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9d962cdfbc30efa6ead0e3f56b9680bbe37380a6
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2401 Commits

Author SHA1 Message Date
kritz 9d962cdfbc Pr update matrix (#15520) 
* Update submodule Matrix

* replace deprecated matrix functions

* update submodule ECL

* Update Matrix submodule

* Use absolute value of loiter radius

* Update ECL submodule
 2020-08-11 10:08:41 +02:00
Daniel Agar 97fc1db768 vehicle_local_position: rename yaw -> heading and add reset logic 
- vehicle_global_position yaw removed (redundant)
 2020-08-10 11:42:03 +02:00
bresch 0ad3ddd864 Tko ramp: fix takeoff issue with large tko ramp time 
Because the velocity starts with a positive value (down) to ramp-up
slowly the motors, the position setpoint (integral) was going down into
the ground, canceling the input of the velocity controller during the
early takeoff phase.
Instead of a smooth ramp, the behavior was a delay followed by a quick
takeoff or a land detection.
Setting the current altitude setpoint with the current altitude during
this phase avoids the canceling effect and creates a takeoff purely
velocity-based.
 2020-08-10 10:39:56 +02:00
Daniel Agar 3345bf39b8 cdev: remove unnecessary virtuals and increase opt level 
- poll, poll_notify, register_class_devname, unregister_class_devname aren't virtual
 - increase max optimization level on platforms that aren't flash constrained (MAX_CUSTOM_OPT_LEVEL)
 2020-08-05 19:07:32 -04:00
Daniel Agar de59d6c788 flight_tasks: pass previous setpoint as const reference 
- perform setpoint checks in place to simplify and avoid copy
 2020-08-05 10:50:15 -04:00
Hamish Willee 8c6bb697d8 Update json param field names 2020-08-05 07:35:01 +02:00
PX4 BuildBot 201a3a19ff Update submodule ecl to latest Tue Aug 4 12:39:50 UTC 2020 
- ecl in PX4/Firmware (78d30efcf77284b21c130fd31061844ee561aa64): https://github.com/PX4/ecl/commit/77b11129fa567160a2ec442438ed513cb9de89e7
    - ecl current upstream: https://github.com/PX4/ecl/commit/7eb2b08eedb70817779bc7968cf34a4cf6f01fa0
    - Changes: https://github.com/PX4/ecl/compare/77b11129fa567160a2ec442438ed513cb9de89e7...7eb2b08eedb70817779bc7968cf34a4cf6f01fa0

    7eb2b08 2020-07-27 kamilritz - Yaw measurement jacobian to Vector4f
15d360f 2020-07-27 kamilritz - saved_mag_ef_cov to Squarematrix2f
7609bc6 2020-07-27 kamilritz - drag innov member variables to Vector2f
960b80e 2020-07-26 kamilritz - Do not update output filter a second time after reset to flow.
 2020-08-04 10:47:15 -04:00
Silvan Fuhrer 7a71cbb9bf FlightTask Auto: use yaw setpoint from Navigator if disable_weather_vane is true 
When disable_weather_vane is true, the vehicle is aligning for the transition waypoint
(VTOL) and thus the yaw setpoint from Navigator should be used.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-08-04 11:45:08 +02:00
Igor Mišić 7eaa48e36f New board: SP Racing H7 Extreme 
Authored-by: igor.misic <igor.misic@rimac@automobili.hr>
 2020-08-03 15:32:58 -04:00
Hamish Willee 958d5a36ec params: generate param metadata as MAVLink-compatible JSON component info (#15389) 2020-08-03 12:00:37 +02:00
Daniel Agar 63a23957b1 rc/dsm: decode improvements 
- always check system field for validity
 - reject any data outside of "servo position" valid range from Spektrum specification
 - properly support XPlus channels (12+)
 - debug message if channel count changes
 2020-08-02 12:52:16 -04:00
Daniel Agar 1191a0efe6 Update ecl to geo_lookup, SymPy covariance, bugfixes 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2020-08-02 12:26:48 -04:00
Steve Nogar 48bf9268c3 rename Mixer to MixerBase to resolve case-insensitivity on mac 2020-07-31 09:37:49 -04:00
Hamish Willee 4ade24869f parameters: move XML injection to the group level (#15403) 
So that they are also in the markdown and json output.
 2020-07-24 13:45:53 +02:00
Matthias Grob 400d97e60c math: add unit tests for everything in Functions.hpp 2020-07-24 11:31:15 +02:00
Matthias Grob 0b391fdcfc mc_att_control: add gradual3 function to cover hover thrust rescaling 2020-07-24 11:31:15 +02:00
Daniel Agar 0586079a84 mixer_module: add subscription option to limit additional actuator_control callbacks 
- optionally only register callbacks for primary control groups (if used)
 2020-07-23 09:45:04 -04:00
Daniel Agar b8b19f6166 cdev: posix remove std::map usage 
- this is to make things a little easier for platforms like QuRT (voxl snapdragon) where there are libstdc++ complications
 2020-07-21 10:17:55 -04:00
Matthias Grob 9ba2539e60 FlightTaskOrbit: reset approach if radius gets changed 2020-07-21 10:27:05 +02:00
Matthias Grob e9498064ef StraightLine: allow resetting reached flag 2020-07-21 10:27:05 +02:00
Matthias Grob 5823101f07 FlightTaskOrbit: reset reached when new parameters are set 
such that they get applied to the straight line trajectory class
and the drone starts approaching the new orbit.
 2020-07-21 10:27:05 +02:00
Matthias Grob 8e4509c0a9 FlightTaskOrbit: simplify tangential yaw_setpoint and pi wrap 2020-07-21 09:44:21 +02:00
Matthias Grob 4d0aadbcd0 FlightTaskOrbit: set initial heading for every new command 2020-07-21 09:44:21 +02:00
Matthias Grob abf6f4fa0a FlightTaskOrbit: move start_to_circle to more local scope & const reference parameters 2020-07-21 09:44:21 +02:00
Matthias Grob b8b46f8493 FlightTaskOrbit: use yaw setpoint from Altitude task with RC yaw mode 2020-07-21 09:44:21 +02:00
Matthias Grob 1b7349339e FlightTaskOrbit: move line break causing comments before 2020-07-21 09:44:21 +02:00
Matthias Grob 987826f1d4 mixer_module/tap_esc: fix usage of constrain() on input 
I changed the input constraint in #15349 but screwed up the usage
because I was convinced it's püass by reference. I'll double check
for sure next time.
 2020-07-20 09:23:42 +02:00
PX4 BuildBot 650b601206 Update submodule matrix to latest Sun Jul 19 12:40:00 UTC 2020 
- matrix in PX4/Firmware (20d5e7acd6d7be141de802ad155592e7be4c9f77): https://github.com/PX4/Matrix/commit/9a30828a0a1d79e87fd09653bb9f936d7ca0ba17
    - matrix current upstream: https://github.com/PX4/Matrix/commit/0fd99c59f1740a7aa2ead03168705b4211bf29e8
    - Changes: https://github.com/PX4/Matrix/compare/9a30828a0a1d79e87fd09653bb9f936d7ca0ba17...0fd99c59f1740a7aa2ead03168705b4211bf29e8

    0fd99c5 2020-07-14 Matthias Grob - Switch operator() to return a const reference
8a59b46 2020-07-17 kamilritz - Quaternion: Use template type instead of single hardcoded type
 2020-07-19 12:25:55 -04:00
Daniel Agar 1394b5d7bc sensor_baro add separate timestamp_sample field 
- the timestamp is uORB message publication metadata
 2020-07-17 09:42:19 -04:00
bresch 67ae40e922 FlightTaskAuto: fix yaw reset issue during takeoff 
During takeoff, Navigator is sending a constant yaw value.
However, there is always a reset at 1.5m of the yaw estimate in EKF2
that is not handled by Navigator that produces a glitch in the rate
controller. Given that in FlightTask, the yaw
is already computed and properly corrected in case of an estimator reset
event, we just ignore the yaw value sent by navigator during takeoff.
 2020-07-17 10:51:01 +02:00
Matthias Grob 413cf8b7c4 FlightTasks: Sticks methods naming refactor according to comments 2020-07-16 19:01:22 +02:00
Matthias Grob 0d56035a46 FlightTaskAutoMapper: clarify influence of sticks 2020-07-16 19:01:22 +02:00
Matthias Grob 079c5a11c2 FlightTaskAuto: allow rc assist to stop descend 
Before the autohority was only enough to slow down the descend but not
stop to zero vertical velocity.
 2020-07-16 19:01:22 +02:00
Matthias Grob 91c0f19121 FlightTaskAuto: use new Sticks class for assisted land speed 2020-07-16 19:01:22 +02:00
Matthias Grob 4366898f11 FlightTasks: make gear switch independent of sticks 2020-07-16 19:01:22 +02:00
Matthias Grob 4667693f37 mixer_module: use math:constrain 2020-07-16 16:55:33 +02:00
Matthias Grob 1e56eed2aa Remove FlightTaskManual from the inheritance structure 2020-07-14 18:07:09 +02:00
Matthias Grob 9daff24e79 FlightTasks: move stick handling into library 2020-07-14 18:07:09 +02:00
Matthias Grob 624d8a58e9 FlightTaskOrbit: correct acceleration feed-forward 
The acceleration setpoint gets implicitly inherited from the altitude
flight task since #14212. This feed-forward adds an unwanted
acceleration when the right stick is deflected. Instead I'm using it
to command the expected centripetal acceleration when flying
in a circle for better orbit tracking.
 2020-07-14 09:02:38 +02:00
David Jablonski 589aff7e0d Orbit: Add RC controlled yaw mode 
For the RC controlled yaw behaviour, we do a yaw setpoint according to
the stick expo. The uncontrolled yaw behaviour behaves undefined.
Switching between yaw behaviours makes the drone stand still for a
moment, which probably can be improved.
 2020-07-13 20:26:13 +02:00
David Jablonski 21f2e9b654 Orbit: Adjust yaw setpoint on circle approach 2020-07-13 20:26:13 +02:00
David Jablonski 037c6f592f Orbit: add more yaw behaviours 2020-07-13 20:26:13 +02:00
Matthias Grob 03735f12a2 FlightTask: correct activate() doxygen comment 2020-07-04 12:29:10 +02:00
PX4 BuildBot 19d2de0726 Update submodule matrix to latest Tue Jun 30 14:40:13 UTC 2020 
- matrix in PX4/Firmware (a1043f6ce068cc4d039d6808ef98fd8c3f379582): https://github.com/PX4/Matrix/commit/f529358e9ac28b0809572c14a964ba7ba691adc4
    - matrix current upstream: https://github.com/PX4/Matrix/commit/9a30828a0a1d79e87fd09653bb9f936d7ca0ba17
    - Changes: https://github.com/PX4/Matrix/compare/f529358e9ac28b0809572c14a964ba7ba691adc4...9a30828a0a1d79e87fd09653bb9f936d7ca0ba17

    9a30828 2020-06-30 Julian Kent - Add explicit matrix + scalar test
f3cf615 2020-06-30 Julian Kent - Do += -= and scalar *= /= in place
 2020-06-30 11:11:45 -04:00
PX4 BuildBot 38588f0c37 Update submodule ecl to latest Tue Jun 30 00:38:47 UTC 2020 
- ecl in PX4/Firmware (bd4d3f2b9929271b2616d2e1d6952059a7e8bc72): https://github.com/PX4/ecl/commit/e4b44f704bb641fa93bedc81734c5249fcd9ed42
    - ecl current upstream: https://github.com/PX4/ecl/commit/5356077a3244a9a29adfae4aeaaab900cd28e9e8
    - Changes: https://github.com/PX4/ecl/compare/e4b44f704bb641fa93bedc81734c5249fcd9ed42...5356077a3244a9a29adfae4aeaaab900cd28e9e8

    5356077 2020-06-21 kamilritz - Make flow_innov/-var a matrix Vector2f
c2801eb 2020-06-21 kamilritz - Add const modifier and increase matrix library usage
d9afc2f 2020-06-21 kamilritz - Remove repeated division by same value
d16b43a 2020-06-21 kamilritz - Get rid of non functional piece of code
c3653e6 2020-06-21 kamilritz - Add const modifier
48f0eb1 2020-06-21 kamilritz - Remove uninformative comments
4a69b41 2020-06-21 kamilritz - Increase matrix library usage even more
630be60 2020-06-21 kamilritz - Increase matrix library usage
22274b1 2020-06-21 kamilritz - Add const modifier
61c139e 2020-06-21 kamilritz - Remove unused variable
afd4f3f 2020-06-21 kamilritz - Fix typo
a3706fd 2020-06-21 kamilritz - Make relative wind computation more compact
b8f9376 2020-06-21 kamilritz - Make mag_innov/-var a Matrix::Vector3f
0ea7cd8 2020-06-25 Kamil Ritz - Attempt to fix CI firmware build test
2927132 2020-06-25 Daniel Agar - clang-format set BreakBeforeBraces to Linux style
b96c62e 2020-06-25 sevenbill - Optionalized build dependency on git
794e6ec 2020-06-25 Bill Morris - Enforce tabs via editorcofig
 2020-06-29 21:50:55 -04:00
PX4 BuildBot b463a2f0d5 Update submodule matrix to latest Sun Jun 28 12:38:27 UTC 2020 
- matrix in PX4/Firmware (2337b7e2f7b4eecddbb9103ab7672fac2c741fc5): https://github.com/PX4/Matrix/commit/674bd99f3b9284e1088d100d765b3a09cf0c192f
    - matrix current upstream: https://github.com/PX4/Matrix/commit/f529358e9ac28b0809572c14a964ba7ba691adc4
    - Changes: https://github.com/PX4/Matrix/compare/674bd99f3b9284e1088d100d765b3a09cf0c192f...f529358e9ac28b0809572c14a964ba7ba691adc4

    f529358 2020-06-27 kamilritz - Add missing const modifier
 2020-06-28 19:55:06 -04:00
bresch 1761ef3952 FlightTaskAuto: Update prev and next waypoint depending on validity 
This fixes the corner case where a NAV_DELAY command changes the
validity of the next WP but not the rest of the triplet. The logic in
FlightTask was ignoring this change because the check was only based on
WP position change.
 2020-06-26 09:48:22 -04:00
PX4 BuildBot 6dd0932158 Update submodule ecl to latest Wed Jun 24 00:39:40 UTC 2020 
- ecl in PX4/Firmware (fff83fdee69789ec9da259b564bbfe67585a4b5f): https://github.com/PX4/ecl/commit/a8bb8ea99fc92389a5cdd44cd7108416e0c49fb6
    - ecl current upstream: https://github.com/PX4/ecl/commit/e4b44f704bb641fa93bedc81734c5249fcd9ed42
    - Changes: https://github.com/PX4/ecl/compare/a8bb8ea99fc92389a5cdd44cd7108416e0c49fb6...e4b44f704bb641fa93bedc81734c5249fcd9ed42

    e4b44f7 2020-06-23 PX4 BuildBot - Update geo_lookup WMM  to latest Tue Jun 23 14:15:04 UTC 2020
4b746a3 2020-06-23 bresch - GPS Yaw: add consts and remove fusion starting message
2bafe9d 2020-06-22 bresch - GPS Yaw: wait to fuse at yaw at least once before declaring it faulty
51cd63d 2020-06-22 bresch - GPS Yaw: fall back to other yaw aiding source in case of bad data
fe2a9d3 2020-06-22 bresch - GPS Yaw: move isfinite checks in control.cpp
3c6790f 2020-06-22 bresch - GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting
ff8b5ec 2020-06-21 kamilritz - Extract general functions into utils
fda30d8 2020-06-15 Daniel Agar - geo_lookup: expand latitude to +-80 degrees
109eca5 2020-06-15 Daniel Agar - geo_lookup: create simple python script to update tables
41b9e4f 2020-06-15 Daniel Agar - geo_lookup: move tables to separate file
 2020-06-24 08:29:20 +02:00
Beat Küng 55d06241b3 fix unit tests: do not stub pthread_cond_wait 
and fix the tests instead.
Some unit tests depend on pthread_cond_wait to work as expected.
 2020-06-23 11:53:55 -04:00
Daniel Agar 22daa26955 msgs/sensor_mag: remove unused raw, add timestamp_asmple, shrink error count 
- move mpu9250 sensitivity handling back to driver (this isn't common)
 2020-06-22 10:11:22 -04:00