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13255 Commits

Author SHA1 Message Date
Daniel Agar
b08b83ba48 logger: logged topics support up to 4 accels/baros/gyros 2020-10-19 18:30:22 -04:00
Oleg Kalachev
c302514a08 mavlink: expose kill switch status 2020-10-19 10:49:52 -04:00
FengShun
d19b54481a fix: uORB topics lost messages when publications overflow 2020-10-19 08:52:55 +02:00
Daniel Agar
d985887468 ekf2: use new Param<> reset method 2020-10-15 08:32:05 +02:00
mcsauder
047531b924 Add MavlinkStreamGPSStatus status class stream via GPS_STATUS.hpp and add PRN code to satellite_info.msg. 2020-10-14 08:26:42 +02:00
Daniel Agar
8d1b99be31
mavlink: telemetry status only log simple HEARTBEAT validity 
* delete telemetry_heartbeat msg
 * delete unused _telemetry_status_mutex
 2020-10-13 13:37:10 -04:00
Daniel Agar
d71ca37087
navigator: publish navigator mission item changes for logging 
- new msg navigator_mission_item for inspecting navigator mission item processing
 2020-10-13 12:12:03 -04:00
Daniel Agar
34ad85557e Revert "mavlink: increase stack 2650 -> 2848 bytes (#15821)" 
This reverts commit e792c46f20bb6709afc4a1151df29546b165d1d1.
 2020-10-12 20:58:35 -04:00
Daniel Agar
5c2cc53134 Revert "logger: log_writer_file increase stack 1170 -> 1472 bytes (#15765)" 
This reverts commit d676e65294b27b592e06381a12b0f3b40b6139f0.
 2020-10-12 20:58:35 -04:00
Daniel Agar
f557fa46e8
gyro_fft improve peak finding, parameterize min/max frequencies, remove debug logging 
- add min/max frequency parameters for peak detection (IMU_GYRO_FFT_MIN, IMU_GYRO_FFT_MAX)
 - remove full FFT debug logging
 - fix Quinn's second estimator
 - log sensor_gyro_fft
 - fake_gyro use PX4Gyroscope
 2020-10-12 15:19:39 -04:00
Beat Küng
ff3008c051 calibration: add SYS_FAC_CAL_MODE parameter 
If set, stores calibration parameters in separate storage /fs/mtd_caldata.
 2020-10-12 15:22:26 +02:00
Daniel Agar
0a985638e3 simulator: add inject failure messages for logging 2020-10-10 20:03:50 -04:00
Daniel Agar
5fa1e8e8ba mavlink: stream rename GROUND_TRUTH -> HIL_STATE_QUATERNION 2020-10-10 19:49:41 -04:00
Daniel Agar
cb4d974977 mavlink: move GROUND_TRUTH stream to separate file 2020-10-10 19:49:41 -04:00
Daniel Agar
283264603a mavlink: move PING stream to separate file 2020-10-10 19:49:41 -04:00
Daniel Agar
97dc988f86 mavlink: move ORBIT_EXECUTION_STATUS stream to separate file 2020-10-10 19:49:41 -04:00
Daniel Agar
826dfa1941 mavlink: move OBSTACLE_DISTANCE stream to separate file 2020-10-10 19:49:41 -04:00
Daniel Agar
dfbaf6607a
sensors/vehicle_imu: continue integrating queued raw data if falling behind 2020-10-10 12:30:26 -04:00
Daniel Agar
f26d4f2b6b mavlink: stop unnecessarily passing around time 2020-10-09 10:30:30 -04:00
Daniel Agar
97cf714c7a mavlink: move HIGH_LATENCY2 stream to streams folder in a single header 2020-10-09 10:30:30 -04:00
Daniel Agar
94146a7b16 mavlink: move RAW_RPM stream to separate file 2020-10-09 10:30:30 -04:00
Daniel Agar
9c4abf334b mavlink: move ESC_INFO stream to separate file 2020-10-09 10:30:30 -04:00
Daniel Agar
1ddfd61d34 mavlink: move ESC_STATUS stream to separate file 2020-10-09 10:30:30 -04:00
Daniel Agar
b51322e160 mavlink: name existing stream headers consistently and add include guards 2020-10-09 10:30:30 -04:00
Daniel Agar
674cd1e3b5 mavlink: move EXTENDED_SYS_STATE stream to separate file 2020-10-09 10:30:30 -04:00
Beat Küng
274ccaf57c system: include shutdown lock to BOARD_INDICATE_ARMED_STATE 
BOARD_INDICATE_ARMED_STATE was only set during arming, so an external
component might have reset the board during param save, leading to param
loss.

This extends the API to trigger the arming state also while the shutdown
lock is taken.
 2020-10-09 08:23:47 +02:00
Daniel Agar
eecf2e7a1e
sensors: allow up to 4 accels, gyros, and baros and add configurable rotations for accel & gyro 2020-10-08 19:01:44 -04:00
Daniel Agar
378cb155d6
simulator: support accel/gyro instances and stuck failure 
- expand simulator to 3 accels and gyros
 - PX4Accelerometer/PX4Gyroscope switch to old param usage due to copy constructor issues with ModuleParams
 2020-10-07 13:20:13 -04:00
Daniel Agar
c01fabaf11
FW move altitude first order hold (FOH) and loiter to position special cases from navigator to position controller 
Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2020-10-06 16:57:12 -04:00
Silvan Fuhrer
84455ac9e3 logger: increase logging rate of airspeed_validated from 1Hz to 5Hz 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-10-06 09:31:58 +02:00
Silvan Fuhrer
8f858d95e6 Rename equivalent airspeed (EAS) to calibrated airspeed (CAS) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-10-06 09:31:58 +02:00
Daniel Agar
f01c4e769f
sensors/vehicle_imu: vehicle_imu_status add mean accel/gyro 
- this makes it slightly easier to gather long term data for an Allan Variance
 - fixes https://github.com/PX4/Firmware/issues/6250
 2020-10-05 22:18:03 -04:00
Daniel Agar
08bf71b73d
drivers/tone_alarm and tune_control small improvements/cleanup 
- drivers/tone_alarm: move to ModuleBase and purge CDev (/dev/tone_alarm0)
 - drivers/tone_alarm: only run on tune_control publication (or scheduled note) rather than continuously
 - drivers/tone_alarm: use HRT to schedule tone stop (prevents potential disruption)
 - msg/tune_control: add tune_id numbering
 - systemcmds/tune_control: add "error" special case tune_id
 - move all tune_control publication to new uORB::PublicationQueued<>
 - start tone_alarm immediately after board defaults are loaded to fix potential startup issues
 - for SITL (or other boards with no TONE output) print common messages (startup, error, etc)
 2020-10-05 21:39:26 -04:00
Daniel Agar
016ee6ea59
battery: fix duplicate uORB publish and minor cleanup 
- run battery_status module on adc_report publications rather than a fixed schedule
 2020-10-05 11:01:58 -04:00
Daniel Agar
eabbd19c1c commander: PreFlightCheck param_find all parameters immediately 
- this ensures the relevant parameters are marked active immediately
before parameter sync
 - fixes https://github.com/PX4/Firmware/issues/15872
 2020-10-03 14:43:21 -04:00
Nicolas MARTIN
967f741a0e
commander: add parameter COM_REARM_GRACE to optionally disable re-arming grace period 2020-10-01 11:20:08 -04:00
Daniel Agar
c1936dab1f commander: accel & gyro subsystem health set within IMU check 2020-09-30 12:17:48 -04:00
Daniel Agar
25c537bae9 commander: don't impose additional timeouts in sensor checks 
- the sensors hub is responsible for sensor timeouts
 2020-09-30 12:17:48 -04:00
CarlOlsson
98c8cbb27f ekf2: fix odom body rate sign bug 2020-09-30 11:34:37 -04:00
Julian Oes
b454095776 commander: fix switch to loiter 
Sometimes, the mission_result timestamp is the same as the
internal_state timestamp which would meant that we would not switch to
LOITER even though the takeoff is clearly done at that point.
 2020-09-30 08:23:16 -04:00
Daniel Agar
c9c20666a2
sensors: sanity check differential pressure temperature (#15845) 
- if valid temperature unavailable then use ICAO Standard Atmosphere 15 degrees celcius
 2020-09-29 09:35:34 -04:00
Nicolas Martin
da4d0e650a mc_pos_control: fix acc Z sign 2020-09-29 13:09:51 +02:00
David Sidrane
59f20a26eb motor_params:Move to mixer_module 
sensors having mixer_module creates a dependency on sensors for
   the param MOT_SLEW_MAX. Things that do not uses sensors.
   IE. PWM only device should not have to include them.
 2020-09-28 20:47:40 -04:00
Daniel Agar
f1feaf45d3
EKF2: move vehicle_odometry publish to method 2020-09-28 18:34:49 -04:00
Daniel Agar
fe6a1ce882
simulator: fix airspeed temperature 
- HIL_SENSOR temperature is only being sent with barometer data
 2020-09-28 12:56:56 -04:00
Jacob Dahl
a24488328f
Move GPS blending from ekf2 to sensors module 
- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
 - blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU

Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2020-09-25 23:28:31 -04:00
Daniel Agar
e792c46f20
mavlink: increase stack 2650 -> 2848 bytes (#15821) 2020-09-25 21:42:02 -04:00
Daniel Agar
861e06dfd7
mavlink: handle receiving GENERATOR_STATUS 
- only published (ORB_ID(generator_status)) and logged for now
 2020-09-25 11:36:58 -04:00
Daniel Agar
2ccf664e95 commander: disarm from safety relax land detector timeout 
- ensure land detector is updated before safety is checked
 2020-09-25 09:41:53 -04:00
Matthias Grob
bcbc761bf6 Revert "Change defaults for MPC_LAND_ALT" 
This reverts commit 59bd3e9f6e72db5d1751fc11fe6dccaf1c69b05e.
 2020-09-24 19:18:58 +02:00