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22706 Commits

Author SHA1 Message Date
Daniel Agar
c6a0161047 commander: COM_PREARM_MODE disable by default 2021-04-03 20:15:05 +02:00
Jaeyoung-Lim
01083cecfc Enable adis16448 with parameter 
This commit adds enabling adis16448 with a parameter
 2021-04-03 13:58:25 -04:00
Nidhish Raj
01d8c3da3d vtol_att_control: occasional tailsitter forward transition failure issue solved 
Tailsitter VTOLs very occasionally gets stuck with zero roll and pitch angle in multicopter mode after
a forward transition command is issued.
This very rare behavior is triggered by the following events:
1> a forward transition is triggered either in auto or manual mode.
2> in the vtol_att_control main loop, if multicopter and fixed wing attitude setpoints are not updated, transition state is not updated
3> the commander changes the vehicle status to transition mode.
4> multicopter pos controller initiated  Transition flight task. This results in zero roll and pitch setpoint due to zero acceleration setpoint
5> now vtol_att_control executes and updates the transition state. Specifically, _q_trans_start and _q_trans_sp are set with zero roll and pitch sp
6> tilt is evaluated to be NaN, despite _q_trans_sp being normalized. This happens for 25% of all yaw angles when using float datatype. This can be
   verified using the matrix library
7> once tilt is evaluated to be NaN, _q_trans_sp is never updated again and is stuck in this state for ever.

This has been fixed by constraining the cos(tilt) within +1 to -1 range
Further, _q_trans_start and _q_trans_sp are immedietly initialized after a transition event is triggered.
 2021-04-03 19:19:48 +02:00
Daniel Agar
b30f3917d3 sensors/vehicle_imu: periodically send mavlink critical message if clipping 2021-04-03 10:32:16 -04:00
Daniel Agar
588883f663 uavcan: quiet server output 
- remove verbose UAVCAN command bridge prefix
 - disable many normal PX4_INFO messages entirely (kept as PX4_DEBUG)
 - properly exit when arming (silently)
 2021-04-03 10:07:50 -04:00
PX4 BuildBot
9a02141d0d Update submodule ecl to latest Fri Apr 2 12:39:10 UTC 2021 
- ecl in PX4/Firmware (744cd1182e183b62a0ab4b2f3e4e3c4aa6f5c15f): 6f2dec726a
    - ecl current upstream: 5d34d7a24e
    - Changes: 6f2dec726a...5d34d7a24e

    5d34d7a 2021-03-31 Eike - Height source vision: Fallback to rangefinder if available (#994)
da06f25 2021-03-28 PX4BuildBot - [AUTO COMMIT] update change indication
85fcf93 2021-03-28 PX4 BuildBot - Update geo_lookup WMM  to latest Sun Mar 28 11:48:06 UTC 2021
 2021-04-02 11:46:19 -04:00
Lorenz Meier
1ec8ce58c7 Commander: Increase auto-disarm timeout to 25 seconds after arming 2021-04-02 09:37:40 +02:00
Lorenz Meier
82f319a84a
Commander: Add support for pairing via commandline 2021-04-01 09:56:09 -04:00
Daniel Agar
9171a84324 IMU_DGYRO_CUTOFF increase default 10 -> 20 Hz 2021-04-01 08:30:09 -04:00
Jaeyoung-Lim
19c4fdd7c5 Add support for 3D body thrust setpoint for offboard attitude control 
This adds support for filling up the 3D thrust setpoint using SET_ATTITUDE_TARGET message
Update mavlink submodule
 2021-04-01 13:58:04 +02:00
Nico van Duijn
8d3335906a v5x: use low bandwidth mavlink mode 
This changes the default mavlink message set from onboard to
onboard_low_bandwidth, which drastically reduces the bandwidth required to get a
usable connection.
 2021-04-01 07:28:43 +02:00
Daniel Agar
846695f986 ekf2: replace vehicle_imu lost error message with perf count 2021-03-31 22:07:32 -04:00
Daniel Agar
00f86eb895 drivers/uavcan: silence redundant exit message 2021-03-31 22:01:35 -04:00
Chris Lovett
292a66ce41
Add support for simulators running on a different host than the PX4 instance 2021-03-31 20:56:38 -04:00
RomanBapst
b66ae5f2d4 tecs: use raw inertial acceleration for true airspeed complementary filter 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-03-31 20:12:40 -04:00
Beat Küng
9dd6bef7f9 autostart scripts: remove SYS_PARAM_VER 
With the airframe defaults there's no use for that anymore
 2021-03-31 20:12:05 -04:00
Beat Küng
aec63eacbe mavlink_receiver: avoid spamming 'unsupported component id' 2021-03-31 20:10:15 -04:00
Matthias Grob
5f4802a239 SlewRate: add back dummy file for mac build 2021-03-31 15:50:16 +02:00
Matthias Grob
8fec39ad39 MulticopterPositionControl: readd takeoff ramp fix 
added in #14821 and accidentally removed in #14665
 2021-03-31 15:21:42 +02:00
TSC21
7abce87ae4 commander: add COM_OBC_LOSS_T for setting onboard computer loss time-out 2021-03-31 13:25:01 +02:00
Matthias Grob
c06b5a1de9 MulticopterPositionControl: improve tilt limit readability and scope 
according to @bresch's review comment.
 2021-03-31 10:03:08 +02:00
Matthias Grob
94469d84ae MulticopterPositionControl: fix twitch on tilt limit relaxation 2021-03-31 10:03:08 +02:00
Matthias Grob
34a5948692 Adapt SlewRate includes to convention 2021-03-31 10:03:08 +02:00
Matthias Grob
c16b937221 Takeoff: switch internally to use a ramp progress 2021-03-31 10:03:08 +02:00
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
416a663d11 params: add build dependency for *parameters.c 
Makes sure changes to these files trigger metadata rebuild
 2021-03-30 08:18:49 +02:00
Beat Küng
42a865f349 param json: ensure category is set to Standard if not set 
For xml this was previously done on the QGC side.
 2021-03-30 08:18:49 +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
Daniel Agar
3d667b1675
delete unused drivers/lights/blinkm 2021-03-28 19:21:29 -04:00
Daniel Agar
631d1647d3 boards: minimize unnecessary differences in default variants 2021-03-28 14:46:47 -04:00
Daniel Agar
fcc4153c26 drivers/gps: explicitly link libm 
- needed on stripped down builds
 2021-03-28 12:39:22 -04:00
Daniel Agar
7314b69adc cmake: fix jlink_flash_uavcan_bin helper 2021-03-28 12:39:22 -04:00
Daniel Agar
86b831b019
Update submodule GPSDrivers to latest Sun Mar 28 12:39:06 UTC 2021 (#17253) 
- devices in PX4/Firmware (22b74424d42fa89ebc4df84422ca7ea633843878): e7f0b23f47
    - devices current upstream: f2eb62c2c7
    - Changes: e7f0b23f47...f2eb62c2c7

    f2eb62c 2021-02-21 chenhui.yu - sbf: fix #430 longitude judgement bug

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2021-03-28 11:13:58 -04:00
Daniel Agar
a9b47558b1
magnetometer/lsm9ds1_mag: fix register typo and refactor to new style with state machine and configuration monitoring 2021-03-26 14:23:25 -04:00
bresch
a124426541 ecl: apply same GNSS speed accuracy for EKF2 and yaw estimator 2021-03-25 12:57:36 -04:00
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
5a1eb3f9ef
Update submodule GPSDrivers to latest Thu Mar 25 00:41:54 UTC 2021 2021-03-25 00:25:29 -04:00