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Author SHA1 Message Date
Julian Oes ab23a44b99 navigator: fix acceptance radius for multicopter 
This fixes a regression introduced in
https://github.com/PX4/PX4-Autopilot/pull/16646
which meant that the acceptance radius was no longer used at all for
multicopter, and instead only the NAV_ACC_RAD param was used.

With this change we use the acceptance radius of the mission item again
if it is actually set (and not NAN) which we did not do before, and we
only do that for multicopter.
 2021-06-02 07:28:19 +02:00
Daniel Agar 5f775b508f boards: enable CONFIG_OTG_ID_GPIO_DISABLE on all F7/H7 2021-06-01 15:19:15 -04:00
David Sidrane 32e92ba817 Revert:Pull downs - bad levels cause motor spins 2021-06-01 15:18:47 -04:00
Beat Küng dfa5964719 Accelerometer: fix thermal calibration index 2021-06-01 10:01:36 -04:00
Daniel Agar d430e13401 sensors: wait for real sample rate to initialize LowPassFilter2p 2021-06-01 08:58:10 -04:00
Daniel Agar 438b0abc7a mathlib: Biquad filters use internal fields for parameter update 2021-06-01 08:58:10 -04:00
Daniel Agar 9661eddef8 mathlib: LowPassFilter2p initialize b0 to 1 for safety 2021-06-01 08:58:10 -04:00
Daniel Agar e52c0ceca5 Update submodule mavlink v2.0 to latest Tue Jun 1 00:39:07 UTC 2021 2021-05-31 21:11:01 -04:00
RomanBapst b06b46b224 log raw airspeed derivative, pitch setpoint and airspeed innovation for TECS 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-31 23:56:23 +02:00
Daniel Agar 806b462935 px4_work_queue: increase UART stack 2021-05-31 14:49:40 -04:00
Daniel Agar 5831494164 boards: px4_fmu-v2_default disable gyro_calibration module to save flash 
- this doesn't impact regular gyro calibration
 2021-05-31 12:11:53 -04:00
Daniel Agar 90e106ede3 boards: cuav_x7pro_test disable LPE to save flash 2021-05-31 10:26:45 -04:00
Daniel Agar 5493d96d17 mathlib: merge LowPassFilter2p, LowPassFilter2pArray, and LowPassFilter2pVector3f 
- fix reset for direct form 2
 - push NAN checks out to filter users
 2021-05-31 10:26:45 -04:00
Daniel Agar 2a792ca201 gyro_fft: add simple SNR requirement and reduce number of peaks 2021-05-31 10:26:45 -04:00
Daniel Agar 3269ee8df1 sensors/vehicle_angular_velocity: accumualted notch filtering and reset improvements 
- apply sensor scaling immediately to keep things simple (FIFO vs regular)
 - inline filter helpers (minor performance improvement)
 - dynamic notch filtering
    - reorder by axis (applied per axis)
    - don't remove notch filters immediately if ESC or FFT data times out
    - constrain notch filter frequency and bandwidth to safe range (minimum bandwidth for flaot precision, Nyquist, etc)
 - add safe constraint on dt
 2021-05-31 10:26:45 -04:00
Daniel Agar 561cfca4f9 fake_imu: add fake ESC status for testing dynamic notch filters 2021-05-31 10:26:45 -04:00
Daniel Agar f25a70a674 mathlib: Notchfilter updates 
- merge NotchFilterArray into regular NotchFilter (apply vs applyArray)
 - only use direct form 1 to prevent reset confusion
 - safe default field initialization
 - update VehicleAngularVelocity usage
 2021-05-31 10:26:45 -04:00
Daniel Agar 055b5404c3 sensors/vehicle_imu: switch to WelfordMean library and other improvements 
- use WelfordMean library to determine sensor sample rate average
 - if gyro samples exceeds queue depth, instead round to nearest even integer to ease scheduling
 - force update if publication latency is falling behind
 - remove redundant sample interval perf counters
 - status print accel & gyro interval standard deviation
 2021-05-31 10:05:10 -04:00
Daniel Agar 3340fca332 sensors/vehicle_imu: move accel & gyro updates to separate methods 2021-05-31 10:05:10 -04:00
Daniel Agar a5979e16be sensors/vehicle_imu: move publish to separate method 2021-05-31 10:05:10 -04:00
Daniel Agar 0b9e4a5902 sensors/vehicle_imu: Integrator simplify and make header only 2021-05-31 10:05:10 -04:00
Silvan Fuhrer cf5e6e4133 Sensors: subscribe to differential_pressure in vehicle_air_data to calculate air density 
-constrain range to -20..35°C
-do not use temperature readings if exactly 0 (as likley not filled by driver at all in this case)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-31 09:53:47 +02:00
David Sidrane 973068ebfe holybro_can-gps-v1:Rev to RC9 HW 
holybro_can-gps-v1:Fix LEDs

holybro_can-gps-v1:Only CAN1

holybro_can-gps-v1:ncp5623c at 0x39
 2021-05-29 10:53:27 -04:00
Daniel Agar 51f738e54c boards: bootloader.cmake trivial whitespace cleanup 2021-05-28 23:56:20 -04:00
modaltb e25cfaaa2f boards: Add ModalAI Flight Core v2 initial support 2021-05-28 22:26:40 -04:00
Jukka Laitinen 34de392425 Add compiler cmake files for RISC-V (rv64gc) targets 
This adds the basic support for riscv64-unknown-elf compiler amd rv64gc ISA

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-05-28 22:22:57 -04:00
Jukka Laitinen 935253357a nuttx compilation: Don't assume "arm" to enable risc-v compilation 
Replace "arm" by "${CONFIG_ARCH}"

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-05-28 22:22:57 -04:00
Jukka Laitinen 12f33524fa fix legacy data types again 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-05-28 17:55:02 -04:00
Peter van der Perk ed0b5a7c1a FMUK66 update socketcan configs 2021-05-28 08:03:58 -07:00
Jukka Laitinen 0de0709be3 Fix github url for uavcan_v1/legacy_data_types 
The URL is spelled wrong, it should be capital "PX4"

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-05-28 10:36:30 -04:00
Julian Oes 1da4e2f441 vmount: fix param limit 2021-05-28 14:46:40 +02:00
Silvan Fuhrer 4b42a1639b TECS: in airspeed-less mode, set airspeed estimate to cruise airspeed 
In airspeed-less mode, instead of the average of min/max airspeed, take the cruise
airspeed (from param) for current airspeed estimate. A diff of the airspeed setpoint
from this value results in increased enegery demand (incerase of throttle) even
in airspeed-less mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-28 14:25:53 +02:00
Nuno Marques f9fe0e3746 ROS2/microRTPS: Add support for ROS2 Galactic and ROS2 Rolling (#17664) 
microRTPS: generate_microRTPS_bridge: add support for ROS2 versions
* Galactic
* Rolling
 2021-05-27 09:32:16 -07:00
Daniel Agar ad534561d3 commander: only play safety change tunes if initialized 2021-05-27 10:13:49 +02:00
Daniel Agar af71b2e3ab commander: fix COM_DISARM_PRFLT parameter description typos 2021-05-26 21:48:41 -04:00
Jukka Laitinen 675a5a2b2c bootloader: change flash_cache addresses to uintptr_t 
To fix comilation errors on 64 bit platforms

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-05-26 12:57:37 -07:00
Jukka Laitinen 071eaef884 Adjust paths to bootloader include files for boards 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-05-26 12:57:37 -07:00
Jukka Laitinen 64d264b49a bootloader: Move chip specific things under chip specific folders 
- move systick.c under chip specific sources
- move do_jump into chip specific main.c as arch_do_jump
- wrap flash writes to "arch_flash_write" and implement in chip specific main.c
- add bootloader TOC check
- sync image_toc.h with the version currently in use with old bootloader

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-05-26 12:57:37 -07:00
David Sidrane 3e18fa12d6 px4_fmu-v5x:Remove vcm1193l 2021-05-26 13:41:10 -04:00
David Sidrane 2feb096fb9 vtrantech Rename to match V1.1 vcm5883->vcm1193l 2021-05-26 11:24:11 -04:00
Daniel Agar b264577daa sensors/vehicle_acceleration: require valid sample rate before running 
- this fixes a minor edge case when you only have a single accelerometer and haven't made any parameter changes, the sensor sample rate (used for filtering) might not have been updated from default
 2021-05-24 21:39:42 -04:00
Daniel Agar 22838f491a ekf2: replace mag missed error message with perf count 
- this error is primarily useful when significant gaps in magnetometer are present, otherwise the occasional gaps at startup, etc are distracting in regular usage
 2021-05-24 20:52:07 -04:00
PX4 BuildBot 187297653a Update submodule ecl to latest Mon May 24 12:39:12 UTC 2021 
- ecl in PX4/Firmware (17da6293aa8e32a0e41c8fe10b8ffbf4e3e922b3): https://github.com/PX4/PX4-ECL/commit/e57af44d71dea2da62055076f186b3d15278ae7e
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/71fc1b81612fa9b5184d5abb93b69d109e9d0e4b
    - Changes: https://github.com/PX4/PX4-ECL/compare/e57af44d71dea2da62055076f186b3d15278ae7e...71fc1b81612fa9b5184d5abb93b69d109e9d0e4b

    71fc1b8 2021-05-20 bresch - airspeed fusion: use yaw from 312 sequence when pitch is close to 90deg
 2021-05-24 18:59:56 -04:00
Daniel Agar 0fc98b2793 move IMU_GYRO_FFT_EN parameter to developer category 
- these need more work and testing before we should encourage wider usage
 2021-05-24 18:59:32 -04:00
Daniel Agar e18b1c0355 mpu9250: tolerate missing/mismatching FIFO samples if I2C slave mag active 
- when the mpu9250 mag is active it disrupts IMU sampling
 - this change modifies the simple mpu9250 FIFO integrity checks (comparing duplicate accel samples) to tolerate these samples that don't match if the mag is active
 - fixes #17615
 2021-05-24 11:22:13 -04:00
Daniel Agar 6549017993 navigator: GeofenceBreachAvoidance remove duplicate type alias 2021-05-23 17:51:08 -04:00
Daniel Agar 8327335fa4 Update submodule mavlink v2.0 to latest Sat May 22 00:38:27 UTC 2021 2021-05-22 13:35:50 -04:00
PX4 BuildBot a6148d6320 Update submodule libcanard to latest Sat May 22 12:39:12 UTC 2021 
- libcanard in PX4/Firmware (e2ba4858a3285fe7ff0f2888d8b1ce5dbda589a1): https://github.com/UAVCAN/libcanard/commit/38796831f9083c0f0674319543d8d10813429eb5
    - libcanard current upstream: https://github.com/UAVCAN/libcanard/commit/2a116170285fb47fcaae150ad21c2ccde0756a5f
    - Changes: https://github.com/UAVCAN/libcanard/compare/38796831f9083c0f0674319543d8d10813429eb5...2a116170285fb47fcaae150ad21c2ccde0756a5f

    2a11617 2021-05-20 Pavel Kirienko - Update the changelog
a1efa3a 2021-05-20 Peter van der Perk - Expose CanardRxSubscription fields for read-only use (#167)
 2021-05-22 13:35:03 -04:00
PX4 BuildBot 142d6f3dbc Update submodule ecl to latest Sat May 22 12:39:15 UTC 2021 
- ecl in PX4/Firmware (2a18b8feeb24dcb07c2dd141e6097e211f83e6bd): https://github.com/PX4/PX4-ECL/commit/85f5a935fe6095f585bfb12b584e0813126cbc2a
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/e57af44d71dea2da62055076f186b3d15278ae7e
    - Changes: https://github.com/PX4/PX4-ECL/compare/85f5a935fe6095f585bfb12b584e0813126cbc2a...e57af44d71dea2da62055076f186b3d15278ae7e

    e57af44 2021-05-18 Bazooka Joe - set parameters that doesn't change with const attribute, for clearification
 2021-05-22 13:34:31 -04:00
PX4 BuildBot 68e386cf2d Update submodule sitl_gazebo to latest Sat May 22 00:38:23 UTC 2021 
- sitl_gazebo in PX4/Firmware (61e972ba35): https://github.com/PX4/PX4-SITL_gazebo/commit/f10ccb7ec34e35842254fe969d49beea699a8ffb
    - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/5c248898524cb670df496149de5e4692e16e69dc
    - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/f10ccb7ec34e35842254fe969d49beea699a8ffb...5c248898524cb670df496149de5e4692e16e69dc

    5c24889 2021-05-20 Andrew Voznytsa - Use cmake to find and link to gstreamer-app-1.0
 2021-05-22 06:48:03 +02:00