89e1f478ac
PX4Accelerometer and PX4Gyroscope add vibration metrics and always publish status
2019-12-27 20:54:50 -05:00
e189733bb9
l3gd20: split into separate header, implementation, and main
2019-12-27 17:29:04 -05:00
ffff35a597
Unit tests: use EXPECT_FLOAT_EQ for float comparisons
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as precaution to prevent failing tests because of small potential
rounding errors on certain platforms or compilares.
2019-12-26 12:53:07 +01:00
ee62d0296f
ControlMathTest: consistent short float literal notation
2019-12-26 12:53:07 +01:00
ad148fdfad
ControlMathTest: switch back to direct EXPECT_EQ calls for Vectors
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Since the google test calls matrix::operator==()
which calls matrix::isEqual().
2019-12-26 12:53:07 +01:00
1834c156d2
Simulator: Remove EKF2 based wait
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This is cleaner and needs testing.
2019-12-26 10:16:58 +01:00
3a228622b9
mavsdk_tests: fix verbose output
2019-12-26 10:16:58 +01:00
8817f172ea
simulator: cleanup and wait for startup
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Unfortunately this commit contains two things:
1. Some cleanup and renaiming.
2. An additional wait until lockstep has been initialized.
By waiting until HIL_SENSOR messages arrive including timestamps we
stop the startup script and prevent other modules from running until
time is set up. This should resolve some busy waiting by various
modules and prevent races on initialization (e.g. the landing state
being subscribed by mavlink before being published by the land
detector).
2019-12-26 10:16:58 +01:00
dab17d628d
PreFlightChecker: update unit tests
2019-12-24 13:18:47 -05:00
8080615191
PreFlightChecker: add spike limit argument for innovation check and
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increase optical flow test limits.
2019-12-24 13:18:47 -05:00
b6b8a9a76e
Update submodule matrix to latest Tue Dec 24 12:39:27 UTC 2019
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- matrix in PX4/Firmware (0aa62a3bfff12d854d6a8e378a518bd8646a9f4b): https://github.com/PX4/Matrix/commit/4f3565da94d00c4cd1feb560f1f72a81296522f8
- matrix current upstream: https://github.com/PX4/Matrix/commit/e81483a808ce7b0217c11d3dc0fce90685f44353
- Changes: https://github.com/PX4/Matrix/compare/4f3565da94d00c4cd1feb560f1f72a81296522f8...e81483a808ce7b0217c11d3dc0fce90685f44353
e81483a#116 )
2019-12-24 13:15:42 -05:00
4c35b3aadc
navigator: do not use fixed wing acceptance readius if in rotary wing mode
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-12-24 12:52:10 -05:00
0e70578052
commander: move most static variables and parameters to class
2019-12-23 23:38:10 -05:00
386673e6c3
fix flt_cutoff_min -> flt_cutoff_max
2019-12-23 23:47:34 +01:00
93d392ff80
Update src/modules/rc_update/rc_update.cpp
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Co-Authored-By: Beat Küng <beat-kueng@gmx.net >
2019-12-23 23:47:34 +01:00
607cb97758
Update src/modules/rc_update/rc_update.cpp
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Co-Authored-By: Beat Küng <beat-kueng@gmx.net >
2019-12-23 23:47:34 +01:00
57fc98812d
rc_update: cleanup parameter usage
2019-12-23 23:47:34 +01:00
acd18adc18
Tests: Speed up boot
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The previous boot configuration took at minimum one second to boot. This is in particular significant in tests when the system is often started and stopped
2019-12-23 23:08:05 +01:00
9ac68abd5c
Fix float accuracy in ControlMathTest
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The test was testing the result of 3D float vector operations with binary equality of the floating point numbers, which is not a valid assumption to make for floating point math. This change switches to proper comparisons with float accuracy and compares vectors using the norm of their difference.
2019-12-23 22:29:09 +01:00
e6b18fe2da
mission feasibility checker: move checks for VTOL landing into separate function
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-12-23 21:47:16 +01:00
3a37d0b560
navigator: improve if structure for vtol/mc/fw
2019-12-23 21:47:16 +01:00
f9aa12eaa9
navigator: don't allow Land together with RTL item
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This is a check to protect a user from upload a mission which includes a
land_start marker as well as a RTL mission item.
This works around the problem that we experienced where the navigator
would switch to mission mode on RTL and start with land_start, and then
continue to the RTL item. At this point, navigator would send the
vehicle_command for RTL to commander which would deny it because it is
already in RTL mode. Thus navigator won't (re)set any items to actually
do RTL and it means the vehicle will just head to whatever setpoint it
received last.
2019-12-23 21:47:16 +01:00
f8c10b706a
navigator: check fixedwing mission for VTOL
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A VTOL mission can also contain a fixedwing landing. Therefore, I think,
it makes sense to run the fixedwing checks as well, however, don't check
for a landing start necessarily.
2019-12-23 21:47:16 +01:00
de95e3d274
commander: remove manual mode before geofence handling
2019-12-23 12:18:27 -05:00
34121e655b
FW runway takeoff: add negative for min to support tricycle landing gear
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- if we used tricycle landing gear, we need the wheel to touch the ground to control the direction
2019-12-23 11:47:11 -05:00
49cb21016a
Ddded cli check for ism330dlc startup to prevent hardfault if no options are given.
2019-12-20 16:40:18 +01:00
e4a526e3b2
Don't sleep in middle of mavlink message reception
2019-12-19 11:43:03 -08:00
6dc55f97d4
More fixes for Python 3 compatibility ( #13008 )
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* More fixes for Python 3 compatibility
* Workaround if the six module is not pip installed
* Lose the semicolons
2019-12-19 02:05:55 -08:00
7fd4db1881
commander: skip all mag checks if SYS_HAS_MAG is 0
2019-12-18 11:54:40 -08:00
a46add9a93
PositionControl: isolate skip controller, leave away unnecessary include
2019-12-18 15:57:48 +01:00
8441bdb9b5
PositionControl: remove complicated internal control flags
2019-12-18 15:57:48 +01:00
83e51ad192
PositionControl: remove speed_xy constraint since it's anyways unused
2019-12-18 15:57:48 +01:00
a4a9d50a97
ControlMath: refactor thrustToAttitude calculation
2019-12-18 15:57:48 +01:00
1a5b06d0cf
FlightTasks: refactor NAN initializations, spacing
2019-12-18 15:57:48 +01:00
ab4473319a
Takeoff: add proper unit test
2019-12-18 15:57:48 +01:00
42dbddb156
mc_pos_control: adopt to module internal include convention
2019-12-18 15:57:48 +01:00
2303071df4
PositionControl: simplify constraint conditions
2019-12-18 15:57:48 +01:00
121d743049
PositionControl: clear setter interface naming, order, description
2019-12-18 15:57:48 +01:00
eac7b43f3e
Remove rescaling Lat and Lon on VEHICLE_CMD
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relevant to VEHICLE_CMD_DO_REPOSITION and VEHICLE_CMD_NAV_TAKEOFF
its done on mavlink_receiver already
2019-12-18 09:48:30 +01:00
e10a4c5002
refactor logger: move subscription initialization into separate class
2019-12-17 21:22:30 -08:00
738ceab0ee
Logger: dynamic number of subscriptions
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Keep a fixed-size array of 250 requested topics on the stack, then allocate
an array with LoggerSubscription with the exact required size.
2019-12-17 21:22:30 -08:00
2757647897
refactor logger: reduce required size of WrittenFormats
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by keeping only recursive topics in there. The rest is checked by looking
at previous _subscriptions.
Reduces stack size requirements when increasing MAX_TOPICS_NUM.
2019-12-17 21:22:30 -08:00
020215f146
commander: don't allow arming during VTOL transition
2019-12-17 12:21:11 -08:00
7abadabc19
Added support for MAV_CMD_REQUEST_MESSAGE for mavlink streams
2019-12-16 06:45:53 -08:00
94e05362e1
Make cellular status logging default
2019-12-14 21:56:12 +11:00
de9e4dda4c
battery: delete unused armed
2019-12-12 09:48:45 -05:00
11bbc8ae34
Code cleanup
2019-12-12 04:39:53 -08:00
1617997dde
VTOL: instantly do VTOL mode changes if landed and disarmed
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-12-11 20:10:25 -05:00
d6ffdc09b8
FlightTaskManualPosition: use new Matrix available functions to cast
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from a vector of 4 elements to Vector2f and from Vector2f to Vector3f.
2019-12-11 17:21:57 +02:00
d0bdd80129
FlightTaskManualPosition: Remove MPC_ACC_HOR_ESTM parameter. This was
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used back in time when no soothing was done to avoid large steps when
the estimator stops sending a maximum velocity (e.g.:GPS gained during
optical flow flight). Since smoothing is applied later, this is not
required anymore.
2019-12-11 17:21:57 +02:00
Daniel Agar