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Author SHA1 Message Date
Daniel Agar ae3070bbf1 ekf2: make filter update period configurable 
- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
 - actual filter update period will be an integer multiple of IMU
 2022-01-26 10:57:09 -05:00
Daniel Agar 3f25349eb9 commander: don't reject VEHICLE_CMD_DO_SET_ACTUATOR 2022-01-25 18:44:58 -05:00
Daniel Agar 8d03e71c16 drivers/magnetometer/bosch/bmm150: init and self test improvements 
- if self test fails consistently proceed with startup, but report failure
 2022-01-24 16:16:03 -05:00
Daniel Agar 8217e0f335 drivers/magnetometer/bosch/bmm150: add self test fail perf counter to status 2022-01-24 13:06:32 -05:00
Daniel Agar 5ded1aedcb sensors/vehicle_angular_velocity: add IMU_GYRO_DNF_HMC to configure number of ESC RPM notch filter harmonics 2022-01-24 09:23:03 -05:00
Daniel Agar 07e6c274d5 uavcan/uavcannode: bridge LogMessage and PX4 ORB_ID(log_message_s) 2022-01-23 20:21:39 -05:00
Daniel Agar 4de9c598fa bmm150: retry probe up to 3 times 2022-01-21 15:51:43 -05:00
Daniel Agar 7cb8ed3a1f sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats 2022-01-21 09:18:49 -05:00
Daniel Agar 446729566d platforms/nuttx: px4io_serial always cleanup DMA before next bus exchange 
- this really shouldn't be necessary, but worst case it's harmless and
much better than potentially falling out of the sky
 2022-01-19 18:00:18 -05:00
Daniel Agar 92a5bbe97f ekf2: improve ring buffer sizing and dynamically allocate 2022-01-19 09:04:53 -05:00
Daniel Agar 36605bfff6 sensors: lower SENS_MAG_RATE default 
- reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4)
 2022-01-19 08:51:57 -05:00
Daniel Agar dd6b7fa98f sensors: switch status PX4_INFO -> PX4_INFO_RAW 2022-01-18 15:00:18 -05:00
Daniel Agar b1d2a0cc4e sensors: simplify timestamp data validator handling 2022-01-18 14:57:18 -05:00
Daniel Agar 8067207ea6 px4_work_queue: rename serial port WQs 2022-01-18 14:56:15 -05:00
Daniel Agar 7eee949a81 Jenkins: hardware tolerate irrelevant uorb status failure 2022-01-18 12:23:05 -05:00
Daniel Agar 548b7d5ece sensors/vehicle_imu: on calibration change don't resume in flight calibration learning immediately 2022-01-18 11:22:41 -05:00
Daniel Agar ece09064c4 parameters: perform verification pass twice 
- on NuttX with MTD storage this is to ensure we are verifying what's
actually stored on ramtron or eeprom, not just what's cached by bchlib
 2022-01-18 09:47:28 -05:00
Daniel Agar 2fb82789fe lib/wind_estimator: pass q_att as const reference 2022-01-17 16:59:28 -05:00
Daniel Agar 98a9748bb8 drivers/dshot: use uORB::PublicationMulti for ORB_ID(esc_status) 
- there can be multiple different outupt modules publishing esc_status (eg dshot & uavcan)
 2022-01-14 12:17:49 -05:00
Daniel Agar 81ecd130fc uavcan: ESC publish esc_status in callback instead of timer 
- this ensures every ESC status gets published with minimal latency
 - also prevents publishing ORB_ID(esc_status) when there's no actual
data (bug)
 2022-01-14 12:17:49 -05:00
Daniel Agar bb1177d504 sensor_calibration: refactor and centralize calibration slot logic 
- centralize logic for selecting a preferred calibration slot
   - automatically use existing calibration slot if it exists, otherwise
find first available slot, with a preference for a requested index
 - existing commander calibration methods rewrite all calibration slots
to match current sensor ordering
 2022-01-12 16:16:26 -05:00
Daniel Agar 463513f31f Jenkins: hardware disable auto cal before on board tests 2022-01-11 11:47:02 -05:00
Daniel Agar 2eec7842ae sensors/vehicle_imu: fix SENS_IMU_AUTOCAL saving logic 
- on cycles that don't check for updated calibraton (estimated bias) we
check if there's anything valid to save (when disarmed)
 2022-01-11 11:47:02 -05:00
Daniel Agar cc1fee525a lib/sensor_calibration: handle calibration slot change on parameter update 2022-01-10 17:16:50 -05:00
Daniel Agar ab547bb982 sensors/vehicle_angular_velocity: RPM notch don't fully disable if first harmonic frequency drops below minimum frequency 
- keep higher frequency harmonics enabled per ESC
 - cleanup timestamp handling (timeouts, etc)
 2022-01-10 14:51:29 -05:00
Daniel Agar b58922a5d7 sensors/vehicle_angular_velocity: notch filters automatically reset on sufficient parameter change 2022-01-10 14:51:29 -05:00
Daniel Agar 7d632254be NotchFilter push initialization/reset into filter 
- this simplifies the reset by allowing a notch filter to reset as
needed
 - improves cascade initialization, on reset each filter will reset
properly from the previous
 2022-01-10 14:51:29 -05:00
Daniel Agar 2e2ac36cab drivers/uavcan: make firmware server available on both CAN1/CAN2 always (if enabled) 
- uavcan firmware server no longer shuts down when arming (nodes might restart in flight)
 - always handle UAVCAN parameters with or without the FW server active
 - remove legacy ESC enumeration in FW server
 2022-01-10 11:13:02 -05:00
Daniel Agar d9e7315420 sensors: automatically set initial accel/gyro calibration if stable bias available 2022-01-10 10:46:37 -05:00
Daniel Agar e731fcdbc0 sensors (accel/gyro/mag) determine if external with device id 2022-01-10 10:31:07 -05:00
Daniel Agar 45040be669 ekf2: accel/gyro/mag sensor cal minor cleanup 
- cleanup obsolete comments
 - remove debug helpers
 - add additional variance requirements to mag bias stable (matching accel & gyro)
 2022-01-10 09:55:59 -05:00
Daniel Agar c3ca40a98f drivers/px4io: delete monitor command 
- the px4io console isn't even connected on most flight controllers
 2022-01-10 09:51:11 -05:00
Daniel Agar e5d49f6fff drivers/px4io: delete unused detect 2022-01-10 09:51:11 -05:00
Daniel Agar d077ca15fb delete PWM_SERVO_SET, PWM_SERVO_SET_MODE, systemcmds/motor_ramp, and pwm_out test 2022-01-10 09:51:11 -05:00
Daniel Agar df44df2df6 delete systemcmds/esc_calib 
- this is redundant with commander esc_calibration
 2022-01-10 09:51:11 -05:00
Daniel Agar 03bdc460d8 drivers/px4io: PWM_SERVO_GET_FAILSAFE_PWM don't get registers directly 2022-01-10 09:51:11 -05:00
Daniel Agar d3301ba826 delete PWM_SERVO_GET_TRIM_PWM 2022-01-10 09:51:11 -05:00
Daniel Agar 8de59dad32 delete PWM_SERVO_SET_TERMINATION_FAILSAFE 2022-01-10 09:51:11 -05:00
Daniel Agar 1739ecc981 delete PWM_SERVO_SET_FORCE_FAILSAFE 2022-01-10 09:51:11 -05:00
Daniel Agar 649d3e3f55 delete PWM_SERVO_SET_DISABLE_LOCKDOWN/PWM_SERVO_GET_DISABLE_LOCKDOWN 2022-01-10 09:51:11 -05:00
Daniel Agar b7ed4fd3e0 delete PWM_SERVO_SET_DISARMED_PWM 2022-01-10 09:51:11 -05:00
Daniel Agar 551a31ce2f delete PWM_SERVO_SET_FAILSAFE_PWM 2022-01-10 09:51:11 -05:00
Daniel Agar daa925137c boards: move default battery calibration defines to parameter defaults 2022-01-10 09:49:36 -05:00
Daniel Agar 78b3d22471 lib/mixer_module: consume output_limit library 2022-01-10 11:59:55 +01:00
Daniel Agar 71d8b15b73 commander: fix COM_HOME_EN missing case 
- VEHICLE_CMD_COMPONENT_ARM_DISARM is yet another path that calls set_home_position()
 2022-01-09 20:52:07 -05:00
Daniel Agar 0b1402afe2 Tools/HIL/test_airframes.sh enable all mavlink and GPS 2022-01-08 18:11:43 -05:00
Daniel Agar 6c97700eaa move sensor calibration parameters to yaml 2022-01-07 19:00:41 -05:00
Daniel Agar c17a9e8003 sensors/vehicle_imu: refactor SensorCalibrationUpdate() to separate accel/gyro cal saving 2022-01-07 09:40:51 -05:00
Daniel Agar aec97e0020 sensors: minor IMU bias saving updates 
- sensors/vehicle_imu: reset learned cal on any calibration change
during parameter update
 - sensors/vehicle_imu: cleanup logic estimated bias -> calibration offset
saving
   - don't invalidate saved calibration (the point is to keep the last valid)
   - remove old debug code, etc
 - sensors/vehicle_imu: notify parameter changes if accel or gyro
calibration has changed
 - lib/sensor_calibration: add calibrated() and calibration_index()
getters, keep Accelerometer/Gyroscope/Magnetometer in sync
 2022-01-07 09:40:51 -05:00
Daniel Agar 30ccfdb2ed sensors/vehicle_magnetomeer: fix copyright year 2022-01-06 20:27:56 -05:00
Daniel Agar 170849c8f8 ekf2: expand accel bias stability criteria 2022-01-04 13:57:49 -05:00
Daniel Agar e835a7c4ea boards: enable readline history and tab completion on newer boards 2022-01-03 10:44:32 -05:00
Daniel Agar 9d1558af25 ekf2: selector use status timestamp for timeout rather than timestamp_sample (delayed time horizon) 
- update stale checks for publication to use hrt elapsed time from
timestamp sample
 2022-01-03 09:20:44 -05:00
Daniel Agar 333edfe12f ekf2: use delayed IMU timestamp for publication's timestamp_sample 2022-01-03 09:20:44 -05:00
Daniel Agar 35502c249d ekf2: don't use Vectors for height innovations (baro, rng, etc) 2022-01-03 09:20:20 -05:00
Daniel Agar 75bb2f8dd2 Jenkins: hardware temporarily tolerate sd_bench failures on px4_fmu-v5_debug 2022-01-02 14:47:52 -05:00
Daniel Agar 673d4544d1 parameters: verify param backup after export 2022-01-02 10:46:34 -05:00
Daniel Agar 8e26b33009 tinybson: file write error add more detail 2022-01-02 10:46:34 -05:00
Daniel Agar 80ef6e19df tinybson: explicitly append int32 or int64 2022-01-02 10:46:34 -05:00
Daniel Agar 9cbb5c9920 parameters: fix export shutdown locking 
- in NuttX bchlib keeps a sector sized buffer that might not be written
out to RAMTRON until the file is closed
 2022-01-02 10:46:34 -05:00
Daniel Agar 2153710917 Tools/HIL/monitor_firmware_upload.py don't fail on any ERROR 
- on first boot we only care that it completes (gets to nsh prompt)
 2022-01-02 10:05:30 -05:00
Daniel Agar c421bff73c Tools/HIL: use pyserial spy:// to log all serial traffic and dump on failure 2022-01-01 22:25:29 -05:00
Daniel Agar 7df1721d32 ROMFS: rcS disable simplistic SD I/O test 
- this was added when trying to identify SD card issues at boot and
trigger a format, but didn't provide any value
 2022-01-01 18:43:27 -05:00
Daniel Agar f76aa0e772 cmake: NuttX ARMV7M_STACKCHECK skip ekf2 
- px4_fmu-v5_stackcheck switch from icm20689 -> bmi055 (lower rate)
 - this is to make performance tolerable
 2022-01-01 18:43:27 -05:00
Daniel Agar e9283d90cc systemcmds/netman: fix code style 2022-01-01 18:40:47 -05:00
Daniel Agar 0029317e55 Jenkins: hardware additional reboots no longer required 2022-01-01 14:06:05 -05:00
Daniel Agar 439ad7daea Jenkins: hardware disable calib_delay (too slow) and manual SD format 2022-01-01 12:10:28 -05:00
Daniel Agar 501474993e Tools/HIL: default to USB UART if available 2022-01-01 10:49:30 -05:00
Daniel Agar 77b65ee564 boards: px4_fmu-v5_debug disable stack check 
- this is redundant with px4_fmu-v5_stackcheck
 2021-12-31 19:34:18 -05:00
Daniel Agar 247b975675 Tools/HIL: disable XON/XOFF, consistent timeouts, proper input buffer clear 2021-12-31 19:28:40 -05:00
Daniel Agar 03371f8522 NuttX with bch flush backport 2021-12-31 10:59:56 -08:00
Daniel Agar 1b6700592b parameters: require valid BSON document size 2021-12-30 16:36:23 -05:00
Daniel Agar 3514458f42 Tools/HIL/test_airframes.sh: dump all parameter storage after bootup to verify contents 2021-12-30 12:43:00 -05:00
Daniel Agar b06215d038 Tools/HIL/test_airframes.sh: run param dump after save to verify BSON 2021-12-30 11:11:14 -05:00
Daniel Agar 6706d9b434 Jenkins: always fully clean git workspace 2021-12-29 17:14:11 -05:00
Daniel Agar 6d0339ba0c I2CSPIDriverBase: sensor start failure ERROR if internal, WARN if external 2021-12-28 11:05:35 -05:00
Daniel Agar 990d7c159d pwm_out: cleanup and prep for linux compatibility 2021-12-28 11:04:00 -05:00
Daniel Agar 10f4a2e91f boards: omnibus_f4sd_default disable systemcmds to save flash 2021-12-27 12:19:55 -05:00
Daniel Agar 3ef9c2d16c boards: holybro_kakutef7_default disable modules/gyro_calibration to save flash 2021-12-27 12:19:55 -05:00
Daniel Agar d94767ef88 cmake: NuttX use cygwin friendly path for linker script 2021-12-27 12:19:12 -05:00
Daniel Agar 3f17acdcc9 boards: mro_ctrl-zerl-h7-oem pin fixes (sync with mro_ctrl-zero-h7) 2021-12-27 09:25:21 -05:00
Daniel Agar 0f4e1dd9f9 boards: mro ctrl-zero-h7 pin fixes 2021-12-27 09:25:21 -05:00
Daniel Agar 236794235a parameters: export empty BSON document even if there are no parameters to save 
- otherwise a 'param reset_all' won't be saved until a parameter is changed
 2021-12-27 09:17:00 -05:00
Daniel Agar 33d7b42040 parameters: import quietly retry if there's no data (as a precuation) 2021-12-27 09:17:00 -05:00
Daniel Agar 20d3e6f4e1 parameters: add simple BSON verification pass after export 2021-12-27 09:17:00 -05:00
Daniel Agar 98d706772e boards: px4_fmu-v2_rover disable events module to save flash 2021-12-24 20:06:13 -05:00
Daniel Agar 712353ea56 gyro_calibration: increase required samples (to be more conservative) 
- make sure variance is checked across all available sensors
 2021-12-24 19:53:44 -05:00
Daniel Agar 3f3836afa8 parameters: simplify import mark_unsaved and don't fail bson decode unnecessarily 2021-12-24 14:32:40 -05:00
Daniel Agar d1cd4904dc parameters: param_value_is_default avoid locking if value unchanged 2021-12-24 14:32:40 -05:00
Daniel Agar c0b8f2952c parameters: param_get_default_value avoid locking if value is static default 2021-12-24 14:32:40 -05:00
Daniel Agar 27a113ecab parameters: param_get avoid locking if value is static default 2021-12-24 14:32:40 -05:00
Daniel Agar cd8ce4d01e parameters: remove obsolete perf_end 2021-12-24 14:32:40 -05:00
Daniel Agar 38731662c6 parameters use bitset for mark_unsaved 2021-12-24 14:32:40 -05:00
Daniel Agar 0e0639a5bf Jenkins: hardware don't tolerate logger failures 2021-12-24 14:31:21 -05:00
Daniel Agar b054fc7b8b navigator: trivial code style fix 2021-12-24 10:55:20 -05:00
Daniel Agar 00eae055ac lib/sensor_calibration: don't save uninitialized priority parameter immediately 2021-12-23 17:49:11 -05:00
Daniel Agar e694fa906b tinybson: add more error output on node name overflow 2021-12-23 17:45:50 -05:00
Daniel Agar 47d6a6c63d Tools/HIL/test_airframes.sh dump parameters before reboot (for verification) 2021-12-23 17:45:50 -05:00
Daniel Agar 14c2225b1c ROMFS: rcS dump parameter backup contents before using 
- this is mainly for debug comparion
 2021-12-23 17:45:50 -05:00
Daniel Agar 38af93085b linux_pwm_out: use PWM_MAIN parameter prefix 
- this keeps things simpler for now across the old and new output
configuration
 2021-12-23 15:57:11 -05:00