fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 08:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity
34,053 Commits 852 Branches 161 Tags
a97a4d8bb85e1dafded0cce4349c5f760e9838c1
Commit Graph

22047 Commits

Author SHA1 Message Date
Julian Kent a97a4d8bb8 Fix enum and param update 2021-01-13 10:26:10 +01:00
Julian Kent c745c8bb45 Small navigator refactor/cleanup 2021-01-13 10:26:10 +01:00
Julian Kent 04d859e36e Fix test failure from parameter autosave starting WQ 2021-01-13 10:26:10 +01:00
RomanBapst f97dcde4e2 GeofenceBreachAvoidanceTest: added tests for max dist to home 
Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
RomanBapst 3fa15cec91 GeofenceBreachAvoidance: improve behavior when using max dist to home option 
- ensure that the vehicle is loitering with sufficient clearance to the boundary

Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
Julian Kent a5dfa0c803 Add helper function for decel distances 
Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 10:26:10 +01:00
RomanBapst 0ac597fba8 Use new GeofenceBreachAvoidance from Navigator 
Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
RomanBapst e536868104 Add GeofenceBreachAvoidance class 
Signed-off-by: Julian Kent <julian@auterion.com>
 2021-01-13 10:26:10 +01:00
Julian Kent 8622c21496 Move VelocitySmoothing to new motion_planning library 
Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 10:26:10 +01:00
Jannik Beyerstedt 3834690c4b Add parameter to select the set of used GNSS systems 2021-01-13 08:33:07 +01:00
JacobCrabill 917fef546a uavcan: Remove single-GNSS limitation from UavcanGnssBridge 2021-01-12 22:04:52 -05:00
Daniel Agar a57b9f9381 delete drv_baro.h, drv_mag.h, drv_range_finder.h, drv_device.h and purge UAVCAN CDev usage 2021-01-12 22:04:52 -05:00
Beat Küng daaf8b61dc drivers: remove ism330dlc 
not used anymore
 2021-01-12 09:55:59 -05:00
Daniel Agar 48f125f150 estimated IMU bias preflight checks 
- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
 - ekf2 publish estimated bias limits in estimator_sensor_bias
 - preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
 2021-01-12 09:09:42 +01:00
Daniel Agar cb74cb8692 boards: enable CONFIG_ARMV7M_LAZYFPU everywhere 2021-01-12 09:04:38 +01:00
Daniel Agar abec2bd8df msg: estimator_status_flags shorten fields 
- previously this message exceeded the logger total field length (1500 bytes)
 2021-01-11 11:49:51 -05:00
Daniel Agar 04f9ada500 ekf2: selector improve fallback selection when the primary becomes unhealthy 
- if an ekf instance becomes unhealthy prefer switching to the next best healthy instance on a different IMU
 2021-01-11 09:38:26 -05:00
Daniel Agar 967d35a6b6 rate limit most parameter_update subscriptions 
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
 - limit modules from updating faster than once per second
 2021-01-10 21:09:15 -05:00
Daniel Agar 70e503cb91 rotation: use Dcmf for all rotations that aren't direct swaps 
- increase optimization to ${MAX_CUSTOM_OPT_LEVEL} (max per board)
 2021-01-10 18:08:41 -05:00
bazooka joe 9b9163813d avoid re-initiate RTL or land in battery emergency 
if the mode is already running
 2021-01-10 21:19:52 +01:00
Matthias Grob 3cc8e7a210 commander_params: Make multicopter only COM_RC_OVERRIDE more visible 2021-01-10 21:12:09 +01:00
TSC21 cef3d36af2 simulator: delete PublicationMulti ptrs for sensor_gps 2021-01-10 19:58:54 +01:00
Daniel Agar f73d93ef6c ekf2: selector improve status reporting 
- publish estimator_selector_status at minimal rate or immediately on change
 - log all estimator_selector_status updates
 2021-01-10 19:25:53 +01:00
Matthias Grob 2fc212e064 geofence_params: clarify EKF vs baro altitude source 2021-01-10 18:40:58 +01:00
Hamish Willee d5c8d0a233 GF_ALTMODE: Update in line with Lorenz feedback 2021-01-10 18:40:58 +01:00
Hamish Willee d43444fce7 geofence: GF_ALTMODE clarification 2021-01-10 18:40:58 +01:00
Muesli_Reep fe7908feb0 Simulator: Added remote host option (#15443) 
* Added an option to the Simulator module to connect to remote Gazebo servers.

This is usefull when the Gazebo simulation is running on a different host than the PX4 instance.
For example, we are running instances of PX4 with a companion application in multiple Dockers, for swarming simulations, which then connect to a remote Gazebo server.

A "-t" input argument has been added and can be called from the rcS startup script as: simulator start -t "192.168.178.122" $simulator_tcp_port

* _tcp_remote_ipaddr defaults to nullptr. This way testing against nullptr it can be determined if localhost or remote host is desired by the user.
* Documented the option in usage().

Signed-off-by: Peter Blom <peterblom.mail@gmail.com>
 2021-01-10 18:37:37 +01:00
Jaeyoung-Lim b3257c0bf2 Support relative altitude for offboard global position setpoints 
Previously the coordinate_frame flag for setpoint_target_global_int message was not handled, resulting in the vehicle to not handle altitude correctly. This commit handles the relative altitude correctly.
 2021-01-10 17:54:53 +01:00
Daniel Agar 662f177830 ekf2: multi instance numbering consistent with uORB publication instances 2021-01-09 13:20:26 -05:00
Daniel Agar c3fc96fd42 uORB::PublicationMulti add get_instance() 2021-01-09 13:20:26 -05:00
PX4 BuildBot 0398a936e3 Update submodule ecl to latest Sat Jan 9 16:06:23 UTC 2021 
- ecl in PX4/Firmware (c6af260a41): https://github/commit/c212975abe83bf462bc512288ba30358f9a17865
    - ecl current upstream: https://github/commit/99575d73e10aad06eb7d5b6415ea2db4151c5045
    - Changes: https://github/compare/c212975abe83bf462bc512288ba30358f9a17865...99575d73e10aad06eb7d5b6415ea2db4151c5045

    99575d7 2021-01-09 Paul Riseborough - EKF: Add bad accel bias checking for EV and range finder height use cases
ff3c0a6 2021-01-08 Paul Riseborough - EKF: Fix bug preventing recovery from bad delta velocity bias estimates
c25c97f 2021-01-08 priseborough - [AUTO COMMIT] update change indication
9641810 2021-01-08 Paul Riseborough - test: Allow for larger vel variance growth due to dvel bias variance
1b1c049 2021-01-08 Paul Riseborough - test: Update unit test to match expected behaviour
dd259a2 2021-01-07 Paul Riseborough - EKF: Don't modify accel bias states and variances when inhibited
3e1f2d8 2021-01-07 Paul Riseborough - EKF: Set dvel bias variance to stored value when state is inactive
 2021-01-09 12:57:25 -05:00
Daniel Agar b9a721726d sensors/vehicle_magnetometer: respect calibration offset update success 
- the magnetometer calibration offset setter returns false if the new offset change is negligible
 2021-01-08 15:34:48 -05:00
Silvan Fuhrer 706f806943 VTOL: standard VTOL and Tiltrotor manual MC throttle during transition 
This sets the throttle of the Multicopter actuators to the throttle stick position
while in Stabilized, Acro or Manual mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-08 10:28:00 +01:00
xdwgood 802c68a62e Do not run transition flight task when not enable altitude control 2021-01-08 10:28:00 +01:00
Daniel Agar bf330a51b2 sensors/vehicle_magnetometer: reduce offset update message length to fit 2021-01-08 01:22:31 -05:00
Thies Lennart Alff eb60479e4c UUV introduce param to skip controller (#15706) 
* added skip_ctrl param to uuv

* fixed formatting
 2021-01-08 06:50:40 +01:00
PX4 BuildBot 168468c12a Update submodule ecl to latest Thu Jan 7 12:50:52 UTC 2021 
- ecl in PX4/Firmware (c999734463c9b23c6b56670d5242ca4496f9e6ef): https://github/commit/03fed323ab950125114eb34309d3a79119e572ee
    - ecl current upstream: https://github/commit/c212975abe83bf462bc512288ba30358f9a17865
    - Changes: https://github/compare/03fed323ab950125114eb34309d3a79119e572ee...c212975abe83bf462bc512288ba30358f9a17865

    c212975 2021-01-06 bresch - rng height: reset to baro using common logic
 2021-01-07 12:08:21 -05:00
Daniel Agar 88f8da27ef save learned mag bias per sensor (Multi-EKF support) 
- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
 - this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
 - ekf2 reset mag mag bias on any magnetometer or calibration change
 - use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-01-07 09:54:13 -05:00
Matthias Grob 537ee5b19b FlightTaskOrbit: smooth yaw like in missions 2021-01-07 13:31:05 +01:00
Matthias Grob 44606ca872 FlightTaskOrbit: further simplify circling yaw setpoint calculation 
The whole angle adding and pi wrap was just necessary because the
correct atan2 arguments were never completely thought through.
 2021-01-07 13:31:05 +01:00
Matthias Grob f435bea57c state_machine_helper: orbit failsafe just with data link loss 
RC is like the comment says not required.
 2021-01-07 13:31:05 +01:00
Matthias Grob 6b8fa417e1 SlewRate: Add SlewRateYaw handling [-pi,pi] wraps 2021-01-07 13:31:05 +01:00
Daniel Agar 6c9072720e invensense/icm42688p: use full 20 bit data, increase ODR, disable all filters 2021-01-06 17:03:39 -05:00
Jaeyoung-Lim d2b0f63e1f Handle offboard mode with acceleration setpoints 
The case when acceleration setpoints were being passed in offboard mode was triggering control_climbrate_mode. This prevented the vehicle from taking off, since it made the vehicle skip the rampup phase of the takeoff
This commit fixes this by handling the case properly
 2021-01-06 20:38:18 +01:00
garfieldG 3fb8f5df62 drivers/lsm303agr: fixed bug incorrectly assembling signed 16 bit integer from bytes 2021-01-05 21:37:08 -05:00
PX4 BuildBot 01e3f0d586 Update submodule matrix to latest Tue Jan 5 12:40:51 UTC 2021 
- matrix in PX4/Firmware (fd97e28019fa9c665d9b3c6995098dd51b4ab022): https://github/commit/15e54ceda176f05e1ae38e71692d15cafb9e3a62
    - matrix current upstream: https://github/commit/054f8b12f4da79767df6e05bb1d2cc8d679b99f3
    - Changes: https://github/compare/15e54ceda176f05e1ae38e71692d15cafb9e3a62...054f8b12f4da79767df6e05bb1d2cc8d679b99f3

    054f8b1 2021-01-04 Julian Kent - Use a single inverse implementation for a single matrix size
 2021-01-05 19:24:42 -05:00
PX4 BuildBot ff82911d86 Update submodule ecl to latest Tue Jan 5 12:40:47 UTC 2021 
- ecl in PX4/Firmware (824f78466ac4e32aecd6bda785e95eb348e1b31e): https://github/commit/78ce46f00777f07d24c31bdc5e2edb203be2c0f4
    - ecl current upstream: https://github/commit/03fed323ab950125114eb34309d3a79119e572ee
    - Changes: https://github/compare/78ce46f00777f07d24c31bdc5e2edb203be2c0f4...03fed323ab950125114eb34309d3a79119e572ee

    03fed32 2021-01-05 Paul Riseborough - EKF: Fix formatting
31fca9c 2021-01-05 Paul Riseborough - EKF: Update GPS loss message
c65cf13 2020-12-15 Paul Riseborough - EKF; Treat combined sideslip and airspeed as a horizontal aiding source
211c84c 2021-01-04 bresch - Rng finder unit test: cover "un-stuck" logic
 2021-01-05 19:23:25 -05:00
Paul Riseborough 64ed96bd95 ekf2: Correct airspeed used by EKF for calibration errors 2021-01-05 19:22:53 -05:00
Silvan Fuhrer 850d0bc588 vtol_type: remvoe const from function declaration 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 15:32:00 +01:00
RomanBapst 0871f0f52d vtol: refactor of maximum pwm value settings for main and alternate motors 
- main motors are the ones which are meant to be used as propulsion in fw mode
- alternate motors are the ones usually meant to be switched off in fw mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 15:32:00 +01:00