ac8f4e3c48
mc_pos_control: only update constraints if topic updated
...
- update failsafe constraints
2021-01-19 14:44:42 +01:00
39b0c7b2bf
battery: report at least one cell for a connected battery
2021-01-18 17:53:17 +01:00
d9954ecaf0
lib/magnetometer_bias_estimator: Add library for online magnetometer calibration on the ground
...
Co-authored-by: bresch <brescianimathieu@gmail.com >
2021-01-18 11:44:58 -05:00
3e5e5ab1d5
control_allocator and angular_velocity_controller throttle parameter_update subscription
2021-01-18 11:25:37 -05:00
c36340d29a
ActuatorEffectivenessMultirotor: set effectiveness to zero when computing the matrix
...
Just to be on the safe side.
2021-01-18 11:25:37 -05:00
212ec821b1
control_allocator: set unused actuators to trim instead of min
2021-01-18 11:25:37 -05:00
3606f86518
control_allocator: ensure unused outputs are initialized to min
...
Mostly important in cases where the ouputs would change (e.g. param change)
2021-01-18 11:25:37 -05:00
3dad79d8f5
control_allocator: inline one-line setters & getters
2021-01-18 11:25:37 -05:00
164511a7b5
control_allocator: avoid vector copies and sqrt()
2021-01-18 11:25:37 -05:00
0e66b0876b
control_allocator: change SequentialDesaturation to existing MC mixer
...
And limit the operations to the number of configured outputs.
Only using the number of configured actuators reduces CPU load by ~2% on
F7 @1khz.
2021-01-18 11:25:37 -05:00
308f614735
refactor control_allocator: directly get the effectiveness matrix when updated
...
Reduces stack + RAM usage
2021-01-18 11:25:37 -05:00
38782029ad
fix control_allocator: set _last_run at the correct place
2021-01-18 11:25:37 -05:00
0e86ab47f6
fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory
2021-01-18 11:25:37 -05:00
066464c4e8
control_allocator: remove unused _task_start
2021-01-18 11:25:37 -05:00
25f3fe8456
fix control_allocator_status: torque_setpoint_achieved and thrust_setpoint_achieved are bool
2021-01-18 11:25:37 -05:00
343cf5603e
initial control allocation support
...
- control allocation module with multirotor, VTOL standard, and tiltrotor support
- angular_velocity_controller
- See https://github.com/PX4/PX4-Autopilot/pull/13351 for details
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Roman Bapst <bapstroman@gmail.com >
2021-01-18 11:25:37 -05:00
fc6b61dad1
Try 'min' for units
2021-01-18 16:26:53 +01:00
d99d52960e
Fix default _rtl_xxx values
2021-01-18 16:26:53 +01:00
5a9fe312b5
Fix test failure on rebase: set lpos valid
2021-01-18 16:26:53 +01:00
af8d178ae5
Fix spurious RTL triggers
...
Two sources:
1. global to local conversion was sometimes giving issues, so do everything in global
2. on startup the RTL didn't check if the home position was valid before processing it
2021-01-18 16:26:53 +01:00
b5f0a7ea03
Fix RangeRTL test
2021-01-18 16:26:53 +01:00
5500a84b6a
Add timestamp to RTL message
2021-01-18 16:26:53 +01:00
f169247bc2
Add RTL topics to ulog default profile
2021-01-18 16:26:53 +01:00
67082ccb2b
Test the vehicle type parameter usage
2021-01-18 16:26:53 +01:00
100c64c790
Test the navigator side, and fix another trig edge case
2021-01-18 16:26:53 +01:00
a736ba2435
Minor tweak in wind handling
2021-01-18 16:26:53 +01:00
e847ef1a4d
Add trig tests for wind calculations, and fix bugs / edge cases
2021-01-18 16:26:53 +01:00
7482413005
Add Range-based RTL
2021-01-18 16:26:53 +01:00
e817fb83f5
pwm_extra: Add PWM_EXTRA parameters.
...
Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2021-01-18 15:43:28 +01:00
02c0f08060
flashfs: fix alignment ambiguity
...
Instead of ignoring the warnings.
Thanks to @Ole2mail and @yuhaim for the suggestions.
2021-01-18 14:19:29 +01:00
dab90f86a4
drivers/gps: limit to ublox only flash constrained targets
2021-01-18 09:30:01 +01:00
78c05275d2
tailsitter: Fix differential thrust in FW mode.
...
Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2021-01-18 09:04:27 +01:00
3abe2e82d1
mpu9250: create dedicated i2c version and delete legacy driver
...
- update crazyflie and bbblue usage
- eventually this should be merged with the SPI version after interface
changes are made
2021-01-17 16:11:19 -05:00
2ed48f041c
mavlink: Templated SCALED_IMU mavlink stream
2021-01-17 12:32:51 -05:00
031bbb7f3e
FlightModeManager: handle commands all the time
...
Moving the command handling to a separate function that gets called
whenever a vehicle command is available to always react on commands
and not just when already a task is running.
This solves e.g. commanding an Orbit when in Staibilized.
2021-01-17 15:46:30 +01:00
df54f938ef
FlightModeManager: correct setpoint struct initialization
...
It is important that setpoints get initialized with NAN and not overwritten
if specifically set by a successful flight task execution. It's then
clear if any setpoints were intentionally and successfully set.
Crucial for the position controller's emergency failsafe and the
seamless setpoint handover to the next flight task.
2021-01-17 15:46:30 +01:00
63db61a700
FlightModeManager: correct acceleration setpoint feedback naming
...
The variable was never renamed correctly in this in between layer when
we switched from normalized thrust to acceleration setpoints.
2021-01-17 15:46:30 +01:00
4d7b875ee2
flight_mode_manager: merge with flight_tasks
2021-01-17 15:46:30 +01:00
eaa2ae9dc9
ekf2: add param to enable synthetic mag Z fusion mode
2021-01-17 12:06:59 +01:00
983234e29d
ekf2: add param to set rng check hysteresis
2021-01-17 12:06:59 +01:00
195a900ecf
change default of RTL_LAND_DELAY to 0
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-17 12:05:30 +01:00
8e8497ff77
heater: px4io: Add support for heaters on IO MCU
2021-01-17 12:03:53 +01:00
cee4016665
Preflight checks: Airspeed checks update
...
-check for valid airspeed_validated (declared valid plus updated less than 1s ago)
-added param (COM_ARM_ARSP_EN) to enable/disable check for max airspeed for arming set max
airspeed limit to half of stall airspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-16 10:26:55 -05:00
ade3871bee
adc: add support for multiple sensor voltage channels
2021-01-15 10:57:20 -05:00
e2337a34eb
system_power: add comp_5v_valid and can1_gps1_5v_valid
...
And fill it in from the v5x GPIO expander.
2021-01-15 10:57:20 -05:00
704a82aaa6
gpio: extend support for /dev/gp* GPIO's
...
Note that there's a small CLI interface change.
2021-01-15 10:57:20 -05:00
3e4b8763a5
nuttx: add mcp23009 gpio driver
2021-01-15 10:57:20 -05:00
ba6a8080ea
mavlink: don't respond to MAV_CMD_REQUEST_MESSAGE if component doesn't match
...
PX4 is responding with NACK to MAV_CMD_REQUEST_MESSAGE from a GCS to
payload-manager which confuses a GCS.
PX4 shouldn't respond to commands that are not broadcasted or specificaly
addressed to it.
2021-01-15 10:57:20 -05:00
a282f3df8d
CLI test: Disable by default on NuttX
...
First target is to enable this for POSIX tests and then later to roll them out to NuttX.
2021-01-15 10:57:20 -05:00
03e9e10847
Add CLI tests for basic soak testing
...
This is in no way a complete test suite but is intended as a starting point to get minimal
test coverage for CLI handling tests in. This is necessary to QA the CLI handling
(e.g. removal of commands) and to ensure that we are exercising these code paths in
stack check and alike tests.
2021-01-15 10:57:20 -05:00
Daniel Agar