1d2e424c4c
commander: calibration replace sensor_combined with vehicle_acceleration
2020-08-23 17:38:27 -04:00
4dee5d6a1c
commander: level calibration print changes
2020-08-21 10:12:13 -04:00
c76cdaf8a8
commander: mag calibration add simple offset only quick cal using GPS & attitude
2020-08-21 10:12:13 -04:00
f6ad9bdb64
commander: don't set RC lost during calibration
2020-08-21 10:12:13 -04:00
5242160a26
commander: accel calibration reduce status length
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- this keeps the string within a single Mavlink STATUSTEXT
- fixes #14829
2020-08-21 10:12:13 -04:00
d824706571
commander: mag calibration keep manually configured special rotations
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- ROTATION_PITCH_9_YAW_180 and ROTATION_ROLL_90_PITCH_68_YAW_293 are
kept if manually configured
2020-08-21 10:12:13 -04:00
0bb6ad01bd
commander: mag calibration rotation also compare other internal mags
2020-08-21 10:12:13 -04:00
07d727a4a8
commander: mag calibration auto rotation simplify applying calibration and rotation
2020-08-21 10:12:13 -04:00
1a6eb7859c
commander: mag calibration auto rotation improvements
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- skip rotations that are identical or very close
- compute mean squared error (MSE) to skip a sqrt
2020-08-21 10:12:13 -04:00
bc6e4c8a92
commander: accel calibration use all queued data
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- print each calibration when finished
2020-08-21 10:12:13 -04:00
f9aca05ede
commander: gyro calibration use all queued data
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- print calibration status when finished
2020-08-21 10:12:13 -04:00
f2c9865c9b
sensor mag add minimal queue and calibration check all
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- mag calibration acceptance check sphere/ellipsoid fit status
2020-08-21 10:12:13 -04:00
b2e8f6839f
commander: mag calibration improve console and debug output
2020-08-21 10:12:13 -04:00
2bb04f2261
commander: increase COM_ARM_MAG_ANG 35 -> 45 degrees
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- in practice this is mostly useful for identifying incorrect rotations
which we mostly have in 45 degree increments
- handling a vehicle on the ground can easily disturb one mag by more than 30 degrees, so this is often distracting noise
2020-08-21 10:12:13 -04:00
e6fd5a43bc
commander: magnetometer calibration automatically set the rotation of external magnetometers relative to the first internal
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- see #15120 for more detail
2020-08-21 10:12:13 -04:00
27f23ac290
move initial sensor priority to parameters and purge ORB_PRIORITY
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- CAL_ACCx_EN -> CAL_ACCx_PRIO
- CAL_GYROx_EN -> CAL_GYROx_PRIO
- CAL_MAGx_EN -> CAL_MAGx_PRIO
2020-08-21 10:12:13 -04:00
971b1e4b4d
sensors: move mag aggregation to new VehicleMagnetometer WorkItem
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- purge all reminaing magnetometer IOCTL usage
- mag calibration add off diagonal (soft iron) scale factors
2020-08-21 10:12:13 -04:00
ad148af2fd
commander: mag_calibration move to Magnetometer calibration helper
2020-08-21 10:12:13 -04:00
d92ddffa5d
commander: add simple accelerometer quick calibration
2020-08-21 10:12:13 -04:00
e3e8c55e82
accel & gyro calibration helpers
2020-08-21 10:12:13 -04:00
7958586f35
Only use roll/pitch not centered for RC override, and increase override threshold
2020-08-20 11:50:16 -04:00
f19a20dc43
commander: preflight power check ignore module count if USB connected
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- this check isn't relevent during bench testing
2020-08-12 11:48:38 -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
33fb9d0c62
Commander: update home position yaw in case of EKF yaw reset
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This makes sure the drone lands in the correct orientation
during RTL even if the initial yaw at takeoff was wrong.
2020-08-10 11:42:03 +02:00
3002e74b4f
mavlink: publish telemetry_status per instance with all HEARTBEATS from the same system
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- one telemetry_status publication per mavlink instance
- each telemetry_status has an array of HEARTBEATS
2020-08-07 12:23:52 -04:00
dfc2160489
commander: update vehicle_status with at least 2Hz
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So we're sure it's logged.
2020-08-04 10:53:20 -04:00
5f8c6512b3
vehicle_status: add latest arming/disarming reason
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Makes it easier to debug.
2020-08-04 10:53:20 -04:00
c40cf9a626
uORB: remove lost message count per DeviceNode
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- update 'uorb status' to print basic info for all advertised DeviceNodes
- report vehicle_command gaps in commander, navigator, mavlink
2020-08-04 10:34:11 -04:00
f5f2897486
land_detector: multicopter ground contact fixes, improvements, and cleanup
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- if "landed" and "maybe_landed" states are false then both the "hit_ground" and the "low_thrust" condition need to be true in order to detect landing
- ground contact MC NAN setpoint workaround
- ground contact additionally check acceleration setpoint
- schedule with vehicle_local_position updates (most updates require valid local position)
- don't allow LNDMC_Z_VEL_MAX to exceed MPC_LAND_SPEED
- ground contact horizontal movement checks default to failed if estimates aren't available
2020-08-02 13:37:23 -04:00
9d97148ce8
commander: fix takeoff and land CI test
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This fixes the takeoff and land CI test where we do a takeoff and land
without RC connected.
In my opinion it does not make sense to go into RC lost failsafe if
a datalink is still available.
Of course, this can be dangerous if someone has a companion computer
connected which gets detected as "data link" but actually has no
connection to the ground station.
2020-07-17 10:30:13 -04:00
40883a06cf
Commader: save 53 unnecessary characters of output string
2020-07-13 10:34:17 -04:00
f01195c13f
make kill switch engaged a warning only if the vehicle is flying
2020-07-13 10:34:17 -04:00
be043d24a0
commander: rephrase or change message importance for some errors/warnings that happen often
2020-07-13 10:34:17 -04:00
f792cc7b6b
publish battery_dangerous message if battery level is dangerous
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-07-10 09:37:23 -04:00
57cbf212be
PreFlightchecks: remove duplicated VTOL mode prearm check
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This removes the check for the current position of the VTOL swtich, as arming is already prevented if in transition mode,
plus also if VTOL and in fixed-wing mode (unless CBRK_VTOL_ARMING is set).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-07-09 10:41:43 -04:00
6d1ce57362
Add Land as Geofence Action
2020-07-09 10:32:10 -04:00
743898d574
Commander: failure detector, automatically disarm on a ESC failure
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2020-07-01 08:55:54 +02:00
a7f2f2908b
Commander: make optional tilt-check after takeoff (failure detector).
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- Introduced COM_LKDOWN_TKO parameter
- Introduced auto disarm for lockdown state
- Do not trigger flight termiantion if system is in lockdown
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2020-07-01 08:55:54 +02:00
6358dd400a
failure detector: added esc failures detection
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2020-07-01 08:55:54 +02:00
e9eae1bd76
Refactor: Name manual_control_setpoint the same way everywhere
2020-06-22 12:06:27 -04:00
f55ed0992c
accel and gyro calibration refactor and cleanup
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- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
- sensor_accel and sensor_gyro are now always raw sensor data
- calibration procedures no longer need to first clear existing values before starting
- temperature calibration (TC) remove all scale (SCL) parameters
- gyro and baro scale are completely unused
- regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
2020-06-17 22:50:09 -04:00
16323256bc
gyro calibration: add median filter to motion detection
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The bmi088 has a bit more noise and tends to trigger it.
This improves reobustness against noise, and increases the threshold
slightly.
2020-06-11 12:25:13 -04:00
7ff25373e4
powerCheck: add power redundancy check
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A parameter spcifies what the redundancy level for 5V rail supply
needs to be and a check makes sure that it's available before
taking off such that the user is aware of a broken or disconnected
redundant power module.
2020-06-10 10:13:51 -04:00
14853539e3
CBRK_FLIGHTTERM: Does not affect takeoff failure safety detection ( #14972 )
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* CBRK_FLIGHTTERM: Clarify does not affect takeoff failure safety detection
* FD_FAIL_P FD_FAIL_R - clarify apply on takeoff
* Improve param text
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2020-05-28 08:30:48 +02:00
ade8a13203
commander: CMD_COMPONENT_ARM_DISARM don't block disarm if maybe_landed
2020-05-25 11:43:14 -04:00
4f82f028e7
airspeed_calibration: Fix FD leak
2020-05-19 13:48:43 +02:00
03bafd5581
powerCheck: make 5V warning threshold 0.1V lower
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Because of warnings on every flight on setups without
any need for concern. Some even high quality supply voltage regulators
that are rated for 5V can with tolerances and load get lower than 4.9V.
2020-05-13 11:37:20 -04:00
05886e053f
mavlink_log_info: always print to console and merge with mavlink_and_console_log_info
2020-05-12 08:53:51 +02:00
41660c3550
commander: update EKF accel & gyro bias arming limits
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- these should have been rescaled when the ecl/EKF filter update period changed from 8 ms -> 10 ms
2020-05-07 01:21:47 -04:00
10b289b43c
commander: only report manual control lost if found once
2020-05-06 13:53:54 -04:00
Daniel Agar