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11294 Commits

Author SHA1 Message Date
Daniel Agar
a6dabbbae7 Landing slope move to standalone library 
- this is shared by both the FW position controller and navigator's
   missiong feasibility checker
 2018-08-31 14:43:51 -04:00
Daniel Agar
5207c420c3 generic position controller status/feedback message 2018-08-31 14:43:51 -04:00
Daniel Agar
223dacee64 multicopter position controller use const references 2018-08-31 14:37:49 -04:00
Beat Küng
4e6139d9fb Posix: add '#pragma GCC poison exit' 
Generally exit() should not be used on Posix, because it exits the whole
program instead of only the task.
 2018-08-31 18:11:58 +02:00
Daniel Agar
99ed46949e uORB_tests print pointer correctly 2018-08-30 19:04:13 +02:00
Roman
844671ed6d mavlink: moved to ModuleParams 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-08-30 11:13:24 -04:00
Daniel Agar
d131fea899
vehicle trajectory limit unnecessary updates and reduce logging (#10347) 
- fixes #10345
 2018-08-30 09:21:13 -04:00
Dennis Mannhart
e2e8d6d135 mc_pos_control_main: fix comment and remove line that is not used 2018-08-30 09:27:48 +02:00
Dennis Mannhart
72f1fca55c mc_pos_control: lower LOITER_TIME_BEFORE_DESCEND from 1 second to 0.2 2018-08-30 09:27:48 +02:00
Dennis Mannhart
81c5025ad8 mc_pos_control: enter FlighttaskFailsafe if Flighttask wants to be started, but all of 
the Flighttask fail. A failure of the Flighttask can occur if the demanded Flighttask does
not have the required data.
 2018-08-30 09:27:48 +02:00
Dennis Mannhart
06c10f61c1 mc_pos_control: go into Failsafe only after 1 second flighttask.update() continous to fail 2018-08-30 09:27:48 +02:00
Julian Oes
d370a7c2b5 commander: remove unused HITL transition function 
To my knowledge this hil transition function is not used anymore,
however, it makes sending the DO_SET_MODE command unnecessarily complex.
In my opinion the DO_SET_MODE command should only change the mode but
not other things like arming (already removed) and HITL state (this
commit).

Often times, I was seeing the error message "Set SYS_HITL to 1 and
reboot to enable HITL." when using QGC with a vehicle in HITL.

HITL is set via parameter which then has an impact in the startup script
where the CLI argument `-hil` is added to some of the commands that
require it (like commander as well).
 2018-08-30 09:16:02 +02:00
Julian Oes
f3e576b6f4 commander: remove set but unused HITL flag 
This flag does not seem to be used anywhere.
 2018-08-30 09:16:02 +02:00
Matthias Grob
c87e124f13 commander: refactor COM_DISARM_LAND to param wrapper 
after review comment request from @dagar. Thanks!
 2018-08-30 08:05:13 +02:00
Matthias Grob
0c6bffb66a commander: make auto disarm timeout float 
such that fractions of a second are configurable
 2018-08-30 08:05:13 +02:00
alessandro
74785f75bd ControlMath: Initialize vehicle_attitude_setpoint 2018-08-29 17:41:11 +02:00
Daniel Agar
715fad8bf1 commander send_vehicle_command don't ignore cmd argument 
- #10359
 2018-08-29 16:05:14 +02:00
mcsauder
bf87270ded Doxy documenting in send_event.cpp/h and px4_module.h. 2018-08-29 09:50:21 +02:00
bresch
124a34e8f6 Failure Detector - Add space between Failure and Detector in @group field 2018-08-28 11:23:25 -04:00
bresch
9be0c97346 Failure Detector - use bitmask field instead of boolean in vehicle_status msg (failure_detector_status) and instead of struct in class 2018-08-28 11:23:25 -04:00
bresch
0001031e59 Failure Detector - Rename parameters and change group 2018-08-28 11:23:25 -04:00
bresch
93ba11c218 Failure Detector - Move COM_FAIL_x params to dedicated _param.c file 2018-08-28 11:23:25 -04:00
bresch
92b00ec07e Failure Detector - Do not trigger force_failsafe flag anymore 2018-08-28 11:23:25 -04:00
bresch
fea91c96e8 Failure Detector - Use dedicated parameters for attitude checks 2018-08-28 11:23:25 -04:00
bresch
72f2317c95 Failure Detector - move "force_failsafe" flag inside circuit_breaker protection; remove PX4_WARN and send mavlink msg only once 2018-08-28 11:23:25 -04:00
bresch
9a6fef62ab Vehicle_Status_msg - Add attitude_failure flag to vehicle_status message 2018-08-28 11:23:25 -04:00
bresch
c4c8e8d2db Failure Detector - Various cleanup and style changes. 
- use pragma once guard in FailureDetector.hpp
- send Commander parent to ModuleParams and remove update_params() method
- simplify attitude checks
- FailureDetector::get_status() (previously named "get") is now a constant method that returns a constant reference
 2018-08-28 11:23:25 -04:00
bresch
04c765f497 Failsafe PWM - Add PWM_MAIN/AUX_FAILx parameters to set "failsafe" values. 2018-08-28 11:23:25 -04:00
bresch
4e1027f292 FailureDetector - Add check for non-zero roll/pitch failure parameters. Rename 'result' into 'updated' 2018-08-28 11:23:25 -04:00
bresch
246b3ebc23 FailureDetector - Update failure detector logic in commander. 2018-08-28 11:23:25 -04:00
bresch
7908f75b8b FailureDetector - New class, first working simple implementation. Outputs PX4_ERR messages if roll or pitch is exceeded. 2018-08-28 11:23:25 -04:00
Sebastian Verling
d3bb3631ec fixed sign error in mag calibration 2018-08-28 14:28:35 +02:00
Dennis Mannhart
3ff8cd33a1 mc_pos_control: smooth takeoff requires current position as reference 2018-08-28 10:14:54 +02:00
Daniel Agar
6142e2c4b8 uavcannode move to cdev lib 2018-08-28 09:17:53 +02:00
Daniel Agar
087c8cacb5 uavcanesc move to cdev lib 2018-08-28 09:17:53 +02:00
Daniel Agar
82ad7d77fa airspeedsim move to cdev lib 2018-08-28 09:17:53 +02:00
Daniel Agar
4da5e61f4a uavcan move to cdev lib 2018-08-28 09:17:53 +02:00
Daniel Agar
61db21b7f0 syslink cleanup unnecessary Device CDev usage 2018-08-27 13:14:15 -04:00
Daniel Agar
dbf2d25e2f uORB move to standalone CDev 
- uORB topics should not be Devices with bus, address, device id
 2018-08-27 13:14:15 -04:00
Hamish Willee
bbc0c28c2c Improve docs for SD Log profile 2018-08-27 09:38:00 +02:00
Daniel Agar
72792cef43
posix-configs shell scripts use /bin/sh to maximize compatibility (#10292) 
- fix ocpoc line endings
 2018-08-25 11:02:37 -04:00
Philipp Oettershagen
c997159e32 Fixed-wing autoland: Introduce parameter to enable/disable the early activation of the landing configuration 2018-08-24 10:13:07 -04:00
Philipp Oettershagen
334aa57a5f Fixed-wing autoland: Remove the dynamic altitude acceptance calculation and just use a simple separate landing altitude acceptance radius instead. This gives users that do not use LOITER-TO-ALT waypoints more control over their landing procedure 2018-08-24 10:13:07 -04:00
Philipp Oettershagen
953cff7ba0 Fixed-wing autoland: Parameter description fixes 2018-08-24 10:13:07 -04:00
Philipp Oettershagen
20c02ae093 Fixed-wing autoland: Adapt according to @dagar's and @antiheavy's comments. 2018-08-24 10:13:07 -04:00
Philipp Oettershagen
08ceddaddb Fixed-wing autoland: ALWAYS flare when close to the ground, independently of the horizontal distance to the land WP. This avoids that we crash into the ground at negative pitch and guarantees that the flare always starts at the same altitude above ground. However, the motor shutoff still depends on the horizontal distance to the LAND WP, thus avoiding that the motor is shut off prematurely 2018-08-24 10:13:07 -04:00
Philipp Oettershagen
ec4ccc1fcd Fixed-wing autoland: Use a more appropriate (i.e. mostly tighter) altitude acceptance radius than just the standard altitude acceptance parameter (which may be too large to allow a precise autoland) 2018-08-24 10:13:07 -04:00
Philipp Oettershagen
4c4f585ad5 Fixed-wing autoland: 1) The landing configuration (flaps, different airspeed) is now already set during the loiter down instead of at the start of the landing approach. This is done to avoid any mode changes (which can cause altitude/airspeed jumps) so close to the gorund. 2) A scaling factor for the TECS throttle time constant was added which allows tighter throttle control during the landing (i.e. close to the ground) than high up in the air 2018-08-24 10:13:07 -04:00
Beat Küng
b6b935026a mavlink: switch back from _mavlink_timesync.sync_stamp to hrt_absolute_time 
- the timestamp is only used for logging and log analysis. For that it's
  important to have the timestamp when a setpoint becomes active.
- there was a consistent problem with the position_setpoint_triplet
  timestamp, where the timestamp was just bogus. Timesync seems to work
  correctly though. Might be a problem on the sender side?
  For example here:
  https://logs.px4.io/plot_app?log=41918a7d-4c1d-464d-9abe-aef2c0818d92
 2018-08-22 08:31:37 +02:00
dakejahl
f62e89638f navigator: add yaw setpoint to rcloss state (#10291) 
This fixes the issue where the vehicle yaws in a seemingly random direction when RC is lost.
 2018-08-21 15:05:55 -04:00