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14729 Commits

Author SHA1 Message Date
Julian Oes 7c90b06628 mavlink_ftp: fix tests after implementation fix 
In commit 462b572172 the reading operation
on the PX4 side was changed to only read as many bytes as requested
rather than however many fit in the payload data.

This caused the unit tests to fail which this commit here aims to fix.

What is confusing about MAVLink FTP is that there is a size field which
generally signals how many bytes of the payload data are used/set.

However, in the case of a read requst, the size field is used to
indicate how many bytes should be read. The payload data is empty in
that case though.

This case was, from how I understand it, not implemented/tested in the
unit tests and now failed. In order to implement it I had to change a
few things:
- Change _setup_ftp_msg and _send_receive_msg so that the params contain
  a data length rather than the size field. The size field itself needs
  to be set outside of these methods using payload->size.
- Since we test files smaller, equal, and bigger than one payload data
  length, I implemented that we send multiple read requests until we
  have the whole file and not just the first part.
- Additionally, I saw a lot of uninitialized warnings in valgrind, and
  got rid of them by adding a few zero initializations.
 2021-11-26 15:50:28 -05:00
Silvan Fuhrer 3a9eef658c Commander: remove preflight check for transition switch 
This check enforced setting a VTOL transition switch if an RC as used on a VTOL.
It comes from a time when the only way to transtion was through the RC switch,
whereas now we have also a mavlink message in place for it, so enforcing it is
no longer needed.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-26 11:37:40 +01:00
Daniel Agar fc1aaa58b2 sensors/vehicle_angular_velocity: fallback sensor selection improvements 
- avoid unnecessary filter reset on parameter update
 - additional minor optimizations (precomputing dt inverse, etc)
 - moving filter reset check and dynamic notch filter update checks out of the update loops
     - this were necessary previously when the scale factor wasn't applied prior to filtering the otherwise raw data
 2021-11-25 22:44:05 -05:00
PX4 BuildBot ffc52cc2fc Update submodule mavlink to latest Fri Nov 26 00:39:19 UTC 2021 
- mavlink in PX4/Firmware (2328402f99b8f8931e4148d033e0b9361407d485): https://github.com/mavlink/mavlink/commit/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/28163a3b39ae6787e7f1fae9e23feef32506a1c4
    - Changes: https://github.com/mavlink/mavlink/compare/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04...28163a3b39ae6787e7f1fae9e23feef32506a1c4

    28163a3b 2021-11-25 Julian Oes - dev: add new message for component capability (#1724)
5534f76b 2021-11-24 olliw42 - adding some missing MAV_TYPEs (#1679)
 2021-11-25 21:37:14 -05:00
Thomas Stastny 8defbc8829 update correct airsp scale param string in ekf2 2021-11-25 11:01:04 -05:00
Matthias Grob c5fb68b7a1 Commander: force disabling the arm stick gesture when arm switch is in use 2021-11-25 07:56:35 +01:00
Sander Swart 462b572172 Fixed mavlink_ftp read 
Instead of always reading the max data length, it now properly respects the requested amount of bytes (as per documentation)
 2021-11-24 17:51:29 +01:00
Matthias Grob ea3b99e964 navigator: Remove deprecated RangeRTL unit tests 2021-11-24 14:10:24 +01:00
Matthias Grob c522a8b15a Compute RTL time and react if lower than flight time 
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
 2021-11-24 14:10:24 +01:00
Matthias Grob 5489005e0b Commander: call battery_status_check on update instead of early return 2021-11-24 14:10:24 +01:00
Jukka Laitinen 5dbbddb13f EKF2: Use _distance_sensor_subs vector directly 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen d9498ade32 EKF2: Allocate distance sensor subscriptions as member variables 
Just create the subscriptions and keep them, instead of
re-creating them continuously

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Beat Küng 2809dd8944 control_allocator: remove min/max/scale params 2021-11-23 12:40:22 -05:00
Beat Küng b29d9db7f1 control_allocator: limit status publication rate to 200Hz 
Reduces CPU load by ~3.5% on F4 @2khz.
And compute getAllocatedControl as needed (~1.5% CPU reduction)
 2021-11-23 12:40:22 -05:00
Beat Küng bcba3dfe52 control_allocator,angular_velocity_controller: run on rate_ctrl wq 2021-11-23 12:40:22 -05:00
Beat Küng a0e43bca96 msg: remove unused vehicle_actuator_setpoint topic 2021-11-23 12:40:22 -05:00
Beat Küng 52a2ef34fd mixer_module: add THR_MDL_FAC for SYS_CTRL_ALLOC=1 2021-11-23 12:40:22 -05:00
Beat Küng 4346ac4a37 control_allocator: add mixer metadata 2021-11-23 12:40:22 -05:00
Beat Küng 282d35bbf0 esc_calibration: handle SYS_CTRL_ALLOC==1 2021-11-23 12:40:22 -05:00
Beat Küng 21699935e8 vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng f99c2617ad control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults 2021-11-23 12:40:22 -05:00
Matthias Grob 0153c870d2 Commander: make sure yaw airmode is not possible while arm gesture is enabled 
It's unsafe to arm with the gesture when yaw airmode is enabled
because e.g. in Stabilized mode that results in a high yawrate setpoint
that the drone tries to follow even with zero thrust
because of the airmode.

It was handled before by checking the arm switch parameter because that
used to disable the stick arm gesture.
See 24dc316973
 2021-11-23 16:03:46 +01:00
Matthias Grob 572890f8c0 ManualControl: add parameter to disable arm/disarm stick gesture 2021-11-23 16:03:46 +01:00
Matthias Grob 468022abba ManualControl: correct arm hysteresis parameter name 2021-11-23 16:03:46 +01:00
Matthias Grob c84b1c6566 ManualControl: ignore unassigned mode slots 
They were resulting in a message
"Switching to Unkown is currently not available".
 2021-11-23 16:03:46 +01:00
Daniel Agar 7ff72304b4 sensors/vehicle_imu: improve disabled sensor handling 
- remove regular callback scheduling when sensor is disabled, register if re-enabled
 2021-11-22 21:10:35 -05:00
Daniel Agar 577d926639 commander: improve angular velocity validity and message 2021-11-22 11:27:45 -05:00
PX4 BuildBot 88d9ade4d7 Update submodule mavlink to latest Mon Nov 22 12:39:21 UTC 2021 
- mavlink in PX4/Firmware (0e4e8162407a12dc09c8d17635c60d4036b81bc7): https://github.com/mavlink/mavlink/commit/c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04
    - Changes: https://github.com/mavlink/mavlink/compare/c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2...5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04

    5309ba44 2021-11-18 Hamish Willee - Remove backticks - these do not render as a style so not helpful (#1745)
9cac0e5a 2021-11-17 David Jablonski - docs: catch more hyperlinks (#1744)
ea9349b5 2021-11-16 David Jablonski - common: add SET_FOCUS_TYPE_AUTO (#1741)
 2021-11-22 09:08:50 -05:00
Daniel Agar 8fc3b05491 mavlink: param_get proper type to silence errors 2021-11-22 09:08:38 -05:00
wangwwno1 7a1a4ea7a6 Format fix & Remove redundant lines 2021-11-20 16:13:46 +01:00
wangwwno1 51ce8306ee Remove redundant code out of hil_lpos 2021-11-20 16:13:46 +01:00
wangwwno1 b2c5919d29 Update src/modules/simulator/simulator_mavlink.cpp 
Co-authored-by: JaeyoungLim <jalim@ethz.ch>
 2021-11-20 16:13:46 +01:00
wangwwno1 160fec5f25 Update simulator_mavlink.cpp 2021-11-20 16:13:46 +01:00
wangwwno1 6e2060ddb6 Add accel to vehicle_local_position_groundtruth 
Related Issue: #18527 
According to [this doc](https://github.com/mavlink/c_library_v2/blob/92b1a43468e8737da2d4cc1e72304e6443dcfdd3/common/mavlink_msg_hil_state_quaternion.h#L102), the *acc value are mili-Gee, so multiply the value with `CONSTANT_ONE_G/1000.0f` would get the acceleration in `m/s`.
 2021-11-20 16:13:46 +01:00
Daniel Agar 505f963dd0 mavlink: receiver fix SENS_FLOW_ROT type 2021-11-19 21:08:04 -05:00
Matthias Grob f912ee2c8b Commander: send out parachute MAVLink command when kill switch engaged 2021-11-19 17:15:04 +01:00
Matthias Grob 3193b554ca Add optional preflight check for healthy MAVLink parachute system 2021-11-19 17:15:04 +01:00
Matthias Grob 43c529f294 Add MAVLink parachute system heartbeat detection 2021-11-19 17:15:04 +01:00
Thomas Debrunner fb54324f56 gyro-fft: Disable asm-operand-widths warning on apple silicon. The warning is caused by unused functions only. As with compiling for x86, the functions containing assembly never get used, but since the apple silicon is also an ARM target, they trigger a warning. 2021-11-19 09:14:11 -05:00
Matthias Grob 4c6621f6cf Commander: Allow arming a rover with the throttle stick in the middle 2021-11-19 10:10:32 +01:00
Matthias Grob 35d4986ea7 FlightTasks: remove updateFinalize() concept because it got obsolete 2021-11-18 19:12:44 -05:00
Matthias Grob 9eac0edbc0 FlightTaskAuto: remove generateSetpoints function, replace by implementation 2021-11-18 19:12:44 -05:00
Matthias Grob ece8fdddec FlightTaskAuto: simplify early setpoint preparation based on triplet type 2021-11-18 19:12:44 -05:00
dagar 9646b49b60 [AUTO COMMIT] update change indication 2021-11-18 13:58:53 -05:00
Daniel Agar bffd88ad81 ekf2: don't inhibit accel bias when not in air 2021-11-18 13:58:53 -05:00
Daniel Agar f3472385da sensors/vehicle_imu: fix accel/gyro learned bias calibration updates 
- fix confusion between estimated bias and calibration offset when
saving after each flight
 - when the stable bias estiamte is retrieved during flight it's
immediately converted to a sensor offset and saved
 - fixes https://github.com/PX4/PX4-Autopilot/issues/18658
 2021-11-18 10:00:26 -05:00
bresch fc155bc57e Ekf2Selector: declare filter unhealthy when high test ratio 
Request a switch to another instance when the combined test ratio is too high.
 2021-11-18 13:29:01 +01:00
bresch 43fb076828 AngularAcceleration: explicitly disable filter when cutoff <= 0 2021-11-18 09:25:47 +01:00
bresch 4a14a8bc7f AutoLineSV: Always publish a valid yaw setpoint 
In MPC_YAW_MODE 3 (along trajectory), the flight task is asked to
produce a yaw setpoint. If the previous yaw value was NAN (e.g.: during
early takeoff), the setpoint should then be reset to the current
estimate.
 2021-11-16 18:09:37 -05:00
bresch f751dd2242 FlightTask: set yaw_setpoint to NAN when yaw should not be controlled 2021-11-16 18:09:37 -05:00