Julian Kent
5c5ec1a0ea
Receive telemetry_status, send vehicle_trajectory_waypoint_desired
2021-03-31 13:26:00 +02:00
Julian Kent
b5a64f957e
Update RTPS messages to match what is needed for PX4/Avoidance
2021-03-31 13:26:00 +02:00
Julian Kent
c1cb964c2a
RTPS timesync don't use MONOTONIC_RAW
2021-03-31 13:25:27 +02:00
Julian Kent
1011382098
Clamp RTPS -> uorb timestamps to system time
2021-03-31 13:25:27 +02:00
Julian Kent
cdadfabccc
Bring back RC throttle override with a parameter to disable it
2021-03-04 10:41:21 +01:00
Julian Kent
a3e0e2e84f
Fix RTPS builds
2021-02-17 13:54:34 -05:00
Julian Kent
ce1157e398
Work around broken coverage interface
2021-01-28 12:02:06 +01:00
Julian Kent
14cb98a6b4
Increase corridor check thresholds for mission tests
2021-01-28 12:02:06 +01:00
Julian Kent
7fac2fe6cd
Consolidate uploading of coverage info for unit tests
2021-01-28 12:02:06 +01:00
Julian Kent
e014954c91
Remove old matrix inversion routines
2021-01-28 09:14:08 +01:00
Julian Kent
e96e028327
Refactor LM mag calibration routines
2021-01-28 09:14:08 +01:00
Julian Kent
a9fc104387
Add inline to avoid double definition errors
2021-01-28 09:14:08 +01:00
Julian Kent
977cf52322
Ignore debug line in code coverage
2021-01-22 17:30:00 +01:00
Julian Kent
4837316f9b
Fix small inconsistencies and compiler warnings
2021-01-22 17:30:00 +01:00
Julian Kent
fc6b61dad1
Try 'min' for units
2021-01-18 16:26:53 +01:00
Julian Kent
d99d52960e
Fix default _rtl_xxx values
2021-01-18 16:26:53 +01:00
Julian Kent
d965f1cbc0
Add rtl_flight_time message
2021-01-18 16:26:53 +01:00
Julian Kent
5a9fe312b5
Fix test failure on rebase: set lpos valid
2021-01-18 16:26:53 +01:00
Julian Kent
af8d178ae5
Fix spurious RTL triggers
...
Two sources:
1. global to local conversion was sometimes giving issues, so do everything in global
2. on startup the RTL didn't check if the home position was valid before processing it
2021-01-18 16:26:53 +01:00
Julian Kent
b5f0a7ea03
Fix RangeRTL test
2021-01-18 16:26:53 +01:00
Julian Kent
5500a84b6a
Add timestamp to RTL message
2021-01-18 16:26:53 +01:00
Julian Kent
f169247bc2
Add RTL topics to ulog default profile
2021-01-18 16:26:53 +01:00
Julian Kent
67082ccb2b
Test the vehicle type parameter usage
2021-01-18 16:26:53 +01:00
Julian Kent
100c64c790
Test the navigator side, and fix another trig edge case
2021-01-18 16:26:53 +01:00
Julian Kent
a736ba2435
Minor tweak in wind handling
2021-01-18 16:26:53 +01:00
Julian Kent
e847ef1a4d
Add trig tests for wind calculations, and fix bugs / edge cases
2021-01-18 16:26:53 +01:00
Julian Kent
7482413005
Add Range-based RTL
2021-01-18 16:26:53 +01:00
Julian Kent
be0f5a7fe4
Fix implicit float->double conversions in tests
2021-01-13 10:26:10 +01:00
Julian Kent
2d6758a39d
Cleanup of dataman mocks and check interval definition
2021-01-13 10:26:10 +01:00
Julian Kent
a97a4d8bb8
Fix enum and param update
2021-01-13 10:26:10 +01:00
Julian Kent
c745c8bb45
Small navigator refactor/cleanup
2021-01-13 10:26:10 +01:00
Julian Kent
04d859e36e
Fix test failure from parameter autosave starting WQ
2021-01-13 10:26:10 +01:00
Julian Kent and RomanBapst
a5dfa0c803
Add helper function for decel distances
...
Co-authored-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 10:26:10 +01:00
Julian Kent and RomanBapst
8622c21496
Move VelocitySmoothing to new motion_planning library
...
Co-authored-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 10:26:10 +01:00
Julian Kent
d540ca5de2
Coerce default epsilon values to Type
2021-01-13 10:17:09 +01:00
Julian Kent
054f8b12f4
Use a single inverse implementation for a single matrix size
2021-01-05 09:02:09 +01:00
Julian Kent
15e54ceda1
Rework rank-detection tolerance in pseudoinverse
2020-12-18 12:07:19 +01:00
Julian Kent
d9a5e3dec2
Add test for new cutoff threshold
2020-12-18 12:07:19 +01:00
Julian Kent
d7fa5c68aa
Add support for alpha/beta/rc on the vendor version ( #16112 )
...
* Add support for versioning the vendor version
* Make regex only allow either alpha/beta/rc, or vendor versions
2020-11-04 13:48:19 +01:00
Julian Kent
d9b3db1082
Check that home position is valid in RTL ( #15964 )
2020-10-20 10:31:44 +02:00
Julian Kent
7958586f35
Only use roll/pitch not centered for RC override, and increase override threshold
2020-08-20 11:50:16 -04:00
Julian Kent
e2e72fd81e
Fix map distortion due to high latitudes ( #15449 )
2020-08-19 09:55:15 +02:00
Julian Kent
9ea3468091
Negative distances go in the opposite direction
2020-08-09 11:36:36 -04:00
Julian Kent
435c2fe438
Fix rarely flakey test on Github Actions
2020-07-15 09:50:58 -04:00
Julian Kent
78ff7c608f
Expand tracking error for straight line test
2020-07-14 11:34:14 +02:00
Julian Kent
14e2603bc4
Pull out matrix math primitives into anon functions
2020-07-14 11:34:14 +02:00
Julian Kent
6ce2769342
Pull out point-to-line distance calc, getting local mission coords
2020-07-14 11:34:14 +02:00
Julian Kent
ff4be5d815
Set rate when subscribing to velocity, specify units
2020-07-14 11:34:14 +02:00
Julian Kent
e6c5771c59
Add 'corridor check' which makes sure 3D tracking is along mission
2020-07-14 11:34:14 +02:00
Julian Kent
db361d7a59
Add straight-line MAVSDK test
2020-07-14 11:34:14 +02:00
Julian Kent
9a30828a0a
Add explicit matrix + scalar test
2020-06-30 10:37:10 -04:00
Julian Kent
f3cf615023
Do += -= and scalar *= /= in place
2020-06-30 10:37:10 -04:00
Julian Kent
dd9c82eb20
systemcmds/gpio: Add nsh command to manipulate/read GPIO
...
* Add basic GPIO test app for R/W on pins from nuttx shell
* Add gpio command to fmu-v3 and fmu-v4
* Sanitize gpio commands by pin configs, --force to override
2020-05-23 11:47:40 -04:00
Julian Kent
9404b19906
Fix bezier scaling
2020-04-06 09:02:12 +02:00
Julian Kent
88c9761f1f
Add ccache to github actions
2020-03-11 11:13:49 +01:00
Julian Kent
eab88294f8
Add documenation to uORB message
2020-03-09 09:51:49 +01:00
Julian Kent
36c307a39e
Provide a dummy avoidance for flash constrained boards
...
Part of this: move ObstacleAvoidance to a library
2020-03-09 09:51:49 +01:00
Julian Kent
4bf34a75db
Indicate that omnibus_f4sd is constrained in flash
2020-03-09 09:51:49 +01:00
Julian Kent
5169cfcc45
Add bezier trajectory tracking in obstacle avoidance
2020-03-09 09:51:49 +01:00
Julian Kent
d2507e831e
Add mavlink parsing for bezier message
2020-03-09 09:51:49 +01:00
Julian Kent
6e1185d4f2
Add uORB messages for bezier curve trajectories
2020-03-09 09:51:49 +01:00
Julian Kent
5b8aa20c2f
Bezier trajectory functions to get position, velocity, accel on trajectory
2020-03-09 09:51:49 +01:00
Julian Kent
770c724f17
Adapt run-clang-tidy.py to Python3
2020-03-02 13:26:03 -05:00
Julian Kent
50577732b7
Fix run-clang-tidy.py path
2020-03-02 13:26:03 -05:00
Julian Kent
e173df80a1
Improve readibility of ternary
2020-03-02 18:10:52 +01:00
Julian Kent
18754225c9
Update matrix library
2020-02-26 10:27:32 +01:00
Julian Kent
5bf2648c1f
Add debugger options for mavsdk test runner
2020-02-25 17:15:40 +01:00
Julian Kent
649c837b6b
Use faster but less accurate average
2020-02-25 15:08:17 +01:00
Julian Kent
e7aa899746
AutoLineSmoothVel: don't use _velocity_setpoint for constraints
...
Unfortunately the constraints cannot be implemented using the
_constraints because the controller uses that directly. This
causes discontinuities in the velocity and/or accel at various
points of the flight. In particular this was used in Takeoff.
Instead this was done by changing target accel/velocity in the
jerk-optimal velocity planner for Z.
2020-02-18 13:59:58 +01:00
Julian Kent
bb410ca0db
Fix compile error, save some bytes by removing redundant checks
2020-01-06 15:39:07 +01:00
Julian Kent
af961f2391
Avoidance interface should be a stop point
2020-01-06 15:39:07 +01:00
Julian Kent
33702be3e4
Fix bad assumption: _position_setpoint is normally at _target
2020-01-06 15:39:07 +01:00
Julian Kent
603a993380
Improve comments
2020-01-06 15:39:07 +01:00
Julian Kent
75d7a049c1
Use the new trajectory constraints to synchronize and limit velocities
2020-01-06 15:39:07 +01:00
Julian Kent
025c044530
Add trajectory constraints helpers
2020-01-06 15:39:07 +01:00
Julian Kent
e4a526e3b2
Don't sleep in middle of mavlink message reception
2019-12-19 11:43:03 -08:00
Julian Kent
445f58d484
Fix weird C preprocessor conflicts ( #101 )
2019-11-01 14:23:35 +01:00
Julian Kent
215203fc6f
Automatic Differentiation 'Dual' Type ( #100 )
...
* Dual numbers initial implementation
* Add test coverage, with partial derivative example
* Add Jacobian test, fix small issues
* Improve test to demonstrate non-square jacobian
* Better naming for collectReals/Derivatives
* Improve comments
* Potential GCC 4.8 bug workaround
* Add fallback workaround for non-IEEE float platforms
2019-10-23 12:07:51 +02:00
Julian Kent
92d1c8761e
More features: longerThan, norm, copyTo and slice on a Slice ( #97 )
...
* Allow slices of slices, add longerThan to Vector/Slice
2019-10-03 13:47:36 +02:00
Julian Kent
07d656e971
Guidance feature for Collision Prevention ( #13017 )
...
* add guidance
* remove COL_PREV_ANG and replace with COL_PREV_CNG
* safe max ranges per bin
* increase default value for colprev delay to account for tracking delay
* update parameter description
* fix and extend testing
* add handling for overlapping sensor data
* fix decision process for overlapping sensors
2019-09-24 17:00:04 +02:00
Julian Kent
18218c8f9c
Test non-square matrix multiplication ( #91 )
...
* Test non-square matrix multiplication
2019-09-16 17:40:25 +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
Julian Kent
d70b024ec7
GTest functional tests that include parameters and uORB messaging ( #12521 )
...
* Add kdevelop to gitignore
* Add test stubs
* Rename px4_add_gtest to px4_add_unit_gtest
* Add infrastructure to run functional tests
* Add example tests with parameters and uorb messages
* Fix memory issues in destructors in uORB manager and CDev
* Add a more real-world test of the collision prevention
2019-08-09 15:10:09 +02:00
Julian Kent