ec3fe09602
ekf2: format fix
2017-05-20 10:24:08 +02:00
889fb30029
ekf2: Improve control of magnetometer bias learning
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Adds parameters so that the motion checks used to switch between magnetic yaw and 3-axis fusion can be adjusted.
Modifies the check used to determine if learned mag biases can be saved. A cumulated calibration time is used rather than continuous calibration time to allow for for switching in and out of 3-axis fusion mode that is required to do calibration.
2017-05-20 10:24:08 +02:00
aa69ae0ee6
ekf2: Add preflight checking of velocity and height innovations
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Filters the vertical position and 3-axis velocity innovations and sets the local and global position as invalid if they exceed limits during ARMING_STATE_STANDBY.
2017-05-20 10:24:08 +02:00
2d34a3e096
ekf2: monitor estimator time slip
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Used to check if the ekf2 module is failing to keep up with the IMU data
2017-05-20 10:24:08 +02:00
74b0e485e7
MAVLink stream: Ensure the message is not sent again if it was already dispatched.
2017-05-19 10:34:43 +02:00
c84611f0f5
MAVLink: Fix rate handling for camera trigger messages
2017-05-19 10:34:43 +02:00
3d77102653
mavlink_main: remove MISSION_ITEM from streams configuration
2017-05-18 09:48:14 +02:00
2a79ddd621
MavlinkLogHandler: increase MAX_BYTES_SEND to 256kb
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It increases the throughput on UDP (from around 2Mb to 2.5Mb), while the
rate via USB & telemetry stay the same.
2017-05-18 09:48:14 +02:00
a89980f440
MavlinkParametersManager: update sending rate
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This is an adjustment due to the changed calling frequency of send()
(was 300 Hz, is now 100 Hz)
2017-05-18 09:48:14 +02:00
cfa61c5841
MavlinkReceiver: add mission manager, param manager, ftp and log handler
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This makes also a slight stack size increase necessary (was 284 bytes left)
2017-05-18 09:48:14 +02:00
d70caeb24b
MavlinkParametersManager: remove MavlinkStream inheritance
2017-05-18 09:48:14 +02:00
a761c4189e
MavlinkMissionManager: remove MavlinkStream inheritance
2017-05-18 09:48:14 +02:00
99b29777ba
MavlinkLogHandler: remove MavlinkStream inheritance
2017-05-18 09:48:14 +02:00
e6c3b29aa6
MavlinkFTP: remove MavlinkStream inheritance
2017-05-18 09:48:14 +02:00
78c1f51f11
mavlink main: remove mission_manager, param manager, ftp & log handler
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Will be moved to the receiver thread
2017-05-18 09:48:14 +02:00
4105394234
mavlink_receiver: check for allocation failure
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Also remove the start() declration (there's no definition of that)
2017-05-18 09:48:14 +02:00
2c548f84a7
refator mavlink: prefix class members with _
2017-05-18 09:48:14 +02:00
9be5193965
Navigator: Fix RTL command lnd logic for missions
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The navigator was sending RTL commands in the wrong circumstances leading to a cycle between Navigator and Commander.
2017-05-16 08:40:53 +02:00
32685338c9
mc_pos_control: simplify transition with just using triplets
2017-05-15 15:41:47 +02:00
a98c0ef25d
mc_pos_control: during transition set vel_sp to zero
2017-05-15 15:41:47 +02:00
1ee160a5ff
navigator takeoff: use global yaw instead of home yaw
2017-05-15 15:41:47 +02:00
14f860090a
remove empty line and fix typo
2017-05-15 15:41:47 +02:00
00c9e4b79f
mc_pos_control: set triplets.valid to first time when landed
2017-05-15 15:41:47 +02:00
9e383f2cd3
navigator: when landed only exit idle if mission/takoff
2017-05-15 15:41:47 +02:00
32498009a3
navio_adc: add driver for Navio2 ADC
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Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com >
2017-05-14 17:51:02 +02:00
cd1e04d43c
support of multi uav simulation in SITL
2017-05-14 15:46:18 +02:00
669e580f0a
Land detector max altitude: Adjust max limit
2017-05-14 14:24:06 +02:00
cdb8146af5
Land detector: Choose a default alt limit parameter value that ensures regular users are not running into it
2017-05-14 13:27:57 +02:00
3ad23a44c5
navigator fix takeoff insidetime = 0 ( #7199 )
2017-05-13 12:16:55 -04:00
773d1ec6a8
camera_feedback : only use global position subscription to fill geotagging packet
2017-05-12 22:11:17 +02:00
ad5fe5f44a
Add support for SET_CAMERA_MODE command; Not used yet.
2017-05-12 22:11:17 +02:00
83888e3e7f
camera_feedback : move class definitions into hpp
2017-05-12 22:11:17 +02:00
b146e7afde
logger : log geotagging packet
2017-05-12 22:11:17 +02:00
d79750a06c
camera_feedback : inital module import
2017-05-12 22:11:17 +02:00
192e8b48d1
mavlink : send camera_image_captured message
2017-05-12 22:11:17 +02:00
2e92a3946d
camera_trigger : completely refactor state handling
2017-05-12 22:11:17 +02:00
7af7c86384
mavlink : send camera capture information
2017-05-12 22:11:17 +02:00
29795fa95f
mc_pos_control: switch to auto only if triplets have been updated
2017-05-09 11:54:50 +02:00
47faaa5d78
Add loiter option to COM_OBL_RC_ACT ( #7170 )
2017-05-08 14:17:29 -04:00
341bd6e836
commander: add timeout test for global position data
2017-05-08 09:21:38 +02:00
00a42abc69
commander: Add parameter to control postal fallback after loss of navigation accuracy
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Also remove else if branch that cannot be accessed.
2017-05-08 09:21:38 +02:00
b85c8fa135
commander: fix bug in pos vel validity transition
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This ensures that a mode change will occur immediately when the EKF reports the solution as invalid.
2017-05-08 09:21:38 +02:00
981dac8e95
Navigator: Increase RAM size
2017-05-06 12:34:28 +02:00
dc2a2a9552
IO: Better formatting
2017-05-04 22:57:47 +02:00
bcd66f1408
mc_pos_control: ignore a NaN/inf position setpoint ( #7186 )
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* mc_pos_control: ignore a NaN/inf position setpoint
This is a hotfix that prevents the position controller from trying to
do velocity control with a position setpoint that isn't valid in the
first place.
This is only a workaround, ideally the controls later should not scale
down throttle to the minimum just because the position setpoint is far
away if they still have valid setpoint in z.
* mc_pos_control: use PX4_ISFINITE and not isfinite
2017-05-04 22:55:53 +02:00
1bb56e775e
IO: Fix access to free memory
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The free memory was accessed from interrupt context where it should not be accessed from. We build the statistic now at a fixed rate while not armed.
2017-05-04 22:32:52 +02:00
8bfa84f73f
log_writer_file: make sure to close the file
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and avoid doing a loop iteration when the thread is requested to exit
(as it could access _buffer).
2017-05-04 08:44:11 +02:00
50740ef813
Improve FW landing predictability
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- Use the course over ground as loiter exit criteria (better wind behavior)
- Compute the tangent origin coordinate explicitly instead of using immediate position
2017-05-04 07:51:46 +02:00
3d2d6c4fdc
IO: Add lazy atomic OR, AND and CLEAR functions for flags
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IO needs atomic updates of a few critical status flags, but doing these always atomic (with interrupts disabled) might cause a too high interrupts disabled interval. In order to avoid this only operations that change the state of the target variable are done with interrupts disabled, while operations without an effect on the target variable are not executed.
2017-05-04 07:46:57 +02:00
dc6b688a6a
fixed px4io firmware read-modify-write bug
2017-05-04 07:46:57 +02:00
Paul Riseborough