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11994 Commits

Author SHA1 Message Date
bresch
ac4458460d FailureDetector - update hysteresis to comply with new interface 2019-06-05 16:53:08 +02:00
bresch
c75f71abc2 IO failsafe - apply failsafe values to outputs when in failsafe. 
This is required because otherwise, IO would output disarmed values if
FMU goes into a disarmed state.
 2019-06-05 16:53:08 +02:00
bresch
96da46d1aa Failsafe - cosmetic changes 2019-06-05 16:53:08 +02:00
bresch
776b1a28de IO mixer - cleanup FMU timeout check (comments and indentation) 2019-06-05 16:53:08 +02:00
bresch
c576c57d7b protocol.h - comment style update 2019-06-05 16:53:08 +02:00
bresch
4b8febf558 Flight termination IO - reword flight termination flag description 2019-06-05 16:53:08 +02:00
bresch
158463d0a0 Flight termination - Rename "flightterm" variables and defines to "flighttermination". 2019-06-05 16:53:08 +02:00
bresch
5becc24a1f Failure detector - in failure detector preflight check, get 
vehicle_status as const type. Also use FAILURE_NONE enum to check for a
failure
 2019-06-05 16:53:08 +02:00
bresch
33a94c8191 Failure detector - change snake_case function names to camelCase 2019-06-05 16:53:08 +02:00
bresch
03ad4ffd47 FailureDetector - Add is_failure() function to simplify the interface; the user does not need to check the bitmask 2019-06-05 16:53:08 +02:00
bresch
d3c9436f84 flight termination - rename in_flight_termination to flight_termination_triggered 2019-06-05 16:53:08 +02:00
bresch
4eaf6e77be Flight termination - Always send flag to IO without checking the circuit breaker. The circuit breaker is used inside IO to decide if it has to go into failsafe if FMU dies and also controls is the FailureDetector sets the force_failsafe flag. The other sources of flight termination (rc loss, geo fence, ...) are not disabled by the circuit breaker 2019-06-05 16:53:08 +02:00
bresch
59265f6663 Failure detector - Add flight termination comments, make format 2019-06-05 16:53:08 +02:00
bresch
0655f7603b FailureDetector - Increase min value of FD_FAIL_P/R to 60 degrees 2019-06-05 16:53:08 +02:00
bresch
d19614a94f MC Lnd detector - Remove double include 2019-06-05 16:53:08 +02:00
bresch
38345be41a FailureDetector - Add roll and pitch failures hysteresis 2019-06-05 16:53:08 +02:00
bresch
a72de95c94 Failure detector - Disable flight termination by default. Modify FD_FAIL parameters description 2019-06-05 16:53:08 +02:00
bresch
81bb7888de Failure Detector - Add Failure Detector check to preflight checks 2019-06-05 16:53:08 +02:00
bresch
7b531bcaef Failure Detector - Play TONE_PARACHUTE_RELEASE_TUNE when force failsafe is set 2019-06-05 16:53:08 +02:00
bresch
d655c33faa IO mixer - Change default mixer to DISARMED and allow to set outputs to failsafe if FMU does not respond and if flight termination circuit breaker is not set 2019-06-05 16:53:08 +02:00
bresch
6fb1b4886c IO - Send flight termination circuit breaker state to IO through PX4IO_P_SETUP_ENABLE_FLIGHTTERM 2019-06-05 16:53:08 +02:00
bresch
19bf080313 PX4ioFirmware - Clean should_arm, should_arm_nothrottle and should_always_enable_pwm indentation for better understanding 2019-06-05 16:53:08 +02:00
bresch
ba93f9b983 FailureDetector - Update failure detector logic in commander. 2019-06-05 16:53:08 +02:00
Thomas Gubler
cf15cef066 Param "User Flight Profile" : improve documentation 2019-06-05 06:45:43 -07:00
Thomas Gubler
d8a4d70fce Add Param "User Flight Profile" 
This param has no effect within the Firmware.

The param can be used for example:

* in log post processing to have context about the flight
* in ground stations to adapt the UI automatically
 2019-06-05 06:45:43 -07:00
Julian Oes
e7d0cabb52 logger: fix uninitialized member variable 
This was reported by Coverity Scan.
 2019-06-05 14:46:03 +02:00
bresch
d5298fccbd PWM_REV - Clarify use case. The user shoul not be tempted to use that 
parameter to reverse the direction of a rotor.
 2019-06-05 09:10:06 +02:00
Daniel Agar
3faab909d7 commander move most orb subscriptions to uORB::Subscription 2019-06-04 18:44:51 -04:00
Daniel Agar
777b615cf9 land_detector move to PX4 WQ hp_default 2019-06-04 18:10:21 -04:00
Daniel Agar
53aa4130a8 land_detector move orb subscriptions to uORB::Subscription 2019-06-04 18:10:21 -04:00
Daniel Agar
ceac68e69d uORB remove unused SubscriptionInterval and SubscriptionIntervalData 2019-06-04 09:17:34 -04:00
Beat Küng
d68dcb9cf7 log_writer_file: increase stack size by 20 bytes 
Seems to be due to the console buffer.
 2019-06-04 11:57:54 +02:00
Beat Küng
0d71eeccbf console buffer: write to log as 'boot_console_output' message 2019-06-04 11:57:54 +02:00
bresch
2307c7c390 Geofence - Rename _warning_action_on to _geofence_warning_action_on 
since it is only set by the geofence logic. Simplify conditions in IF
statements.
 2019-06-04 08:35:56 +02:00
bresch
f8f967f073 Geofence - Change from "re-engage geofence failsafe every 10s when 
outside the fence" to "engage geofence failsafe on transition". This
way, the pilot is not stucked in the non flight zone and can switch to
a manual mode and fly back or trigger RTL.
 2019-06-04 08:35:56 +02:00
bresch
427b2e6636 Geofence - Do not trigger geofence failsafe while in low battery 
failsafe action.
Also move geofence flags from static variables declared into the if
statement to private members of the class.
 2019-06-04 08:35:56 +02:00
pedro-roque
a707403eaf mc_att_ctrl: added yawrate control from offboard. 
This commit adds Roll Pitch Yawrate Thrust (RPYrT) setpoint control to the
PX4 stack, enabling the UAV to follow specific yawrates sent from
offboard. It also introduces individual body_rate flags, along the
lines of mavros.

Tested on a MoCap enabled flight arena in KTH Royal Institute of
Technology, Stockholm. The MAV receives RPYrT setpoints from an
external PID controller to stabilize around position setpoints.
The UAV is also externally disturbed to assess the stability to
external unmodeled events.

Fixed Kabir comments.

Removed deprecated ignore_bodyrate.

Fixed integration test.
 2019-06-04 08:26:09 +02:00
Matthias Grob
ac002db25c MAVLink/Commander: @Pedro-Roque's offboard yawrate handling 2019-06-04 08:26:09 +02:00
Daniel Agar
579cbbb42c mavlink move to new lightweight uORB::Subscription 2019-06-03 17:06:21 -04:00
Daniel Agar
2c63e335e9 uORB::Subscription subscribe directly to uORB device node object 2019-06-03 17:06:21 -04:00
rfauvet
755eccbe60 simulator: fixing missing declaration 
The "len" variable was not defined and gave me an error, declaring it as "int" fixed it
 2019-06-03 10:02:36 -04:00
mcsauder
8966ad59c7 Add distance sensor id to the the MavlinkStreamDistanceSensor class and format whitespace in mavlink_messages.cpp. 2019-06-01 14:23:49 -04:00
Daniel Agar
43e3fc707d
simulator move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer, PX4Barometer helpers (#12081) 2019-05-30 21:07:26 -04:00
Daniel Agar
bf12583d80 fw_pos_control_l1 replace FW_LND_THRTC_SC param description < character 
- fixes #12124
 2019-05-30 18:03:03 -04:00
Daniel Agar
a10b1afb54 vtol_att_control vtol_type enum -> enum class 2019-05-30 09:04:08 -04:00
Julian Oes
2ac8841f35 vtol/fw/mc: fix VTOL enum shadowing 
This changes the enums used for various VTOL states to enum classes
which makes them type-safe and should avoid shadowing.

This change was motivated by a Clang warning about shadowing of the
enum const TRANSITION_TO_FW which was declared twice, once in
vtol_type.h and once in standard.h.

This change only removes the shadowing but presumably these enums could
be cleaned up and consolidated further.
 2019-05-29 23:51:10 -04:00
Julian Oes
4d7a1afd92 Revert "Revert "simulator: remove hack for diff_pressure noise"" 
This reverts commit 2142459027ffee7e9a18d466fcd4f8cd0a9613d2.
 2019-05-29 08:56:33 -04:00
Beat Küng
ed9d25a75a logger: add arming/disarming via AUX1 RC channel logging mode 2019-05-29 11:41:22 +02:00
Beat Küng
721f9f901f log_writer_file: fix race condition for fast consecutive stop & start calls 2019-05-29 11:41:22 +02:00
Daniel Agar
6627c60e5b
load_mon move from NuttX LPWORK to PX4 work queue lp_default 2019-05-28 09:40:36 -04:00