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19828 Commits

Author SHA1 Message Date
bresch
8cc2a7018e VelocitySmoothing - Re-enable time stretch, integrate dt to get local time. 
Also split a few functions into smaller ones for readability, fix
formatting, use geters to get the current state of the trajectory
instead of return arguments.
 2019-09-17 09:27:00 +02:00
bresch
c7696488fe VelocitySmoothing - Improve computation of the direction of the trajectory by predicting the velocity at zero acceleration instead of the current velocity 
This helps when the current velocity is smaller than the target but that
the acceleration is too large such that the velocity will overshoot.
Without this check, the algorithm increases the acceleration which leads
to an even larger overshoot.
 2019-09-17 09:27:00 +02:00
bresch
052932fa95 VelocitySmoothingTest - Update unit test to use the same parameters ordering (time, setpoint) as the VelocitySmoothing class 2019-09-17 09:27:00 +02:00
bresch
c13499e64b test_velocity_smothing - Update test script to use new polynomial evaluation algorithm 2019-09-17 09:27:00 +02:00
bresch
a03cc495ce VelocitySmoothing - Refactor class to use polynomial evaluation instead of numerical integration 
This solves many numerical issues when the trajectory is close to the
primary NE axes (small velocities). It is also more robust when dt is
large and has some jitter.
 2019-09-17 09:27:00 +02:00
Matthias Grob
d4f984fea5 FlightTaskAutoLineSmooth: Fix comment to be style compliant 2019-09-13 18:10:05 +02:00
bresch
47401d1177 AutoLineSmoothVel - Replace min/max absolute constraints with a function named constrainAbs 
This function constrain the absolute value of some value but keeps the original sign.
 2019-09-13 17:46:01 +02:00
bresch
3c5b24037a AutoLineSmoothVel - Improve virtual pilot logic that provides velocity setpoints to the trajectory generator. 
Constrain the generated velocities in the NE inertial frame rather than
just constraining the norm.
 2019-09-13 17:46:01 +02:00
bresch
59f54a7fd8 mathlib - Add FLT_EPSILON deadzone in sign computation 2019-09-13 17:46:01 +02:00
Nico van Duijn
a26865c279 drivers: set CM8JL65 signal_quality invalid beyond bounds 2019-09-13 10:42:10 -04:00
Martina Rivizzigno
78279f6587 Unit tests for Obstacle Avoidance interface (#12816) 
* FlighTask: remove legacy definition of empty_trajectory_wapoint

* add unit tests for the ObstacleAvoidance interface
 2019-09-12 14:37:31 +02:00
Julian Kent
39451b811a Do syscall for time once, outside of loop 2019-09-11 12:34:59 -04:00
Julian Kent
b27d6a958a Account for the time since range data arrived 2019-09-11 12:34:59 -04:00
Hamish Willee
94ef585f76 Link to missing params docs 2019-09-11 09:17:00 -04:00
Daniel Agar
df01eda550 systemcmds/tests: delete obsolete test_sensors 2019-09-10 16:37:33 -04:00
Silvan Fuhrer
702c6f6df4 FW pos C: fix altitude control for VTOL/FW by also publishing attitude sp if in altitude, not only if position or velocity controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-10 13:20:07 -04:00
Silvan Fuhrer
92b824e218 VTOL attitude controller: run update_vtol_state only if mc or fw att sp changed, such that pusher support in hover works again 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-10 13:52:33 +02:00
Silvan Fuhrer
1b2403a87f VTOL land detector: trigger land detector in fixed-wing mode if disarmed. 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-09-10 13:46:43 +02:00
Julian Kent
a8fbe6bba2
Remove references to pow(x,0.5), use sqrt instead (#12928) 
* Remove references to pow(x,0.5), use sqrt instead

* Update matrix library
 2019-09-10 13:29:39 +02:00
Patrick Servello
47e668eb86 simulator and dumpfile fix minor resource leaks 
* Certain conditional branches returned before closing the file handler.
 2019-09-09 13:24:07 -04:00
mcsauder
e4509486e8 Correct a typo and create a #define for the LeddarOne FOV. 2019-09-06 11:59:29 +02:00
mcsauder
aea139bc1b Correct the LeddarOne FOV and deprecate the unneeded _distance_sensor_topic after migrating to PX4RangeFinder. 2019-09-06 11:59:29 +02:00
mcsauder
ddd9a97d42 Modify the LeddarOne driver class to utilize the PX4RangeFinder library. 2019-09-06 11:59:29 +02:00
mcsauder
94d39e4466 Return from LeddarOne::collect() via LeddarOne::measure() and alphabetize #includes. 2019-09-06 11:59:29 +02:00
mcsauder
f31ac44289 Const correctness and fix leddar_one::test(). 2019-09-06 11:59:29 +02:00
mcsauder
c0e8b37d96 Add collect() validation to the LeddarOne::init() method, format whitespace and console output. 
Reduce measure/collect timing logic complexity to use ScheduleOnInterval() rather than SchuleDelayed().
 2019-09-06 11:59:29 +02:00
mcsauder
04073f2c71 Deprecate the LeddarOne request() and publish() methods to match other distance sensor driver classes and fix perf counter errata. 2019-09-06 11:59:29 +02:00
Tanja Baumann
f3c5ca6015 Collision Prevention: support multiple sensors and frames (#12883) 
* build internal sensor map

* Extend testing coverage

* Update matrix library
 2019-09-06 08:38:56 +02:00
Julien Lecoeur
7bea81f02c Add board orientation ROLL_90_YAW_270 2019-09-05 20:41:32 -07:00
Daniel Agar
c75954fef8 lib/led: temporarily ignore implicit fallthrough warning 2019-09-04 20:03:02 -07:00
Julian Oes
c8d13bacf2 pwm_out_sim: don't advertise garbage 2019-09-04 09:21:54 -07:00
TSC21
f6a5c7cca9 qshell: rename qshell sequence fields so they can be parsed on fastrtpsgen 2019-09-04 17:04:28 +01:00
PX4 Build Bot
69475a172b Update submodule ecl to latest Wed Sep 4 08:37:31 EDT 2019 
- ecl in PX4/Firmware (da6970329175df98ff46b2d9ddfa467ba438bb2e): 62fa464e4d
    - ecl current upstream: 3b32ee4166
    - Changes: 62fa464e4d...3b32ee4166

    3b32ee4 2019-09-02 bresch - Flow aiding - Reset state when flow is enabled only if it is the only position/velocity aiding sensor. Until now, it was alway resetting if the vehicle does not have gps or external vision. This caused a reset/glitch at every stop (when range data gets valid)
be368f3 2019-08-28 kamilritz - Update comment
c5abfe6 2019-08-28 kamilritz - remove canonicalize and adapt comments
67512d8 2019-08-22 kamilritz - Update matrix library for CI
a2ff415 2019-08-22 kamilritz - Fix get frame aligning quaternion function
53eac6e 2019-08-21 kamilritz - Canonicalize alignment quaternion
933c32c 2019-08-20 kamilritz - Enable local frame alignment also without using it
ea352a6 2019-08-20 kamilritz - Dont use mag suffix for magnitude
05196db 2019-08-20 kamilritz - Fix alignment of local frame
 2019-09-04 08:09:36 -07:00
BazookaJoe1900
6ab5c2170e remove unused pca8574 and oreoled drivers 2019-09-04 08:05:08 -07:00
Nico van Duijn
b4709d229a PMW3901: use quality metric 2019-09-04 08:03:04 -07:00
Claudio Micheli
5fd483dbf8 ll40ls: fixed typo errors. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli
6a8b25a1b9 ll40ls: simplified probe logic and lowered max readable distance. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli
59f61b3107 ll40ls: fix v3hp signal quality and modified probe to detect v3hp. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli
327529d063 ll40ls: unify maximum operational distance to 35m 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli
fcdd2fabeb ll40ls: refactor driver start on i2c. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli
5eefd9409b ll40ls: [Wingtra docet] fix for properly resetting v3 and v3hp modules. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli
7799f4c68b ll40ls: fix for lidar lite v3hp 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Julian Oes
5e9cae11f8 controllib: fix for undefined sanitizer 2019-09-03 11:54:09 -05:00
Claudio Micheli
b6bba0428a uavcan: fix limit actuator poll interval. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-03 09:35:01 -05:00
JaeyoungLim
09dab07071 Enable support for global position setpoints with SET_POSITION_TARGET_GLOBAL_INT (#12819) 2019-09-03 11:21:41 +02:00
Daniel Agar
9bc19fd732 IMU_GYRO_RATEMAX add common options 2019-09-02 23:53:26 -05:00
Daniel Agar
f280977ed0
mavlink: update orb_publish to uORB::Publication<> 2019-09-02 23:51:54 -05:00
Daniel Agar
20e6adc4ca
sensors: update orb_publish to uORB::Publication<> 2019-09-02 20:44:03 -04:00
Daniel Agar
c8f77d438d
load_mon: update orb_publish to uORB::Publication<> 2019-09-02 20:41:34 -04:00
Daniel Agar
4d9f2bf776
add IMU_GYRO_RATEMAX to optionally limit gyro control publication rate 2019-09-02 20:06:50 -04:00