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Author SHA1 Message Date
Silvan Fuhrer
a2faac148f AirspeedValidator: check_airspeed_innovation() check absolute innovations 
Do no longer use tas_innovation from wind estimator and test ratio, but calculate
the innovation  based on wind estimate, TAS measurement (including currently applied scale)
and ground velocity. Use innovations directly to trigger failure.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer
f6d37ecacf AirspeedSelector: make sure we don't try to access a negative array index 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer
ccab93e68b AirspeedSelector: use Vector3f 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer
259b851ba7 WindEstimator: remove filter reset due to airspeed measurement rejection 
As the purpose of this wind estimator is to (mainly) catch airspeed failures,
we don't value estimator stability as much as the reliability to catch
actual sensor issues, and thus do not reset the filter (as this may hide
a real issue with the sensor)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer
3ad901e51d Wind Estimator: use time_literals 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer
cad7851774 AirspeedSelector: add _CAS_scale_validated to airspeed_wind for logging 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
Silvan Fuhrer
625f556b0e AirspeedSelector: airspeed scale estimation improvements and robustification 
- run airspeed scale estimation always, not in dedicated mode
- add option to apply scale automatically, with extra feasibility check
- add airspeed scale for all 3 possible airspeed instances
- clean up parameters
- add check for data stuck (non-changing airspeed data)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-22 17:00:35 +02:00
RomanBapst
8e8c6efd66 Mission block: do not care for altitdue acceptance when approaching backtransition point 
Not accepting the waypoint causes the vehicle to perform a sharp turn after passing
the land waypoint and this causes worse unexected behavior.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-22 15:37:10 +02:00
Matthias Grob
3d50adc5fe astyle: restore backwards compatibility with old pre-commit hook 
I removed the filtering logic from the shell script in #18482 because
the new pre-commit hook already takes care of it.

The problem is if you don't update the .git/hooks/pre-commit file and
use the new shell script there's no filtering
of files done and it checks all files for every file.

This commit restores backwards compatibility because it does not hurt
until I have an automatic way to update the pre-commit hook file.
 2021-10-22 12:56:21 +02:00
bresch
78fe6e2152 VelocitySmoothing: fix issue when delta vel is the same on all axes 
When the change in velocity is exactly the same on several axes, the T1
of the recumputed trajectories after time sync was set to 0 because it
was skipping both if and else if.
 2021-10-22 10:54:36 +02:00
mcsauder
9301288d1f Add parameter and logic to set RTL heading mode. 2021-10-22 09:28:30 +02:00
Matthias Grob
6938d24ec7 pre-commit hook: show all style issues, not just the ones from the first file 2021-10-21 19:07:13 -04:00
Matthias Grob
2716ce7a56 pre-commit hook: clear output with error, file name, diff, instructions 2021-10-21 19:07:13 -04:00
Matthias Grob
4454fe9770 pre-commit hook: don't unstage the entire file containing a style issue 2021-10-21 19:07:13 -04:00
Daniel Agar
19952768fb boards: try to keep test boards in sync 2021-10-21 15:59:15 -04:00
Daniel Agar
6fb1c79ef0 mixer_module: reject mixer load and reset when dynamic mixing is enabled 2021-10-21 11:27:33 -07:00
Daniel Agar
f1016dc32c boards: add systemcmds/topic_listener to CAN nodes 2021-10-21 14:06:11 -04:00
Daniel Agar
17328bef69 Jenkins attach GDB and print back trace on failure 2021-10-21 14:04:33 -04:00
David Sidrane
258cde668c nxp_fmurt1062-v1:Pared down boardconfig 2021-10-21 11:04:34 -04:00
David Sidrane
0e29cb31e6 nxp_fmurt1062-v1:Pull more code into XIP Flash 2021-10-21 11:04:34 -04:00
David Sidrane
ff3a76d918 nxp_fmurt1062-v1:Needs to usne ocram Linker script 2021-10-21 11:04:34 -04:00
Daniel Agar
ea9c64dcd9 drivers/uavcan: add new UAVCAN_SUB_* parameters to enable subscriptions 
- only GPS and mag are enabled by default
 2021-10-21 09:55:04 -04:00
Silvan Fuhrer
fd96bbf9b9 Mavlink: bump MAX_REMOTE_COMPONENTS to 16 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-21 07:48:50 +02:00
Daniel Agar
4247e1320b px4io: allow switching to rate ctrl wq 2021-10-20 09:56:42 -04:00
Beat Küng
c0f75b1c79
dshot: add missing '#pragma GCC diagnostic push' 2021-10-20 08:11:07 +02:00
Daniel Agar
757424c2c0 clang-tidy ignore modernize-raw-string-literal for now 2021-10-20 08:10:05 +02:00
Beat Küng
8a2b310b83 topic_listener: avoid code generation, use existing metadata at runtime 
This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.
 2021-10-20 08:10:05 +02:00
Beat Küng
a0e72b35a4 replay: ignore ULogMessageType::PARAMETER_DEFAULT messages 2021-10-20 08:10:05 +02:00
Beat Küng
4c73ac3805 uorb: use single byte for internal types in o_fields metadata 
Reduces flash usage by ~9KB.
 2021-10-20 08:10:05 +02:00
Landon Haugh
9aaf6e3f3e [NXP_UCANS32K146] Increase usermain stack size to prevent init overrun 2021-10-19 20:17:11 -04:00
Thomas Debrunner
f4a85fa951 rcS: Allow startup files to be located on SD card 2021-10-19 14:08:38 -04:00
alexklimaj
6daa579e46 Add ARK RTK GPS Debug, turn on UART RX DMA 2021-10-19 13:30:46 -04:00
mcsauder
21163d859e Whitespace cleanup. 2021-10-19 13:29:26 -04:00
Daniel Agar
4cf8eb8226 ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics 2021-10-18 21:39:40 -04:00
Daniel Agar
33954a904f lib/tunes: never play tunes if circuit breaker is set 2021-10-18 21:37:09 -04:00
Daniel Agar
b08f20806b ROMFS: rcS don't play startup tune until after UAVCAN and px4io 
- fixes potential duplicate startup tune
 2021-10-18 21:37:09 -04:00
Tia
6e3e6846f4 Fix srf05 driver. 2021-10-18 21:00:59 -04:00
bazooka joe
b35dd86d04 mc_pos_control: remove unused var 2021-10-18 20:37:18 -04:00
bazooka joe
c8d6f8f5e5 remove proto for unused function limit_thrust_during_landing() 2021-10-18 20:37:18 -04:00
Daniel Agar
9d7c4596f7 navigator: increase stack 1800 -> 1864 bytes 2021-10-18 20:31:35 -04:00
Daniel Agar
b20d8207a7
Jenkins: compile delete obsolete px4_fmu-v5_ctrlalloc 2021-10-18 20:11:58 -04:00
Beat Küng
3e9c88e48e px4/fmu-v5 test, uavcanv0periph: disable modules to reduce flash 2021-10-18 18:45:19 -04:00
Beat Küng
da1df5352c fix pwm: only update oneshot timers owned by the current pwm_out instance 
This fixes the case where oneshot was enabled with multi-instance pwm_out,
triggering oneshot updates too close to each other and as a result could
lead to spinning motors while disarmed.
 2021-10-18 18:45:19 -04:00
Daniel Agar
2ed623c8ae boards: px4_fmu-v6x_default disable modules to save flash 2021-10-18 18:45:19 -04:00
Daniel Agar
be868aae92 boards: px4_fmu-v5_uavcanv0periph disable modules to save flash 2021-10-18 18:45:19 -04:00
Daniel Agar
a7a2aa3b74 boards: px4_fmu-v3_test disable modules to save flash 2021-10-18 18:45:19 -04:00
Beat Küng
cc1d24a5fe ci compile_nuttx: disable fail-fast 
So that all failures can be evaluated.
 2021-10-18 18:45:19 -04:00
Beat Küng
d01f2b1d40 cubepilot/cubeorange test: disable uavcan to reduce flash usage 2021-10-18 18:45:19 -04:00
Beat Küng
dbd4426271 nxp/fmurt1062-v1: set CONSTRAINED_FLASH 2021-10-18 18:45:19 -04:00
Beat Küng
e36a8f3765 ROMFS: disable vtol airframes for kakutef7 2021-10-18 18:45:19 -04:00