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18121 Commits

Author SHA1 Message Date
David Sidrane a1d5cb766a ocpoc:Added BOARD_OVERRIDE_PX4_GUID 2018-10-03 10:30:10 +02:00
David Sidrane cca2fd8471 eagle:Added BOARD_OVERRIDE_PX4_GUID 2018-10-03 10:30:10 +02:00
David Sidrane 39a0021251 ver:Add PX4 GUID (MFGUID and UID will be deprecated later) 2018-10-03 10:30:10 +02:00
David Sidrane 7050657a6e board_identity:Add stm32 board_get_px4_guid and board_get_px4_guid_formated API 2018-10-03 10:30:10 +02:00
David Sidrane 1c2f8bd4c4 board_identity:Fix potential buffer over flow 2018-10-03 10:30:10 +02:00
David Sidrane f24a052355 board_common:Add PX4 GUID, deprecate other UUID API 
The form of the PX4  GUID is as follows:
   offset:0         1         2         -           17
      <ARCH MSD><ARCH LSD><MSD CPU UUID>...<LSD CPU UUID>

   Where <ARCH MSD><ARCH LSD> are a monotonic ordinal number assigned by
   PX4 to a chip architecture (PX4_SOC_ARCH_ID). The 2 bytes are used to
   create a globally unique ID when prepended to a padded CPU ID.

   In the case where the CPU's UUID is shorter than 16 bytes it will be
   padded with 0's starting at offset [2] until
   PX4_CPU_MFGUID_BYTE_LENGTH-PX4_CPU_UUID_BYTE_LENGTH -1
   I.E. For the STM32
   offset:0         1     2  3  4  5  6             -            17
     <ARCH MSD><ARCH LSD>[0][0][0][0]<MSD CPU UUID>...<LSD CPU UUID>

   I.E. For as CPU with a 16 byte UUID
   offset:0         1         2         -           17
     <ARCH MSD><ARCH LSD><MSD CPU UUID>...<LSD CPU UUID>
 2018-10-03 10:30:10 +02:00
David Sidrane 8bec5fc37b px4_micro_hal:Define PX4_SOC_ARCH_ID 2018-10-03 10:30:10 +02:00
Martina e73c50ad9c mc_pos_control_main: enable continuos update of vehicle_trajectory_waypoint 
desired such that it's possible to use it in manual modes
 2018-10-02 09:45:48 -04:00
Beat Küng fb04a611c5 gps: reduce stack size 
A buffer size of the gps drivers got reduced by 100 bytes.
 2018-10-02 14:14:10 +02:00
Beat Küng cef6cf96f8 gps: reduce delay by reducing the sleep time 
This uses now the same sleep time logic as mavlink, depending on the
baudrate.

CPU usage on a Pixracer for different sleep times:

#num reads/sec    sleep time         CPU usage
17-18             2.8ms              0.233-0.31% (this PR)
12                5ms                0.155-0.3%
9-10              10ms               0.155-0.233%
6                 20ms               0.155-0.233% (previous)
 2018-10-02 14:14:10 +02:00
Beat Küng 979e8ad28b gps drivers: update submodule 2018-10-02 14:14:10 +02:00
Beat Küng 403f909e3a mavlink_receiver: simplify sleeptime calculation 2018-10-02 14:14:10 +02:00
Beat Küng 23094b9ac9 ekf2: subscribe only to 2 gps topic instances 2018-10-02 14:14:10 +02:00
Matthias Grob bee6a6b8b0 Refactor: Use new matrix::Vector2f constructor 2018-10-01 08:10:21 -04:00
Matthias Grob ada0179cda matrix lib: update to latest version 2018-10-01 08:10:21 -04:00
Bart Slinger 9530b6c24d bebop 2 disable motors on kill (#10605) 2018-09-30 11:40:51 -04:00
Daniel Agar b83cb79596 Update submodule DriverFramework to latest Sun Sep 30 08:37:23 EDT 2018 (#10604) 
- DriverFramework in PX4/Firmware (1ce7e8d89a16262afe07d7487e55a2ec05985627): https://github.com/PX4/DriverFramework/commit/721ace3e797f141f0950144bace6a30f6aa1325a
    - DriverFramework current upstream: https://github.com/PX4/DriverFramework/commit/9f456acb3c8d70df3cd8906123388935dd6303f6
    - Changes: https://github.com/PX4/DriverFramework/compare/721ace3e797f141f0950144bace6a30f6aa1325a...9f456acb3c8d70df3cd8906123388935dd6303f6

    9f456ac 2018-09-30 Bart Slinger - Increase DriverFramework priority to SCHED_PRIORITY_MAX
 2018-09-30 10:28:52 -04:00
Paul Riseborough 72f85e4b2d ekf2: Handle blending of dissimilar rate GPS data (#10570) 
A filtered update update interval is calculated for each receiver.
If dissimilar interval data is detected, blending occurs when data is received from the slower of the receivers.
If similar interval data is detected, blending occurs when receiver data with similar time stamps is available.
If no data is received from either receiver for longer than 300msec, then no blending will be performed and the most recent data will be used instead.
 2018-09-29 09:23:19 -04:00
Beat Küng df9a09ce9d PreflightCheck: rename 'Estimator internal checks' to 'Position unknown' 2018-09-29 09:17:53 -04:00
Beat Küng 30cf287f7b PreflightCheck: update messages & use proper log level 2018-09-29 09:17:53 -04:00
Beat Küng af07497b21 mavlink_log: add mavlink_log_warning 2018-09-29 09:17:53 -04:00
Beat Küng ee928c20f0 PreflightCheck: improve error message in case there is no sensor data 2018-09-29 09:17:53 -04:00
Beat Küng 7f0f391fe1 GPS PreflightCheck: improve failure reporting 
- previously it was possible to get a Position Control rejected message
  without further advice what was actually wrong. So now we report warnings
  even if gps is not required for arming (which could be annoying too...).
- the GPS failure message was very generic, making it hard to debug the
  cause. Now we check every bit and send an appropriate warning

All strings were checked not to exceed the maximum length of 50 characters.
 2018-09-29 09:17:53 -04:00
Beat Küng f1966aa3fd PreflightChecks: improve labels by not capitalizing everything 
estimator status init is not required.
 2018-09-29 09:17:53 -04:00
Beat Küng 0784725ad3 ekf2: only report gps failure flags that are enabled 
So that they can be used for reporting errors.
 2018-09-29 09:17:53 -04:00
Beat Küng 0e1e0b997d mavlink_receiver: reduce s_variance_m_s for HIL GPS message from 1 to 0.1 
1 was too high to pass the EKF2 test (EKF2_REQ_SACC which is 0.5 by default)
and thus switching into position mode in HIL was not possible.
 2018-09-29 09:17:53 -04:00
Beat Küng 465d399e8f land_detector: move _parameterSub to the right place 2018-09-28 16:04:40 +02:00
Beat Küng b69dd50d90 land_detector: cleanup subscriptions & publications 2018-09-28 16:04:40 +02:00
Beat Küng 0ac5f2cd8b ulanding radar: add UART config param 2018-09-28 10:29:31 +02:00
Beat Küng 079a43238f mc_pos_control: print Failsafe message only once when entering failsafe 2018-09-28 08:59:22 +02:00
Beat Küng 720b3307d8 mc_pos_control: limit flight task init failure printf's 
There were cases where the console was continuously spammed with activation
failure messages.
 2018-09-28 08:59:22 +02:00
Beat Küng ff69158836 mc_pos_control: add missing orb_unsubscribe 2018-09-28 08:59:22 +02:00
Beat Küng f7b65c577b mc_pos_control: refactor to use ModuleBase 2018-09-28 08:59:22 +02:00
David Sidrane d3c37e0206 fmu:fix doumantation and pwm 8 useage 2018-09-28 07:48:32 +02:00
David Sidrane c7edd9f31b fmu:Add MODE_4PWM1CAP, MODE_5PWM, MODE_5PWM1CAP 
This extends the  Capture support for FMU
   CHAN 5 and 6.
 2018-09-28 07:48:32 +02:00
Julien Lecoeur a346619623 Logger: add debug_array topic 2018-09-27 12:33:12 -04:00
Julien Lecoeur cafd2f5352 Add example usage of topic debug_array in px4_mavlink_debug app 2018-09-27 12:33:12 -04:00
Julien Lecoeur cb3d86a609 Add support for mavlink message DEBUG_FLOAT_ARRAY 2018-09-27 12:33:12 -04:00
Bart Slinger 77d053ba65 Bebop 2: update DriverFramework with MPU6050 fix 2018-09-26 21:34:22 +02:00
David Sidrane 72b5a8c0a5 libuavcan: update with Kinetis int priority disable (#10564) 2018-09-25 11:52:07 -04:00
Beat Küng 300e66ae6a SYS_COMPANION: deprecate this param 
Replaced with the more generic serial config params.

rc.mavlink contains automatic transition support that can be removed after
the next release.
 2018-09-25 07:53:29 +02:00
Beat Küng f0c0b6f6e8 params: remove unused SENS_EN_* params 
Replaced with the more general serial config params.
 2018-09-25 07:53:29 +02:00
Beat Küng f2f9a7aadc px4_module.h: remove unnecessary ; 2018-09-25 07:53:29 +02:00
Beat Küng babe300960 sf0x: avoid reopening the UART on startup 
And:
- return correct return code in SF0X::init()
- remove unneeded SF0X::probe()
 2018-09-25 07:53:29 +02:00
Beat Küng b5e552924a serial drivers/modules: add yaml config files 2018-09-25 07:53:29 +02:00
Beat Küng dae292631c Tools/serial: use per-module serial port config params, instead of per-port 2018-09-25 07:53:29 +02:00
Beat Küng dc412e4cd5 px_process_params.py: fix default argument for --inject-xml 2018-09-25 07:53:29 +02:00
Beat Küng 546886259f boards: remove GPS_DEFAULT_UART_PORT 
Not required anymore.
 2018-09-25 07:53:29 +02:00
Beat Küng 98ac557ebc gpssim: remove unused uart_path 2018-09-25 07:53:29 +02:00
Beat Küng ced37fdf30 mavlink_main: use px4_get_parameter_value for baudrate, datarate and mode 2018-09-25 07:53:29 +02:00