13923 Commits

Author	SHA1	Message	Date
Matthias Grob	8ca76feaba	Takeoff: remove updateRamp() early return	2021-03-31 10:03:08 +02:00
Matthias Grob	b7600f4e4d	Commander: check_posvel_validity use return value	2021-03-30 22:33:01 -04:00
Matthias Grob	29e1e0905c	Commander: switch main_state functions to pass by reference	2021-03-30 22:33:01 -04:00
Matthias Grob	531de5c588	Commander: switch all state_machine_helper functions to pass by reference	2021-03-30 22:33:01 -04:00
Matthias Grob	d97fba67e5	Commander: switch helper functions to pass by reference	2021-03-30 22:33:01 -04:00
Daniel Agar	0fa91f7cb0	commander: centralize main_state strings and simplify main state change attempts ... * commander: centralize main_state strings and simplify main state change attempts	2021-03-30 17:56:28 +02:00
Daniel Agar	18be1bacdc	state_machine_helper: automatically initialize to assist mode if using mavlink manual control	2021-03-30 17:56:28 +02:00
Claudio Micheli	b001865e5c	Commander: clean up logic for flight mode transitions and add joystick mode initialization ... Signed-off-by: Claudio Micheli <claudio@auterion.com>	2021-03-30 17:56:28 +02:00
Daniel Agar	9a35756cd1	ekf2: enable range aid by default ... - this is to help more users get the benefit (by default) and perhaps circumvent the common mistake of setting EKF2_HGT_MODE to range sensor - this should be safe to enable as the range aid defaults are fairly conservative (max horizontal velocity 1 m/s, and range aid gate 1 SD)	2021-03-30 10:23:18 -04:00
Michael Schaeuble	f9af1bbe2d	PreFlightCheck: Check if SD card is present only once and store the result ... statfs accesses the file-system and can be blocking for an extended period. Since the SD card check is part of the preflight checks in the main thread of commander, it could block its execution and cause various issues. The SD card is only mounted in rcS during boot so the state will not change after the first check.	2021-03-30 08:20:49 +02:00
Daniel Agar	c2350c06c1	commander: ManualControl avoid unnecessary copy	2021-03-30 08:19:07 +02:00
Beat Küng	2d2799b739	IMU_GYRO_CUTOFF: add 800 (used by SITL)	2021-03-30 08:18:49 +02:00
Beat Küng	346f269d8f	IMU_INTEG_RATE: add 250 (used by SITL)	2021-03-30 08:18:49 +02:00
Beat Küng	6a7688cbca	component_information: rework to reflect mavlink message changes	2021-03-30 08:18:49 +02:00
bresch	ace6f81c93	commander: report estimator mag fault detection to ground station	2021-03-25 12:57:36 -04:00
bresch	2c5342acd4	commander: increase nav_test_failed hysteresis time ... This is to avoid race condition with the yaw emergency estimator having the same trigger delay of 1 second. Commander will now give more time to EKF2 to reset itself before switching to altitude mode.	2021-03-25 12:57:36 -04:00
Daniel Agar	92910de81d	gyro_fft: silence initial sensor selection attempt ... - early in startup the selected gyro may not be published yet	2021-03-24 18:58:18 -04:00
Beat Küng	c3985709e4	version: add optional oem version tag (ext/oem-<version>) and log it	2021-03-24 10:08:41 -04:00
Daniel Agar	ae010ea55c	sensors/vehicle_angular_velocity: unify filtering for both FIFO and regular use cases	2021-03-24 09:23:40 +01:00
Beat Küng	629f7ba15b	params: ensure short description is only a single line ... So a UI can display it properly	2021-03-23 12:55:11 -04:00
Mohamed Moustafa	5802dce699	mavlink: ignore self published UTM_GLOBAL_POSITION msgs in simulation using sys id (#17193)	2021-03-23 10:32:21 +01:00
Daniel Agar	e57aaaaa5e	rotate accel/gyro FIFO before publish and fix angular velocity filter resets ... - rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues - to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t - fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper - in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)	2021-03-22 12:01:12 -04:00
Star Simpson	d4dd019578	removing hardcoded units from parameter descriptions throughout land_detector_params	2021-03-22 11:39:53 +01:00
Star Simpson	48219ab1e6	fixed typo in description of RWTO_PSP parameter	2021-03-22 00:37:18 -04:00
Daniel Agar	7563438558	sensors/vehicle_angular_velocity: fix dynamic notch ESC in FIFO case ... - last timestamp sample must be set in FIFO case for ESC RPM dynamic filter update - slightly relax thresholds for dynamic notch FFT apply or reset	2021-03-21 20:46:54 -04:00
Julian Oes	a13459858d	commander: improve logic for ekf2 preflight check ... With this change we prevent the case where arming silently fails within the first 10 seconds after boot. Also, we now set the sensors as healthy as soon as the ekf is healthy, and don't wait 10 seconds without actually checking.	2021-03-19 15:58:14 -04:00
Julian Oes	2f024a9a8a	commander: pass in correct time since boot ... This fixes the case where the preflight check fail right after the start and report "sensors unstable".	2021-03-19 15:58:14 -04:00
bresch	6fda6e43af	StickAcceleration: synchronize XY acceleration profiles	2021-03-19 13:51:15 +01:00
Matthias Grob	c8c3f57ba1	mc_pos_control_params: correct cruise speed description ... It is used in autonomous modes only and has no influence on Position mode.	2021-03-19 13:35:17 +01:00
Daniel Agar	b74bdb0250	sensors/vehicle_angular_velocity: RPM filter add harmonics	2021-03-18 19:34:51 -04:00
Daniel Agar	8000e6feba	gyro_fft: reduce default max ... - we're mainly looking for lower frequencies that may be an issue for control	2021-03-18 10:04:04 +01:00
Daniel Agar	c7c6122bfd	gyro_fft: manually inline subset of arm_rfft_init_q15 to save flash	2021-03-18 10:04:04 +01:00
Daniel Agar	1429423876	gyro_fft: support sensor_gyro (non-fifo)	2021-03-18 10:04:04 +01:00
Lorenz Meier	13e0b74782	MAVLink: Increased stack size ... This is needed for MAVLink shell and UAVCAN.	2021-03-17 22:03:18 +01:00
Matthias Grob	25dd12382a	FlightTaskOrbit: default center at exact vehicle location	2021-03-17 09:50:11 -04:00
Matthias Grob	ef774578e1	FlightTaskOrbit: NACK command if coordinates could not get applied	2021-03-17 09:50:11 -04:00
David Sidrane	ccee36bb68	sd_bench and logger use aligned buffers	2021-03-17 05:27:53 +01:00
garfieldG	e9725a5fa7	Merge pull request #17089 from garfieldG/pr-safety_switch_status ... send safety switch status to ground	2021-03-17 05:23:31 +01:00
Inhwan Wee	c67d85945b	[commander] more detailed print_status	2021-03-16 01:00:55 -04:00
Daniel Agar	29d4ad1848	fw_pos_control_l1: OFFBOARD fully populate position_setpoint_triplet	2021-03-16 00:58:04 -04:00
Daniel Agar	ed8f6aa8fe	gyro_fft: fix bucket_index size ... - needed for larger FFT lengths (eg 1024, 2048, etc)	2021-03-16 00:49:45 -04:00
Daniel Agar	0eac534b80	geo: purge globallocal_converter	2021-03-15 16:16:19 -04:00
Daniel Agar	b20949e664	mission feasibility: Fix first wp too far message overflow ... Co-authored-by: Sander Smeets <sander@droneslab.com>	2021-03-15 12:40:52 -04:00
RomanBapst	82a2126f97	TECS: add feedforward gain for total energy balance rate ... Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-03-15 11:47:07 -04:00
Daniel Agar	20d8de2dca	gyro_fft: reduce run frequency (still consuming all queued data)	2021-03-15 09:42:35 -04:00
Lorenz Meier	a5151f92ea	Merge pull request #17065 from PX4/pr/fix-mavlink-shell ... MAVLink shell: Ensure that nothing is written to the file handles during shell creation.	2021-03-15 09:47:58 +01:00
Daniel Agar	2257c3767e	simple gyro auto calibration module	2021-03-15 09:46:47 +01:00
Daniel Agar	af3573e464	gyro_fft: log peak frequency magnitudes	2021-03-15 09:42:08 +01:00
Daniel Agar	3665f9a3c4	gyro_fft: increase default range and length to improve test data	2021-03-14 20:17:41 -04:00
Daniel Agar	893eee4cb8	logger: double sensor_gyro_fft logging rate	2021-03-14 20:17:41 -04:00