ce Makefile: add all_variants_@ helper target and consolidate github actions builds 2021-07-15 21:09:50 -04:00
Daniel Agar
2cf66a5d8f ekf2: move EKF out of ecl 2021-07-15 10:38:24 -04:00
Daniel Agar
883624d915 lib/geo: move from ecl 2021-07-15 10:38:24 -04:00
Daniel Agar
6f6d3f98a6 wind_estimator: move from ecl and consolidate airspeed selector 2021-07-15 10:38:24 -04:00
Daniel Agar
fedf8f0266 world_magnetic_model: move from ecl 2021-07-15 10:38:24 -04:00
Daniel Agar
b5430c22c4 AlphaFilter: move from ecl -> mathlib 2021-07-15 10:38:24 -04:00