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22496 Commits

Author SHA1 Message Date
Matthias Grob
a796903e21 ManualControl: fix arm button use case 2021-03-04 10:41:21 +01:00
Matthias Grob
37ea78a7ff Commander: move rc arming to ManualControl class 
Separating the different arming methods is the next step.
 2021-03-04 10:41:21 +01:00
Matthias Grob
00a4133042 ManualControl: make members private again 2021-03-04 10:41:21 +01:00
Matthias Grob
ee2d408edc Commander: move rc availability to ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob
0e1f1a9f57 Commander: use parameters directly in ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob
dda895c94b Commander: split out rc override logic into ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob
a4da15edf5 Commander: RC override back to stick change 
Instead of deflection mainly because:
- Spring loaded throttle -> bad user experience
- Stale RC data -> Vehicle not savable
 2021-03-04 10:41:21 +01:00
Matthias Grob
3d87982bba Commander: reintroduce last stick position 2021-03-04 10:41:21 +01:00
Julian Kent
cdadfabccc Bring back RC throttle override with a parameter to disable it 2021-03-04 10:41:21 +01:00
Matthias Grob
28b89b024f MulticopterPositionControl: fix Takeoff ramp use 
- guard against NAN speed_up limit as input to ramp see #14339
- allow negative speed_up limit for ramp to work
 2021-03-03 18:53:56 +01:00
Daniel Agar
0eb327743e move min/max distance to ground limits to FlightTask ManualAltitude 2021-03-03 18:53:56 +01:00
Daniel Agar
ecd5e57ab5 remove debug 2021-03-03 18:53:56 +01:00
Daniel Agar
0ada59e57b ekf reset remove NAN checks 2021-03-03 18:53:56 +01:00
Daniel Agar
7a7d316a32 Update src/modules/mc_pos_control/PositionControl/CMakeLists.txt 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar
87f835710b Update src/modules/flight_mode_manager/FlightModeManager.hpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar
c891db19f9 Update src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2021-03-03 18:53:56 +01:00
Daniel Agar
266ea377da move takeoff state machine flight_mode_manager -> mc_pos_control 2021-03-03 18:53:56 +01:00
Daniel Agar
c9a2d0ed34 IMU_GYRO_RATEMAX set system default to 400 Hz 
- MC default is still 800 Hz
 2021-03-02 10:08:49 -05:00
Kalyan Sriram
b257f9d1fd actuator: add support for MAV_CMD_DO_SET_ACTUATOR 
Adds support for using the MAVLink command MAV_CMD_DO_SET_ACTUATOR to
update the actuator values on control group 3 aux{1, 2, 3}. A simple
deconfliction with rc_update is implemented: when a MAVLink command is
sent, RC is disabled for that channel until a major stick movement is
detected.
 2021-03-02 12:41:02 +01:00
Beat Küng
ada05165f1
mc_pos_control_params: fix param descriptions for negative values 2021-03-02 08:29:58 +01:00
Daniel Agar
0ba1bc0ce1 MPC_POS_MODE remove old metadata and explicitly handle invalid configuration 2021-03-01 09:10:11 +01:00
Alex Mikhalev
d01806a0c6 lib/battery: Fix cell voltages with >10S 
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
 2021-02-28 22:10:23 -05:00
Daniel Agar
9d0c966b15 sensors: publish sensor_selection initially regardless of SENS_IMU_MODE 
- in multi-EKF mode the EKF selector becomes repsonsible for sensor
selector rather than the sensors module
 - this updates the sensors module to still make the initial primary IMU
selection on startup before the EKF selector (including if the
estimators never fully initialize)
 2021-02-27 20:19:05 +01:00
Daniel Agar
9d47f7ecda simulator: make first accel/gyro simulated FIFO 2021-02-26 18:40:37 -05:00
Daniel Agar
6b1e7ffdb8 rc_input: fix possible string truncation (-Werror=stringop-truncation) 2021-02-26 17:56:14 -05:00
Daniel Agar
e0ade94d25 platforms: add px4_udelay and px4_mdelay 
- NuttX: up_udelay and up_mdelay
 - Linux: usleep and msleep
 2021-02-26 17:56:14 -05:00
bresch
be9b3404a2 lpf test: test several sampling frequencies 2021-02-26 14:06:45 -05:00
bresch
3277648959 lpf test: move to common function 2021-02-26 14:06:45 -05:00
bresch
844602c961 Add unit tests for Butterworth 2nd order low-pass filter 2021-02-26 14:06:45 -05:00
Matthias Grob
c2151cb4fa Commander: remove unused arm mode command residue 2021-02-26 07:38:02 -05:00
Daniel Agar
94bcda7c57 navigator: poll mission to run feasibility checks immediately 2021-02-26 10:28:49 +01:00
Igor Mišić
5f9a98e316 drivers/gps: update RTC only if time drift for 5s 
Add interrupt pause comment to help future code archeologists
 2021-02-26 08:36:41 +01:00
Daniel Agar
fd1fff89d4 dataman: remove flash backend 2021-02-26 00:28:48 +01:00
Daniel Agar
a63e25f581 mavlink: GPS_GLOBAL_ORIGIN on by default, but only send on change or when requested 2021-02-25 12:43:30 -05:00
garfieldG
8db37225d6 Added rc.mavlink_override to test the new parameters with sitl 2021-02-25 08:52:38 -08:00
garfieldG
3cd9b3c2cf Added support in Mavlink Ethernet channel parameters 
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
 2021-02-25 08:52:38 -08:00
Daniel Agar
b66a9629e0 ekf2: update to latest ecl with new global origin helpers 2021-02-25 10:43:07 -05:00
斯东Stone
e5b689e33c
Add TCBP001TA Barometer Driver (#14774) 2021-02-25 07:11:58 -08:00
Daniel Agar
6482120d9a
sensors/vehicle_angular_velocity: use full raw FIFO data (sensor_gyro_fifo) if available 2021-02-25 10:06:17 -05:00
Beat Küng
0e8c73f4af drivers: remove snapdragon_pwm_out 
- it would need to be refactored to use mixer_module
- rather than having a separate driver it should use linux_pwm_out
 2021-02-25 09:28:37 -05:00
Beat Küng
3fa825bf88 boards: remove intel/aerofc-v1 
it's discontinued
 2021-02-25 09:28:37 -05:00
Beat Küng
7e33d03470 drivers: remove tap_esc 
- it's not used anymore
- it would need a refactoring to use mixer_module
 2021-02-25 09:28:37 -05:00
Beat Küng
f0cc8a344b linux_pwm_out: refactor to run on a work queue and use mixer_module 2021-02-25 09:28:37 -05:00
Beat Küng
439fb00aed linux_pwm_out: move protocols to board-specific directories 
This also removes the pca9685 output, which was unused, and there's also
pca9685_pwm_out.
 2021-02-25 09:28:37 -05:00
斯东Stone
b0a5d431d3
optical_flow/thoneflow: update the data timespan 2021-02-24 21:28:29 -05:00
Jacob Crabill
4cca86b5d6 uavcan_v1: Apply feedback from Pavel Kirienko 
Co-authored-by: Pavel Kirienko <pavel.kirienko@gmail.com>
 2021-02-24 19:22:11 +01:00
JacobCrabill
a7a7e33614 uavcan_v1: Rename Subscription --> Subscriber 2021-02-24 19:22:11 +01:00
JacobCrabill
b5ac6f1eb8 uavcan_v1: Refactor Pub/Sub class constrctors 
Each class now sets the 'subject name', and the base class looks for a
parameter following the format uavcan.pub/sub.SUBJECT_NAME.INSTANCE.id
 2021-02-24 19:22:11 +01:00
JacobCrabill
c8e66a2f5c uavcan_v1: Rename Publication --> Publisher 2021-02-24 19:22:11 +01:00
JacobCrabill
e654fe71f5 uavcan_v1: Fix 'unset' port ID (use 65535) 2021-02-24 19:22:11 +01:00