2a40fcc23c
EKF2: Allocate distance sensor subscriptions as member variables
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Just create the subscriptions and keep them, instead of
re-creating them continuously
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-23 13:57:37 +03:00
8d9afdab63
lib/version: Don't link to drivers_board in PROTECTED/KERNEL build
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The needed version specific things come from px4 layer in userspace
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-23 13:57:31 +03:00
8497dbb2b5
Add a generic nuttx hrt driver userspace interface
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This adds a nuttx userspace interface for hrt driver, communicating with
the actual hrt driver upper half via BOARDCTL IOCTLs
This is be used when running PX4 in NuttX protected or kernel builds
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-23 13:57:31 +03:00
8bb6cc07de
hrt: Add interface functions for latency counters
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Add interface functions for fetching latency buckets and counters and use
those in perf_counter.cpp. This cleans up the usage of perf counters and
enables implementing kernel-userspace interface for those for
nuttx protected/kernel build.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-23 13:57:31 +03:00
340c765a14
logger/watchdog: Disable watchdog for NuttX protected/kernel builds
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It accesses kernel internal structures directly; this needs to be
worked out with some proper userspace-kernel interface
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-23 13:57:31 +03:00
fceb4eaa3f
uORB: Change cpuload topic int vehicle_cpuload
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This avoids clashes with NuttX cpuload_s datatype.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-23 13:57:31 +03:00
fc6b2d8122
loadmon: Stub away cpuload() for nuttx protected build
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CPU load monitoring needs to be in kernel, and some proper interface
to be used in here
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-23 13:57:31 +03:00
43ece74fa0
ina238: Do not expose raw adc config to user, make specific to ina238
2021-09-22 10:02:17 +02:00
b8d0bb44c4
ina23X: Support for ina23X power monitors
2021-09-22 10:02:17 +02:00
faca2b17d0
camera_trigger: only get param if available
2021-09-17 12:23:30 +02:00
7af5a33ff3
commander: don't play failsafe tune if disarmed
2021-09-16 09:17:00 -04:00
2b80a6958a
fix disable airspeed check with negative ASPD_FS_INTEG ( #18186 )
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* fix disable airspeed check with negative ASPD_FS_INTEG
* improve logic when nav velocity data is not good
* simplify logic. Reset integrator state when the check is not run.
2021-09-14 12:13:56 +02:00
e7a90bf367
PositionControl: correct horizontal margin calculation
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It was using the already reduced vertical thrust to do
the horizontal limitation resulting in no margin.
2021-09-14 10:57:38 +02:00
d1f1e02afb
Refactor mode button changes
2021-09-14 09:52:32 +02:00
05d40f40d4
Handle rc toggle mode buttons to initialize flight modes
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-09-14 09:52:32 +02:00
c50daae4a3
rc_update: introduce support for toggle buttons via RC channels
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-09-14 09:52:32 +02:00
e6552370ab
imu/invensense: adjust scheduling dynamically if not using data ready interrupt
2021-09-12 17:34:35 -04:00
fa4fc5f347
esc_report: change esc_temperature field to allow negative values
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-09-11 15:14:49 -04:00
7d7200cf2f
Added yaw to CMD_DO_SET_HOME
2021-09-11 15:14:01 -04:00
ce206d992b
RC_FAILS_THR and RC_MAP_FAILSAFE improve parameter description
2021-09-11 15:12:54 -04:00
f09b34007e
CA: reload CA matrix to newly created CA class properly
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Also remove the dependency of ActuatorEffectivenessMultirotor
to param update uORB topic; the CA module
sends a "force" parameter when needed
2021-09-11 15:07:49 -04:00
cf5917d188
control_allocator: restructure param update
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recompute effectiveness on param change
clear update at the end
2021-09-11 15:07:49 -04:00
9d974062d0
replay: improved logging for format mismatchs
2021-09-11 14:37:52 -04:00
1a743e1117
collision_prevention: switch to events
2021-09-11 14:08:41 -04:00
5b70fd4a1d
airspeed_selector: switch to events
2021-09-11 14:08:41 -04:00
5fb16e4395
fw_pos_control_l1: switch to events
2021-09-11 14:08:41 -04:00
0a1ae37c1a
logger: switch to events
2021-09-11 14:08:41 -04:00
38eca0c64b
logger: start session & log index at 100
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To avoid leading zeros, as the events interface does not support that (yet)
2021-09-11 14:08:41 -04:00
b31276a4f5
mavlink: switch to events
2021-09-11 14:08:41 -04:00
90940c3672
mc_pos_control: switch to events
2021-09-11 14:08:41 -04:00
79a0edafb5
vehicle_air_data: switch to events
2021-09-11 14:08:41 -04:00
a8cc2f9ef6
vehicle_imu: switch to events
2021-09-11 14:08:41 -04:00
acb73fde14
vehicle_magnetometer: switch to events
2021-09-11 14:08:41 -04:00
f8dc915789
vtol_att_control: switch to events
2021-09-11 14:08:41 -04:00
1f73294ad7
navigator: switch to events
2021-09-11 14:08:41 -04:00
5ac43e7236
commander: switch to events
2021-09-11 14:08:41 -04:00
8866215d1d
sensors/vehicle_imu: add protections for bad sensor data
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- check for inconsistent timestamps, zero samples, and numerical issues in online mean
2021-09-11 13:04:46 -04:00
ae8733c2d4
pwm_input: remove 'test' command and use 'status' instead
2021-09-08 16:10:24 -04:00
f1aafe83b3
pwm_out: cleanup, remove _output_mask & only update owned channels
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_pwm_mask reflects the actually owned channels.
2021-09-08 16:10:24 -04:00
a8e75d174c
boards: remove BOARD_HAS_PWM and use DIRECT_PWM_OUTPUT_CHANNELS
2021-09-08 16:10:24 -04:00
1ee423e3c8
pwm_out, dshot: remove mode_* handling and capture ioctl's
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They now use all unused pins, whereas camera_capture, camera_trigger and
pwm_input modules start before to reserve their pins.
2021-09-08 16:10:24 -04:00
062dd28f4d
camera_capture: use up_input_capture_set directly
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It reserves the channel and pwm_out will not use it
2021-09-08 16:10:24 -04:00
847bd120fa
io_timer: reserve pins & timers on first use
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This allows modules to do a first-come-first-serve pin/timer reservation
on bootup.
E.g. camera trigger reserves any of the pins, and then PWM/DShot output
will just use the rest of the available pins.
2021-09-08 16:10:24 -04:00
aad11ecc65
PreFltCheck: do not force to report ekf2 failures on GCS connection
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EKF2 has a grace period of 10 seconds after boot where it doesn't need
to warn the user while the sensors (especially GNSS) are still
converging.
A connection to a GCS shouldn't skip this grace period but
an arming request should.
2021-09-08 14:41:26 -04:00
58ea97a699
MulticopterPositionControl: add horizontal margin for saturation cases
2021-09-08 19:55:27 +02:00
06a91ec752
Improve offboard failsafe ( #18160 )
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* state_machine_helper: improve offboard failsafe
* state_machine_helper: add missing parameter to set_link_loss_nav_state
* state_machine_helper: fix no rc and offboard reason
* Fix offboard test by enabling rcl_except
* mavros_test fix offboard_posctl_test with rcl_except
* autopilot_tester make RcLossException bits explicit
Co-authored-by: Julian Oes <julian@oes.ch >
* autopilot_tester change rcl_except to rc_loss_exception
Co-authored-by: Julian Oes <julian@oes.ch >
* autopilot_tester fix rc_loss_exception renaming errors
Co-authored-by: Julian Oes <julian@oes.ch >
2021-09-08 18:19:53 +02:00
686bcff8a7
new TDK ICM42670p IMU driver support ( #18141 )
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Co-authored-by: zhaoxiaowei <zhaoxiaowei@efy-tech.com >
2021-09-08 10:24:22 -04:00
29a91306b5
lib/led: error if dropping ORB_ID(led_control) messages
2021-09-08 10:21:09 -04:00
5c7882b787
icm42688p: properly disable anti-aliasing and notch filter
2021-09-08 10:20:57 -04:00
4b5a91bf7d
experimental driver for the Tattu 12S 16000mAh Smart Battery on /dev/can0 ( #18164 )
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- This driver is highly specific to this model of Tattu battery and cannot work with other models without code changes.
- The driver simply reads CAN frames using the NuttX CAN character device interface and converts the data into the proper format as specified in the Tattu datasheet
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com >
2021-09-08 10:20:14 -04:00
Jukka Laitinen