fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity
28,363 Commits 852 Branches 161 Tags
Commit Graph

11618 Commits

Author SHA1 Message Date
Julian Oes
8a5e0558e4 simulator: improve a couple of error messages 2018-12-22 10:32:18 +01:00
Julian Oes
1165739a56 sensors: check other gyros on timeout 
@bkueng reviewed this and found that it is dangerous to continue on
timeout because we don't update other gyro sensors in the timeout case.
 2018-12-22 10:32:18 +01:00
Julian Oes
f36f85010c simulator: fix casting warning on Windows 2018-12-22 10:32:18 +01:00
Julian Oes
22b584b3b4 simulator: fix TCP connection init on macOS 
When `connect()` fails, the state of the socket is unspecified and we
need to close the it and create it again.

It turns out retrying connect worked on Linux but it didn't on macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes
107606e757 simulator: set device_ids when publishing directly 
Without setting the device_id, the preflight checks fail because the
calibration is not found.
 2018-12-22 10:32:18 +01:00
Julian Oes
6d7fb232dd simulator: added TCP, general cleanup, lockstep 
This adds the option to connect over UDP or TCP for mavlink to the
SITL simulator.

Also, this includes a bunch of general cleanup and refactoring of the
simulator interface code. For instance sending of mavlink messages was
put into separate functions and unneccessary comments were removed.

Also, this now sets the timestamp sent by the SITL simulator in the
HIL_SENSOR message in order to enable lockstep.
 2018-12-22 10:32:18 +01:00
Julian Oes
cf39fdd37b simulator: use usual type of timestamp 2018-12-22 10:32:18 +01:00
Julian Oes
9b7857315c sensors: handle timeout 2018-12-22 10:32:18 +01:00
Julian Oes
22bd06e5d5 mc_pos_control: don't do orb_check on polled topic 
When we poll on vehicle_local_position we shouldn't do yet another
orb_check but copy it first up.
 2018-12-22 10:32:18 +01:00
Julian Oes
0e04d3e9a9 commander: remove lying comment 2018-12-22 10:32:18 +01:00
Julian Oes
4ef0d74ea3 platforms: remove old lockstep functionality 
These functions won't be used any longer with the new implementation.
 2018-12-22 10:32:18 +01:00
Julian Oes
a7e93bc2da simulator: removed leftover (wrong) comment 2018-12-22 10:32:18 +01:00
Julian Oes
09595a1de9 dataman: left FIXME comment 
We shouldn't be using module here.
 2018-12-22 10:32:18 +01:00
Julian Oes
3e6e1f5c2b POSIX: use lockstep_scheduler to fake time 
This integrates the lockstep_scheduler, so that the system time is set
by the mavlink HIL_SENSOR message.

This means that the speed factor is removed and the speed is entirely
given by the simulator.
 2018-12-22 10:32:18 +01:00
Julian Oes
d70b0f1c8c Replace sleep with px4_sleep 
This is another step to isolate time from the system.
 2018-12-22 10:32:18 +01:00
Julian Oes
5b9dea5604 Replacing usleep with px4_usleep 
This is a step towards isolating time from the system.
 2018-12-22 10:32:18 +01:00
Daniel Agar
49be26b6cf
load_mon improve cpuload calculation and cleanup (#9852) 2018-12-21 22:27:58 -08:00
Alvar Martti
63651da309 FW bug in checking if landing point has been passed 
* the bearing difference between the waypoints and aircraft to landing point should be wrap_pi'ed
 2018-12-21 10:03:31 -08:00
Nuno Marques
cfd1be584e Feature: VIO: add ODOMETRY stream (#11084) 
* mavlink_messages: remove LOCAL_POSITION_NED_COV stream

* mavlink_messages.cpp: add ODOMETRY stream

* add MAV_ODOM_LP parameter to activate odometry loopback

* EKF2: add vehicle_odometry publisher

* Replace VISION_POSITION_ESTIMATE loopback with ODOMETRY

* LPE: add vehicle_odometry publisher

* set vehicle_odometry local_frame field

* mavlink_messages.cpp: ODOMETRY frame_id depends on MAV_ODOM_LP
 2018-12-21 12:54:04 -05:00
Christian Rauch
b3018646d5 check CONFIG_STACK_COLORATION for print_load_nuttx 2018-12-21 05:43:21 -08:00
Christian Rauch
a6adc64569 check CONFIG_TASK_NAME_SIZE for print_load_nuttx 2018-12-21 05:43:21 -08:00
Christian Rauch
8a2e3800d8 check CONFIG_SCHED_INSTRUMENTATION for print_load_nuttx 2018-12-21 05:43:21 -08:00
Matthias Grob
f8171f999b mavlink: initialize orbit struct 2018-12-19 18:22:08 +01:00
Matthias Grob
d4a40f5d99 px4_custom_mode: add custom sub mode orbit 2018-12-18 14:40:07 +01:00
Matthias Grob
e708e82425 mavlink: lower orbit status frequency 5Hz 2018-12-18 14:40:07 +01:00
Matthias Grob
25aa2b9c8c orbit: fix telemetry message content 2018-12-18 14:40:07 +01:00
Matthias Grob
14b83f7bfc mavlink: add orbit to the normal messages 
It is only actually sent out when the orbit is running.
 2018-12-18 14:40:07 +01:00
Alessandro Simovic
10913a66b4 orbit: sending telem via mavlink 2018-12-18 14:40:07 +01:00
Beat Küng
447ed18ab4 commander: use C API for MC_AIRMODE & RC_MAP_ARM_SW to remove multirotor modules dependency 2018-12-13 09:50:07 +01:00
Beat Küng
c665c34d2a MC stabilized: allow yaw control at 0 throttle if yaw-airmode is selected 2018-12-13 09:50:07 +01:00
Beat Küng
24dc316973 commander: enforce yaw-airmode to have an arming switch mapped 
Yaw airmode w/o arming switch is most likely not what you want and will
lead to surprising results.
 2018-12-13 09:50:07 +01:00
Beat Küng
c659d2bcc2 mixer: minor refactoring to reduce header include dependencies 
- avoid including <px4_defines.h> from the math headers
- avoid driver include <drivers/drv_mixer.h> from the mixer
 2018-12-13 09:50:07 +01:00
Beat Küng
19ccab28bb mixer: use an enum for airmode 2018-12-13 09:50:07 +01:00
bresch
7cc00f41d2 AirModeYaw - Change airmode type from bool to int 2018-12-13 09:50:07 +01:00
Daniel Agar
f851978101
commander run preflight immediately (#11018) 
- partially addresses #11017
 2018-12-12 09:24:50 -05:00
Kārlis Seņko
c1d50d35d3 Move common shmem parameter declarations to shmem.h. 2018-12-11 09:21:15 -05:00
Kārlis Seņko
950ab879ff Make name mangling type consistent. 2018-12-11 09:21:15 -05:00
Simone Guscetti
2f7c8569cb mc_pos_ctrl: Remove gear intialisation 
- Handled in the flight task
 2018-12-10 16:17:23 +01:00
Simone Guscetti
de185726b3 vehicle constraints: remove landing gear 
- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition
 2018-12-10 16:17:23 +01:00
Simone Guscetti
6938b7fe02 Rename the invered state and make namespace more clear 
- Addressing review comments
 2018-12-10 16:17:23 +01:00
Simone Guscetti
aac9221d95 msg landing_gear: change type to int8 2018-12-10 16:17:23 +01:00
Simone Guscetti
ee41e3181f mc_pos_ctrl: Replace landing gear logic 
- It takes the input from the constrains from the active flight task
 2018-12-10 16:17:23 +01:00
Simone Guscetti
163d201c28 remove the landing gear from the attitude setpoint 
- An new message is created just for the landing gear
- The old logic is repalaced by publishing this new topic
 2018-12-10 16:17:23 +01:00
Matthias Grob
e979d24fff commander: fix orbit failsafes for data link & rc loss 2018-12-08 22:34:57 +01:00
Matthias Grob
5b5d5ac6d5 mc_pos_control: let orbit task do its work 2018-12-08 22:34:57 +01:00
Matthias Grob
34fb52d8bd commander: add orbit state handling 2018-12-08 22:34:57 +01:00
Jake Dahl
21bcc0d2f4 mav_cmd_do_reposition now obeys the ground speed argument 2018-12-07 21:40:16 -05:00
Beat Küng
dc49e259b3 logger: add separate profile for vision/avoidance 
Keeps things more modular.
 2018-12-07 11:51:59 +01:00
Beat Küng
fced1ce33b logger: remove some unused logged topics in SITL 2018-12-07 11:51:59 +01:00
PX4 Build Bot
5c9aa1ca88 Update submodule micro-CDR to latest Wed Dec 5 00:38:19 UTC 2018 
- micro-CDR in PX4/Firmware (3888bb163eac5c0adfc18e865ef3fb70d0532de9): d23eda8772
    - micro-CDR current upstream: 8b3546e884
    - Changes: d23eda8772...8b3546e884
 2018-12-04 21:41:09 -05:00