a8f6622831
OutputModuleInterface::updateOutputs return bool to control actuator_outputs pub
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Required for pwm_out_sim: only publish actuator_outputs when we get
actuator_controls. Otherwise lockstep startup does not work.
The issue was there before but hidden, due to a long poll timeout.
Works with HIL too.
2019-10-21 09:42:08 +02:00
380247168d
mixer_module: avoid using an enum as px4::atomic argument
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Does not compile on MacOS.
2019-10-21 09:42:08 +02:00
0871802568
mixer_module: add support for test_motor (motor_test CLI command)
2019-10-21 09:42:08 +02:00
349469cf75
refactor pwm_out_sim: use mixer_module and run on work queue
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Tested with SITL + HITL
2019-10-21 09:42:08 +02:00
2837152983
refactor mixer_module: move some code in update() into separate methods
2019-10-21 09:42:08 +02:00
72a8be538a
mixer_module: more robust logic to set 'stop_motors' flag
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Checking the first output_limited for a disarmed value is fragile.
For example a disarmed value might be within the range of min/max output
values and could then be triggered while armed.
2019-10-21 09:42:08 +02:00
177da1f923
RTL params - proposed updates
2019-10-21 09:08:27 +03:00
4cc7bb7296
addressed review comments
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-10-21 09:08:27 +03:00
b1a9d4b4c7
updated rtl parameter descriptions.
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-10-21 09:08:27 +03:00
981f8d5d90
systemcmds/tests: IntrusiveQueue and List fix memory leaks
2019-10-20 10:46:44 -04:00
687a3a15c5
top: decrease priority below IMU sensor WQ threads
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- otherwise top can potentially disrupt with sensor sampling
2019-10-19 13:44:24 -04:00
070d75496d
Handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN 'Do nothing for autopilot'
2019-10-18 15:57:50 -04:00
08ec6a28f0
mc_att_control: remove TPA
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because it's mostly unused and we have thrust curve correction
see parameter THR_MDL_FAC
2019-10-18 15:54:09 -04:00
f9ddbd7e2a
mpu6000: remove factory test for fmu-v2
2019-10-18 15:00:41 -04:00
22c4bb498c
FlightTaskDescend: set no vertical thrust when commanding velocity
2019-10-18 16:18:19 +02:00
de90543d6f
FlightTasks: add Descend task to land without GPS
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This adds a flight task to catch the case where we want to do an
emergency descent without GPS but only a baro.
Previously, this would lead to the navigator land class being called
without position estimates which then made the flight tasks fail and
react with a flight task failsafe. This however meant that landed was
never detected and a couple of confusing error messages.
This applies if NAV_RCL_ACT is set to 3 "land".
2019-10-18 16:18:19 +02:00
5f53ae1253
mc_pos_control: execute failsafe with invalid setpoints
2019-10-18 16:18:19 +02:00
e9c9fb8239
fix multicopter land detector: do not update parameters every cycle ( #13212 )
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And add updateParams() call in LandDetector::_update_params().
2019-10-18 09:25:41 +02:00
be1f966e5f
Collision prevention: Option to enable flying outside FOV and rename parameters (new CP group)
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* rename parameters to allow more descriptive names under CP group
* add option to enable moving where there is no data
* add test for param CP_GO_NO_DATA
Co-Authored-By: Martina Rivizzigno <martina@rivizzigno.it >
2019-10-17 11:23:50 -04:00
2fcddd9b8d
mavlink: fix uninitialized mavlink warnings
2019-10-17 08:44:53 -04:00
ec95378821
logger: fix uninitialized coverity warnings
2019-10-17 08:44:53 -04:00
cf8f03f190
Changed listener to not busy-wait ( #13157 )
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* Changed listener to not busy-wait
2019-10-17 11:29:36 +02:00
40bb209fd2
dshot telemetry: enable telemetry publishing for setups with only one ESC
2019-10-17 11:13:38 +02:00
6ccb4af8b0
CollisionPrevention: remove unnecessary double precision floating point math
2019-10-17 08:44:33 +02:00
e942d3a3b2
FlightTasks: remove unnecessary double precision floating point math
2019-10-17 08:44:33 +02:00
2296c9acfa
uavcan_virtual_can_driver: fix invalid use of px4_sem_getvalue
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sem_getvalue returns 0 on success, -1 on error, and never a value > 0.
2019-10-16 18:29:26 +02:00
884621415d
dataman: fix invalid use of px4_sem_timedwait
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px4_sem_timedwait expects an absolute time (from CLOCK_REALTIME), but a
relative time was provided.
This is only relevant if FLASH_BASED_DATAMAN is set (only on Intel aero).
2019-10-16 18:29:26 +02:00
17c17f26a9
VTOL GPSF: fix fixed bank loiter ( #12778 )
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* GPS Failsafe fix for VTOL
* navigator: use new uORB API for VTOL publication
2019-10-16 17:57:44 +02:00
a053b7f69b
vtol_att_control_main: only reset thrust when disarmed
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to see flaps moving according to attitude control before arming
and not have tailsitter elevons move to follow north heading.
2019-10-16 16:30:38 +02:00
4cc7b1319f
Fix param update in mc_att_control
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ModuleParams::updateParams() was never called
2019-10-16 08:17:04 -04:00
617f37afbf
mixer_{multicopter,helicopter}: add buffer size check
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Fixes a potential buffer overflow if an MC/helicopter mixer is used that
exceeds the number of physical pins.
This is not a useful/flyable configuration, but the system still should
not crash.
2019-10-16 13:13:17 +02:00
173337e49c
uORBManager: print errno for advertisement failures
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Helps with debugging.
2019-10-16 13:13:17 +02:00
45a53726d6
LandDetector: switch to uORB::Publication
2019-10-16 00:47:01 -04:00
679e4fedf5
LandDetector: switch land flags to properies instead of one state
2019-10-16 00:47:01 -04:00
1e1549a169
Add support for Bosch BMP388 barometer
2019-10-15 23:33:49 -04:00
c58cfce6be
do not check VP fusion during GPS startup
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This is solution for https://github.com/PX4/Firmware/issues/11864
2019-10-15 17:01:20 +01:00
a4e035d338
Add param to choose vision observation noise source
2019-10-15 16:06:37 +01:00
6bfb50df8a
run arm authorization as last pre-arm check, as it used to be implemented
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-10-15 15:44:24 +01:00
e843090383
Replace a lot of memset with {} initializers
2019-10-15 10:01:03 -04:00
b8f70e865c
voted_senors_update: remove memset 0 initializations because of zero initializer in header
2019-10-15 10:01:03 -04:00
185e2811dc
gyro_calibration: use constexpr instead of const
2019-10-15 10:01:03 -04:00
09faa4647b
ekf2_params: correct typo
2019-10-15 10:01:03 -04:00
0cbb693a8d
Add return INFINITY; to the LandDetector class _get_max_altitude() method declaration ( #12343 )
2019-10-15 08:19:53 +02:00
9f639d1f3b
mc_att_control: move rate control to RateControl class
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This makes the controller more modular, more readable and hence
better maintainable.
2019-10-15 07:46:47 +02:00
c51475640e
mavlink: only send ATTITUDE/ATTITUDE_QUATERNION msgs on vehicle_attitude update
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- fixes #13182
2019-10-14 15:47:22 -04:00
fb12ddb69a
Cherry pick the directory and voted_sensors_update.h from PR #9756 .
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Consolidate _update_params() methods for improved inheritance from the LandDetector base class.
Move common uORB::Subscriptions to the base class for inheritance.
Deprecate redundant override methods.
2019-10-14 21:25:57 +02:00
c44e4b9578
imu/mpu6000: support ICM20689 rev 4 ID
2019-10-14 15:17:43 -04:00
bb91db2057
AttitudeControlTest: fix adaptAntipodal() function
2019-10-14 18:23:22 +02:00
83dfa227a7
AttitudeControlTest: include all corner case combinations
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Which revealed antipodal quaternion corner cases when
the first element is zero.
2019-10-14 18:23:22 +02:00
511828bfd2
AttitudeControlTest: add first controller convergence test
2019-10-14 18:23:22 +02:00
Beat Küng