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Author SHA1 Message Date
Daniel Agar f5f7dfc45e commander: ignore REQUEST_CAMERA_INFORMATION 
- add answer command logging
 2024-09-30 15:28:24 -04:00
Daniel Agar bfb04ddd19 CMakeLists: install_python_requirements allow --break-system-packages 2024-04-22 12:11:53 -04:00
Daniel Agar 0a7689f323 drivers/optical_flow/paa3905: fix RegisterRead udelay 2024-04-18 20:57:37 -04:00
Daniel Agar 2a328615ed drivers/optical_flow/paw3902: fix RegisterRead udelay 2024-04-18 20:57:37 -04:00
Daniel Agar ec3ceae45e ekf2: move yaw_estimator and derivation to dedicated folder 2024-04-18 15:14:59 -04:00
Daniel Agar 78bbb66568 delete SYS_MC_EST_GROUP 
- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
 - add basic checks to prevent EKF2 + LPE running simultaneously
 2024-04-15 16:06:08 -04:00
Daniel Agar c024ea396a boards/px4/fmu-v5x: remove legacy rover_pos_control to reduce flash usage 2024-03-22 15:17:03 -04:00
Daniel Agar 34c19b2e5a boards/px4/fmu-v5x: default remove systemcmds/sd_stress to save flash 2024-03-20 12:35:34 -04:00
Daniel AgarandMathieu Bresciani 35532609c9 mathlib: utilities refactor float to function template (for optional double precision usage) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-03-20 11:10:37 -04:00
Daniel Agar a1cce7e961 uxrce_dds_client: optimizations and instrumentation 
- skip ping session if data flowing bidirectionally
 - add perf counters for loop time and interval
 - skip blocking poll if there's input data to read
 2024-03-12 16:22:26 -04:00
Daniel Agar b115d3cd44 uxrce_dds_client: refactor init to retry indefinitely 
- move init from UxrceddsClient to init() method so that retry is
   possible for both serial and UDP init
 2024-03-12 16:22:26 -04:00
Daniel Agar 1c741836c0 sensors/vehicle_imu: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 8b6c70e0f2 sensors/vehicle_angular_velocity: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 1fc38aab92 sensors/vehicle_air_data: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 2bf1eeb003 sensors/vehicle_acceleration: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 87960c04d8 mag_bias_estimator: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar d96970a2b9 sensor/vehicle_magnetometer: sensor update loop limit iterations 
- place upper bound to prevent looping indefinitely (high publish rate, etc)
 2024-03-06 21:19:38 -05:00
Daniel Agar 8001132d33 ekf2: ZeroGyroUpdate move to fuseDirectStateMeasurement 2024-02-26 12:32:59 -05:00
Daniel AgarandMatthias Grob b2b7439060 ROMFS: respect kconfig for including romfs files (airframes, etc) (#22571) 
* ROMFS: respect kconfig for including romfs files (airframes, etc)

* ROMFS: only add R1 airframe with differential drive control

* ROMFS: adapt to differential drive module renaming

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2024-02-23 15:40:00 +01:00
Daniel Agar 506c60c471 ekf2: declination fusion don't use uninitialized parameter (EKF2_MAG_DECL) 2024-02-21 09:45:44 -05:00
Daniel Agar 8243b4f474 ekf2: move vel/pos reset helpers 2024-02-20 13:16:24 -05:00
Daniel Agar 22b957696d ekf2: velocity/position fusion helper minor consistency cleanup 2024-02-20 13:16:24 -05:00
Daniel Agar c338891677 ekf2: split vel_pos_fusion.cpp 2024-02-20 13:16:24 -05:00
Daniel Agar c4c41c49e5 ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement() 
- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
 2024-02-20 13:16:24 -05:00
Daniel Agar 021dd0d0af ekf2: fix EV height bias predict call 
- needs to be called every iteration
 2024-02-20 11:47:53 -05:00
Daniel Agar 1032dd3470 ekf: fix measurementUpdate comment typo 2024-02-19 09:41:49 +01:00
Daniel Agar 8dc3975456 ekf2: only populate gnss pos aid src status if ref initialized 
- this is a minor logging improvement when plotting the position from the beginning of the log (often a replay session)
 2024-02-15 13:13:10 -05:00
Daniel Agar b8714f8980 ROMFS: rc.simulator EKF2 setup specific to gazebo classic 2024-02-13 11:14:44 -05:00
Daniel AgarandPX4 BuildBot 5f589bdda3 Update submodule GPSDrivers to latest Mon Feb 12 12:39:19 UTC 2024 
- GPSDrivers in PX4/Firmware (17ff40898c683e1fe96ff9e2d2790594d188f872): https://github.com/PX4/PX4-GPSDrivers/commit/3393191fbb842f8e13a3f296218efec832640112
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/f48cc01d31607baa4963bde090f530b44df3de12
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/3393191fbb842f8e13a3f296218efec832640112...f48cc01d31607baa4963bde090f530b44df3de12

    f48cc01 2024-02-08 Julian Oes - ubx: separate config for jamming monitor
bc72f55 2024-02-08 Julian Oes - sbf: simplify odd define

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-02-12 08:58:21 -05:00
Daniel AgarandPX4 BuildBot 1d70e32551 Update world_magnetic_model to latest Wed Jan 24 11:14:20 UTC 2024 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-01-26 09:08:51 -05:00
Daniel Agar 4e0967889c ekf2: add verbose print status (moved out of DEBUG_BUILD) 2024-01-24 21:49:26 -05:00
Daniel AgarandPX4 BuildBot bc9ea95359 Update submodule GPSDrivers to latest Thu Jan 25 00:39:33 UTC 2024 
- GPSDrivers in PX4/Firmware (12af7ff9904b2fdde39513c56a3e084eb23bcc7a): https://github.com/PX4/PX4-GPSDrivers/commit/63990d218ec35ea965d634af6a79d3155561b743
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/836b24c10e0ccd0067500f367686acac6d34882d
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/63990d218ec35ea965d634af6a79d3155561b743...836b24c10e0ccd0067500f367686acac6d34882d

    836b24c 2023-12-11 bedaberner - ubx: fixed wrong mapping of ubx-sat-nav used parameter

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-01-24 21:48:40 -05:00
Daniel Agarandbresch 51155f7a29 ekf2: treat inhibited states as "consider states" and remove conservative covariance matrix fixes (#22597) 
When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally.

 - removes conservative accel bias variance limiting
 - force symmetry is skipped after fusion of NED vel/pos (a direct measurement)

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-01-24 14:14:09 -05:00
Daniel Agar 2c81c9fdea boards: px4/fmu-{v5*,v6*} add dedicated rover board variants (eg px4_fmu-v6x_rover) 2024-01-24 14:06:49 -05:00
Daniel Agar bf7da6430d ekf2: consolidate LPOS & GPOS accuracy methods 2024-01-22 12:34:08 -05:00
Daniel Agarandbresch ed0d26de8a ekf2: improve attitude estimation without horizontal aiding 
- fake_pos only if at rest or tilt variances becomes large
 - fake pos: don't run when grav fusion is enabled
 - gravity fusion enabled by default
 - gravity: only fuse when accel norm and lpf norm are consistent

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-01-17 10:27:25 -05:00
Daniel Agar c3ae7b28c0 matrix: adjust printing for if symmetric (lower triangular only) 2024-01-16 10:20:21 -05:00
Daniel Agar 64f28c4c07 ekf2: delete unused gps error norm field 2024-01-12 10:14:32 -05:00
Daniel Agar 8a031677d5 ekf2: verbose debug print status include state variances 2024-01-11 11:53:20 -05:00
Daniel Agar 4cb293020a ekf2: remove sensor sample uORB::Subscription missed perf counters 
- these served their purpose, but are no longer useful
 - still worth keeping the IMU subscription missed perf count to catch any scheduling issues
 2024-01-11 11:52:29 -05:00
Daniel Agar 855bf8f0d2 .gitmodules set gz submodule branch 2024-01-11 11:07:33 -05:00
Daniel Agar 8bcba6128a ekf2: fix resetGlobalPosToExternalObservation whitespace 2024-01-11 10:59:56 -05:00
Daniel Agarandbresch d45c3d3407 ekf2: verbose (DEBUG_BUILD) print status with Matrix improved print 
* ekf2: verbose print status
 * matrix/Matrix improve print output
 * bold diagonal elements, print ring buffer entry size
 * print in scientific notation when >= 10 to respect max size

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-01-10 09:46:04 -05:00
Daniel Agar 6495f40ee4 delete old top level config files (dot files, CI, etc) 2024-01-04 11:18:56 -05:00
Daniel Agar b0566cd8aa posix: cmake INSTALL make new GZ models/worlds optional for now 
- the entire posix install package needs to be reviewed and tested
 2023-12-18 11:49:53 -05:00
Daniel Agar 4b25fad862 lib/timesync: relax warnings 
- double required max consecutive counts
 - don't continuously complain about round trip time (RTT) unless
   there's been at least one acceptable round trip (latency < 100 ms)
 2023-12-16 16:36:36 -05:00
Daniel Agar 7fa6f4e32f boards: px4/fmu-v6x add dedicated multicopter build 2023-12-16 16:29:52 -05:00
Daniel Agar 808fd67fcb Tools/setup: macos.sh add python-tk for kconfig gui (boardguiconfig) 2023-12-16 16:29:07 -05:00
Daniel Agar dba2d76321 systemcmds/i2c_launcher: fix USER_I2C_LAUNCHER kconfig warning 2023-12-16 16:28:11 -05:00
Daniel Agar f703f07399 drivers/distance_sensor: update kconfig common sensors 
- mappydot is EOL
 - LL40LS_PWM is a fairly special case that's not common
 2023-12-08 13:32:23 -05:00
Daniel AgarandPX4 BuildBot a9213e3862 Update world_magnetic_model to latest Tue Nov 28 11:14:14 UTC 2023 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-28 11:04:02 -05:00
Daniel AgarandPX4 BuildBot 5af6cf1889 Update submodule GPS Drivers to latest Tue Nov 28 00:39:22 UTC 2023 
- GPS Drivers in PX4/Firmware (5ef3ae3f1ec5aecea5842306a63aec054eb599a9): https://github.com/PX4/PX4-GPSDrivers/commit/6e452c2c5b6a718dddc1df2a13eba4a7c729d9f2
    - GPS Drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/63990d218ec35ea965d634af6a79d3155561b743
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/6e452c2c5b6a718dddc1df2a13eba4a7c729d9f2...63990d218ec35ea965d634af6a79d3155561b743

    63990d2 2023-11-22 Daniel Agar - nmea fix astyle whitespace

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-27 21:05:23 -05:00
Daniel Agar 56bfe41f10 drivers/ins/vectornav: publish estimator_status (only in VN_MODE 1) 2023-11-22 21:42:27 -05:00
Daniel Agar 0dbd7b9176 Jenkins compile remove obsolete target nxp_fmurt1062-v1_default 2023-11-22 11:16:22 -05:00
Daniel AgarandPX4 BuildBot 58d6d03da3 Update submodule devices to latest Sun Nov 19 12:39:11 UTC 2023 
- GPS drivers in PX4/Firmware (0f7a34a64dd69ad074b47726eedeef147fe0f700): https://github.com/PX4/PX4-GPSDrivers/commit/b443b79f57c5e89353430940af9e4511ea8eb0b8
 - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/6e452c2c5b6a718dddc1df2a13eba4a7c729d9f2
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/b443b79f57c5e89353430940af9e4511ea8eb0b8...6e452c2c5b6a718dddc1df2a13eba4a7c729d9f2

    6e452c2 2023-10-27 Robbie Drage - move NO_MKTIME compilation flags - removes dependency on tm struct being defined without MKTIME - removes unnecessary operations

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-19 11:49:39 -05:00
Daniel Agar 62027b0965 ekf2: remove EKF2_HGT_MODE VerifyParams() transition helpers 
- in theory these are helpful to ensure EKF2_HGT_MODE configuration is
   consistent with the relevant aid source (GPS, baro, etc), but it can
   be a little awkward with users having to fight manual parameter
   changes in the right order
 2023-11-16 15:02:43 -05:00
Daniel Agar 3b2d766573 ekf2: purge remaining EKF2_AID_MASK references 2023-11-16 09:36:58 +01:00
Daniel Agar 1592aedc11 gitmodules add heatshrink branch 2023-11-10 17:45:47 -05:00
Daniel Agar 77baa7c24a ekf2: EKFGSF yaw estimator always run 
- if not in air the accel noise is doubled
 - if landed don't init unless GPS velocity is non-negligible
 - when inactive continue seeding with EKF gyro bias
 - reset yaw estimator if GPS fusion is stopped
 2023-11-07 15:48:49 -05:00
Daniel Agar d7f388e590 boards: ARK CAN node NuttX flash savings 2023-10-31 09:59:15 -04:00
Daniel Agar 71b9e31005 drivers/osd/msp_osd: use proper EKF status flags instead of solution status bits 2023-10-18 20:55:12 -04:00
Daniel Agar 27f9b1b65a ekf2: move zero gyro update to aid source class 2023-10-18 20:23:56 -04:00
Daniel Agar e79737a38d ekf2: create simple estimator aid source base class and extract zero velocity update 2023-10-18 20:23:56 -04:00
Daniel Agar 408c30de13 ekf2: delete redundant aid src status getters 2023-10-18 15:21:51 -04:00
Daniel Agar bdaf0acfca ekf2: fully disable yaw estimator EKFGSF_yaw with CONFIG_EKF2_GNSS (#22233) 2023-10-18 13:30:17 -04:00
Daniel Agar 3d238b0275 ekf2: add kconfig to disable gravity fusion (#22231) 2023-10-18 10:50:51 -04:00
Daniel Agar 6eae9fb371 ekf2: fix barometer kconfig 2023-10-18 09:43:27 -04:00
Daniel Agar 48e09a4dea ekf2: move predict covariance IMU inhibit check to function 2023-10-17 09:58:10 -04:00
Daniel Agar 0b44852094 ekf2: move accel bias check out of fixCovarianceErrors 2023-10-17 09:58:10 -04:00
Daniel Agar 9676af2fe6 ekf2: predict covariance avoid explicit temporary nextP 2023-10-13 20:57:33 -04:00
Daniel Agar d2b3e7fe16 ekf2: new kconfig to enable/disable GNSS (enabled by default) 2023-10-11 14:02:34 -04:00
Daniel Agar 5352a64042 ekf2: symforce derivation allow optionally disabling mag and wind states 2023-10-10 17:31:11 -04:00
Daniel Agar b5f3d089c4 ekf2: mag_fusion remove direct state index usage 2023-10-10 09:18:04 -04:00
Daniel Agar cf4c565e4a ekf2: mag_fusion.cpp cleanup includes 2023-10-10 09:18:04 -04:00
Daniel Agar c85840c4dd ekf2: mag_fusion only set fault status flags if mag_3D updating all states 
- other parts of the system are blanket checking for any fault status
   flag
 2023-10-10 09:18:04 -04:00
Daniel Agar e58ceba4b1 ekf2: mag_fusion consolidate duplicate error handling 2023-10-10 09:18:04 -04:00
Daniel Agar 28d58a947f ekf2: cleanup more optional mag (CONFIG_EKF2_MAGNETOMETER) 2023-10-09 10:18:02 -04:00
Daniel Agar 5f87f3a046 ekf2: drag fusion add aid source status topic 2023-10-09 09:26:28 -04:00
Daniel Agar 028733e1c7 ekf2: add kconfig to disable wind estimation (off by default) 2023-10-09 09:22:29 -04:00
Daniel Agar 745709717e drivers/imu/analog_devices/adis16507: use bad CRC perf count 2023-10-03 18:06:33 -04:00
Daniel Agar b817eb0370 ekf2: collect_gps() don't throttle updates until WMM set initially 2023-09-29 09:37:30 +02:00
Daniel Agar 1e594747ab ekf2: fix WMM NAN checks 
- if any of the stored WMM is NAN then it should be updated
 2023-09-29 09:37:30 +02:00
Daniel Agar 14a967e2ca ekf2: remove aid src status fusion_enabled flag 2023-09-26 10:30:16 -04:00
Daniel Agar 619616b9f0 vscode add Makefile extension to recommended and devcontainer.json 2023-09-25 12:26:29 -04:00
Daniel Agar aa97ef9d50 EKF: covariance remove extra semicolon 2023-09-25 12:26:12 -04:00
Daniel Agar 61aee73b91 boards: px4_fmu-v5_stackcheck disable common RC to save flash 2023-09-22 11:19:29 -04:00
Daniel Agar 8a9a303354 ekf2: update include guards 2023-09-19 09:37:50 -04:00
Daniel Agar d351f16d04 drivers/optical_flow/paa3905: backup scheduling to fetch 0 flow 
- this sensor provides a MOTION interrupt used for default scheduling, but we also need to publish
   zero flow information
 2023-09-18 12:46:39 -04:00
Daniel Agar efbed3bfc1 sensors/vehicle_optical_flow: don't publish interval lower than configured rate 2023-09-18 12:46:39 -04:00
Daniel Agar 380a42fcbf drivers/optical_flow/paw3902: backup scheduling to fetch 0 flow 
- this sensor provides a MOTION interrupt used for default scheduling, but we also need to publish
   zero flow information
 2023-09-18 12:46:39 -04:00
Daniel Agar 6bd13c5514 boards/cubepilot: cubeorange and cubeorangeplus include VectorNav INS 2023-09-15 16:32:40 -04:00
Daniel Agar b2f258f7a4 drivers/ins/vectornav: add new VN_MODE parameter for full INS support 2023-09-15 16:32:40 -04:00
Daniel Agar 153f7bbced ekf2: update all copyright headers 2023-09-15 10:02:09 -04:00
Daniel Agar 1e9f0ad2c6 ekf2: add kconfig for barometer support (enabled by default) 2023-09-15 10:02:09 -04:00
Daniel Agar f0224c5104 boards: bitcraze crazyflie21 disable ekf2 magnetometer support 2023-09-15 10:02:09 -04:00
Daniel Agar 7589ee00e8 boards: holybro kakutef7 switch to ekf2 2023-09-15 10:02:09 -04:00
Daniel Agar 10b54d08fc ekf2: add dedicated EKF2_CONFIG_TERRAIN in kconfig 
- new estimator_aid_src_terrain_range_finder for HAGL RNG
 2023-09-15 10:02:09 -04:00
Daniel Agar 845b01a00d ekf2: add kconfig for magnetometer support (enabled by default) 2023-09-15 10:02:09 -04:00
Daniel Agar 36010a9a7c ROMFS: rc.fw_defaults set more conservative range finder requirements 
- for FW the primary range finder usage is estimating the distance to
   the ground (terrain estimate) to guide the landing approach and initiate flare
 - increase EKF2_RNG_QLTY_T default 1->3 seconds
 2023-09-13 12:14:13 -04:00
Daniel Agar 016db84d69 ekf2: covariance update use IMU sample dt (#22032) 
- usually the delta angle and delta velocity dt is the same, but they can be slightly different
 2023-09-13 09:58:56 -04:00