263b00b65f
ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage
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- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
2021-03-05 18:25:14 -05:00
967d35a6b6
rate limit most parameter_update subscriptions
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- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
2021-01-10 21:09:15 -05:00
98cff94702
px4_work_queue: directly support SITL lockstep
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- the purpose is to ensure that every WorkItem (and WorkItems scheduled
by WorkItems) is allowed to run to completion every step
- per workqueue register a lockstep component whenever a work item is
added (if not already registered)
- once the work queue is empty unregister component
2021-01-04 09:38:05 +01:00
20c2fe6d28
estimator messages add explicit timestamp_sample
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- timestamp is uORB publication metadata
- this allows us to see what the system saw at publication time plus the latency in estimation
2020-09-04 10:48:26 -04:00
9ccc1db649
estimator_status split out estimator_states
2020-09-04 10:48:26 -04:00
97fc1db768
vehicle_local_position: rename yaw -> heading and add reset logic
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- vehicle_global_position yaw removed (redundant)
2020-08-10 11:42:03 +02:00
fa44cd5cd5
px4_work_queue: rename navigation_and_controllers -> nav_and_controllers
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- keep the thread within the current NuttX max length
2020-07-14 09:48:47 -04:00
71dcf8d619
sitl: use lockstep components API
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- avoids the need for ekf2_timestamp publications by q and lpe
- adds logger to the lockstep cycle and makes it poll on ekf2_timestamps
or vehicle_attitude. This avoids dropped samples (required for replay).
2020-06-23 11:53:55 -04:00
3897030c6f
Support odometry velocity in body and local frame ( #14703 )
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* Update submodule ECL
* increase lower bound on EVV param
2020-05-13 12:43:02 +02:00
05886e053f
mavlink_log_info: always print to console and merge with mavlink_and_console_log_info
2020-05-12 08:53:51 +02:00
5ffe88672e
vehicle_odometry: add timestamp_sample field for latency monitoring
2020-04-28 13:58:43 -04:00
326d8efc16
move attitude controllers to new wq:attitude_ctrl
2020-04-27 21:34:35 -04:00
a89b69b0ea
vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz)
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* attitude_estimator_q: get velocity from local position (if available)
2020-03-11 23:57:43 -04:00
b53bd2b77f
LPE: make compatible with lockstep simulation
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This fixes SITL with lockstep when using LPE and q estimator.
The required changes are:
- Publish ekf2_timestamps because simulator_mavlink expects them.
- Run LPE at 250 Hz instead of 80 Hz in order to keep everything in
lockstep running at 250 Hz.
2020-02-26 15:46:58 +01:00
c270e75156
vehicle_local_position: delete unused and redundant dist_bottom_rate
2020-01-18 12:50:57 -05:00
b73c80428e
ECL: Clean velPos logging, deprecate ekf2_innovations msg
2019-12-05 11:29:29 +01:00
f271efaf62
local_position_estimator: move to WQ and delete unused SubscriptionPollable
2019-11-22 16:02:54 -05:00
2ad12d7977
sensors: create vehicle_angular_velocity module ( #12596 )
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* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
2019-08-06 12:55:25 -04:00
79d4c09d59
uORB::Publication simplify and cleanup
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- base class is now template
- drop linked list
- virtualization no longer required
2019-06-12 08:48:19 -04:00
2c63e335e9
uORB::Subscription subscribe directly to uORB device node object
2019-06-03 17:06:21 -04:00
f08c00f324
Parameter update - Rename variables in modules/fw_pos_control
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using parameter_update.py script
2019-04-03 15:38:50 +02:00
cfd1be584e
Feature: VIO: add ODOMETRY stream ( #11084 )
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* mavlink_messages: remove LOCAL_POSITION_NED_COV stream
* mavlink_messages.cpp: add ODOMETRY stream
* add MAV_ODOM_LP parameter to activate odometry loopback
* EKF2: add vehicle_odometry publisher
* Replace VISION_POSITION_ESTIMATE loopback with ODOMETRY
* LPE: add vehicle_odometry publisher
* set vehicle_odometry local_frame field
* mavlink_messages.cpp: ODOMETRY frame_id depends on MAV_ODOM_LP
2018-12-21 12:54:04 -05:00
10c20b38ad
Fix many format strings.
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Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
(Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)
2018-10-27 12:44:51 +02:00
8325724079
general fixes on VIO data access
2018-09-18 09:52:33 +02:00
efe312d4a6
style and format clean
2018-09-18 09:52:33 +02:00
048ff56890
lpe: add vehicle_odometry and data validation handlers; improve inout interface
2018-09-18 09:52:33 +02:00
da68ea0d11
estimator_status delete unused nan_flags
2018-08-03 17:42:48 -04:00
9ce83f2208
fix all sign-compare warnings
2018-07-01 09:36:55 +00:00
cf74166801
double promotion warning fix or ignore per module
2018-07-01 09:36:55 +00:00
9483885ed9
lpe : update for compatibility with new navigation limits architechture
2018-06-09 13:38:04 +02:00
d75fd72c02
stop manually defining physical constants
2018-04-19 07:24:58 +02:00
3b5b12e1d1
move baro and magnetometer data out of sensor_combined
2018-04-11 23:26:58 -04:00
7ee464c264
LPE: refactor to use ModuleParams
2018-03-13 17:35:15 +01:00
9fb9b2916a
LPE: use default & delete keywords for constructors & destructors
2018-03-13 17:35:15 +01:00
458db2e508
vehicle_global_position remove redundant evh and evv
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- vehicle_status_flags condition_global_velocity_valid is also unnecessary
2018-03-05 13:20:28 -05:00
b9081fb0ab
vehicle_global_position delete unused pos_d_deriv
2018-03-05 01:41:18 -05:00
c294393377
local_position_estimator: update local_position publication
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Ensure all data is set.
2018-01-29 22:30:34 +01:00
dd1d0adfef
LPE : add support for precision landing measurement fusion
2018-01-15 10:27:23 +01:00
ec1c37e1af
modules: lpe: push sensor status update to object; prioritize lidar readings over sonar
2018-01-14 22:52:41 +01:00
b512759336
modules: lpe: refactor fusion bitmask
2018-01-14 22:52:41 +01:00
8b3ea27bb3
correct coding style
2018-01-14 12:55:47 +01:00
28a5287a91
add FUSE_MOCAP, FUSE_LIDAR, and FUSE_SONAR to select more senors
2018-01-14 12:55:47 +01:00
b5be990109
lpe: fix incorrect setting of local_position.z_global
2017-12-07 08:20:16 +00:00
5a17f6b2d5
lpe: update _sensorTimeout init on constructor
2017-11-03 23:45:43 +01:00
483f0d55e0
lpe: style fix
2017-11-03 23:45:43 +01:00
051822eee1
lpe: remove unneeded subscriber to manual_control_setpoint
2017-11-03 23:45:43 +01:00
e6efb5ec0a
lpe: update _sensorTimeout and _sensorFault to handle support of more sensors
2017-11-03 23:45:43 +01:00
bfe28c1df3
lpe: check for distance sensor orientation
2017-09-25 08:52:21 +02:00
b4755297ec
delete control_state and cleanup vehicle_attitude ( #7882 )
2017-09-21 16:24:53 -04:00
5bea264a5f
Matrix Quaternions: Apply simpler call for constructor and copying to all remaining modules
2017-09-21 17:44:57 +02:00
Daniel Agar