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21328 Commits

Author SHA1 Message Date
Timothy Scott 60da26978f Ongoing encoder work 2019-08-05 02:45:33 -07:00
Timothy Scott 0b3f636603 Ongoing encoder work 2019-08-05 02:45:33 -07:00
Timothy Scott 6ea03bee58 Ongoing work to update RoboClaw driver 2019-08-05 02:45:33 -07:00
Daniel Agar e69398c09f introduce uORB::PublicationQueued and transition most orb_advertise_queue usage 2019-08-04 10:08:09 -04:00
Daniel Agar 839787568c CollisionPrevention only process distance_sensor updates 2019-08-04 10:04:09 -04:00
Daniel Agar 34598fe353 mavlink uavcan parameters initialize value 2019-08-03 15:05:34 -04:00
Daniel Agar 6a6bc4be58 drivers helper classes remove empty publication (forced advertise) 
- this is no longer necessary with all publications outside of ISRs
 2019-08-03 14:08:45 -04:00
Daniel Agar 483280236b mavlink use all ORB battery_status instances instead of BOARD_NUMBER_BRICKS 2019-08-03 13:36:42 -04:00
Daniel Agar 991669073e Jenkins HIL run sd_bench and configure as multicopter 2019-08-03 11:22:31 -04:00
Daniel Agar dcccbbe584 Mavlink receiver ODOMETRY fix code style 2019-08-02 21:36:20 -04:00
Nick Steele b203bc15df Fix rotation of odometry velocities from body frame to local frame in the mavlink receiver odometry handler 
Summary:
PX4 assumed that odometry orientation was a way to rotate data from parent frame to child frame, so to rotate child to parent, it was taking the inverse rotation of the odometry orientation,
but orientation rotates the parent frame to the child frame, whereas for data, it represents a rotation from child to parent; hence, the rotation inverse operations were removed.

Test Plan: Checked that vehicle_mocap_odometry and vehicle_local_position gave correct linear velocities. Also visualized px4 output twist in rviz.
 2019-08-02 23:15:47 +01:00
Daniel Agar 77694183b2 delete position_estimator_inav 2019-08-02 17:38:28 -04:00
Karl Schwabe d301c22665 Bosch BMI088 initial driver 2019-08-02 13:38:36 -04:00
PX4 Build Bot 5f962401cb Update submodule DriverFramework to latest Fri Aug 2 08:39:05 EDT 2019 
- DriverFramework in PX4/Firmware (eda49a4b63): https://github.com/PX4/DriverFramework/commit/06277ef49fb8c9fad18d56ef40e8bc9fe1655a65
    - DriverFramework current upstream: https://github.com/PX4/DriverFramework/commit/c7d2fe2d4f5954b9042af4edf7e5aeb21dbdd129
    - Changes: https://github.com/PX4/DriverFramework/compare/06277ef49fb8c9fad18d56ef40e8bc9fe1655a65...c7d2fe2d4f5954b9042af4edf7e5aeb21dbdd129

    c7d2fe2 2019-07-23 Andrii Beregovenko - Fix missing symbol from librobotcontrol
 2019-08-02 10:36:38 -04:00
Timothy Scott 39a5799e65 Mavlink: fixed temperature for batteries (#12605) 2019-08-02 10:09:03 -04:00
Daniel Agar eda49a4b63 PixArt PAW3902 optical motion tracking driver (#12576) 2019-08-01 23:43:26 -04:00
Mark Sauder e0c85c8831 ll40ls: correct a write_reg issue (#12604) 
* deprecate a goto statement
 * migrate to uniform initialization in LidarLite base class.
 2019-08-01 23:41:05 -04:00
Matthias Grob d0f1a551e9 manual_contol_setpoint: fix mode slot numbering (#12578) 
* This fix is necessary because usually uORB structs get initialized with
all zeros and then get filled with the fields that are actually in use.
 * The number 0 for the mode slot was already commanding to switch to the
mode in slot one even though for example the joystick input via mavlink
does not use this mechanism at all.
 2019-08-01 12:27:58 -04:00
Daniel Agar 4bf9344913 camera_trigger: move to new WQ and uORB::Subscription 2019-08-01 12:24:12 -04:00
Daniel Agar bc9fb26ccd commander esc_calibration move to uORB::Subscrition 2019-07-31 20:30:05 -04:00
Burak Saruhan 7789e2de88 sensors: mag reload calibration parameters when first seen (#12586) 
* fixes UAVCAN MAG calibration application after reboot
 2019-07-31 15:22:59 -04:00
Daniel Agar 29c50da1f6 ll40ls: cleanup and create PX4Rangerfinder helper class (#12567) 2019-07-31 15:17:35 -04:00
dvornikov-aa e9397eeb75 ll40ls: fix LIDAR-Lite v3 initialization (#12453) 2019-07-31 13:00:30 -04:00
Matej Frančeškin 1600b0fd82 Mavlink FTP - return ENOENT when directory doesn't exist (#12589) 2019-07-31 15:22:46 +02:00
Timothy Scott eaaf66e46b INA226::init Restored return OK in trigger mode 
Restore return state that was lost in e4926373e6
 2019-07-31 03:20:46 -07:00
Daniel Agar 0e949a36ee task_stack_info increase task_name length to match NuttX CONFIG_TASK_NAME_SIZE 2019-07-30 10:47:10 -04:00
Daniel Agar 75531125a2 lsm303d split out header and main 2019-07-29 10:57:51 -04:00
Daniel Agar 87200d7954 lsm303d driver move to PX4Accelerometer/PX4Magnetometer and cleanup 2019-07-29 10:57:51 -04:00
Daniel Agar 203d9327ee osd/atxxxx move to new WQ and uORB::Subscription 2019-07-29 10:52:33 -04:00
RomanBapst b75d2ce982 set trajectory generating flight task as default (MPC_POS_MODE = 3) 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst a8071589bc increase default fixed wing rate controller I term 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst 77fd290b0c added default expo for yaw and x/y/z velocity demand in position mode 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst 81ae85015f changed defaults of MPC acceleration limit parameters 
- vehicle will fly less aggressive
- it does not make sense to set the lower acceleration limit to something
that exceeds gravity if most of the vehicles do not support reverse thrust

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst a5d3e10c67 MPC_MAN_Y_MAX: changed default from 200 to 150 deg/s 
- we have set the maximum yaw-rate MC_YAWRATE_MAX to 200 degrees and it
makes senses to leave a bit of margin between what the user can demand
and what the limits of the vehicle are

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
RomanBapst f0cdd9be60 MPC_Z_VEL_I: changed default from 0.02 to 0.1 
- generally better attitude tracking
- much better altitude control immediately after takeoff (hover throttle offset)
- faster landing detection

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-29 10:37:26 -04:00
Daniel Agar be99d2f111 sih: fix code style 2019-07-28 11:18:02 -04:00
Daniel Agar 09eaef82f6 sih: move to PX4Accelerometer/PX4Gyroscope/PX4Magnetometer/PX4Barometer helpers 2019-07-28 11:18:02 -04:00
Mark Sauder f432f74611 ulanding: refactor driver to utilize ScheduledWorkQueue class inheritance (#11894) 
* Migrate variable initialization from constructor list to declaration uniform initialization, format whitespace, alphabetize/group/order variables and methods in ulanding.cpp.

* Refactor the uLanding driver to utilize the ScheduledWorkQueue.
 2019-07-28 10:51:01 -04:00
Daniel Agar 97445b60aa commander preflightcheck update orb usage to uORB::SubscriptionData 2019-07-28 10:22:47 -04:00
Daniel Agar 1d191cc141 px4flow driver move to new WQ and cleanup 2019-07-26 20:03:21 -04:00
PX4 Build Bot 36534d5bab Update submodule ecl to latest Fri Jul 26 12:38:35 UTC 2019 
- ecl in PX4/Firmware (83316cf7b0484e7ba7f9b61201dea7215185da49): https://github.com/PX4/ecl/commit/e1751188fd15b799cbfae86bd7373bb91206069b
    - ecl current upstream: https://github.com/PX4/ecl/commit/d38164fc8e68b740405669127138e550c3c7375c
    - Changes: https://github.com/PX4/ecl/compare/e1751188fd15b799cbfae86bd7373bb91206069b...d38164fc8e68b740405669127138e550c3c7375c

    d38164f 2019-07-21 Jaeyoung-Lim - Fix flag for initialization
 2019-07-26 12:04:07 -04:00
TSC21 2b4c878e77 rebase: sync up submodules 2019-07-26 15:05:54 +02:00
TSC21 3d9f83a4f2 microRTPS_bridge: structural change to make possible to generate pub/sub code for multi-topics/aliased msgs 2019-07-26 15:05:54 +02:00
Julian Oes 98dfa30838 commander: fix disarming for rovers 
We have to ignore the landed flag for rovers, it doesn't really apply
for them.
 2019-07-26 02:52:38 -07:00
Julian Oes 308d91e5ff commander: prevent potential disarms in-air 
This fixes the terrifying case where the drone disarms in-air just
because it receives a MAVLink disarm command. We now check param2 for a
magic number which enforces arming/disarming.

This is added to the mavlink protocol in:
https://github.com/mavlink/mavlink/pull/1162
 2019-07-26 02:52:38 -07:00
Timothy Scott 80f2603b17 Fixed timing of rover pos control 2019-07-25 10:53:39 -04:00
Beat Küng 72ddf3e0aa tune_control: use orb queue advertisement consistently 2019-07-25 10:38:57 -04:00
David Sidrane e296297ab7 Revert "hotfix for logger: use '%i' instead of '%zu'" 
This reverts commit e6aa035209.
  Root cause was fixe in Nuttx and backported
 2019-07-25 05:28:46 -07:00
RomanBapst c0053409a3 ak09916: fixed driver not reporting magnetometer as external 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-25 13:17:08 +02:00
Hamish Willee 2b8337e5e2 Add units for EKF2_RNG_A_HMAX and EKF2_RNG_A_VMAX (#12545) 2019-07-25 08:09:35 +02:00