b1c6494ed7
MAVLink receiver: Do use correct multi-topic architecture
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This prevents two inputs publishing to the same topic. Now if both RC and joystick are connected the first to be active gets control. This is not optimal but consistent and safe.
2017-01-25 07:43:45 +01:00
5c239ffb0b
logger uses board_get_uuid_formated32 instead of mcu_unique_id
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Replace the creation of uuid string with the board common api
board_get_uuid_formated32 as opposed to using mcu_unique_id
and printf.
2017-01-25 07:43:11 +01:00
e6ba897b9a
mavlink is using board_get_uuid_raw32 instead of mcu_unique_id
2017-01-25 07:43:11 +01:00
63e3bbde07
gyro_calibration is using board_get_uuid_raw32 instead of mcu_unique_id
2017-01-25 07:43:11 +01:00
5a5cfdbbe3
mcu_version remove mcu_unique_id
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Using board cvommon UUID api thefore Removed mcu_unique_id
2017-01-25 07:43:11 +01:00
4dc8e61612
uavcan uses common board api to interface with systemlib/board_serial
2017-01-25 07:43:11 +01:00
24f5461402
systemlib/board_serial uses common board api for UUID
2017-01-25 07:43:11 +01:00
1abd629461
Move common macros to systemlib/px4_macros.h
2017-01-24 21:18:28 +01:00
4ceba407f2
commander: raise stack size
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A stack usage of 3000 bytes was observed, therefore it's safer to raise
the commander's stack size by 400 bytes.
2017-01-21 16:04:43 +01:00
42c5684a06
Fix temperature clipping for temperature calibration. Fixes #6412
2017-01-21 12:08:18 +01:00
3a029e58c7
logger: Add mode for thermal calibration logging
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Logs the IMU and baro data at 10Hz
2017-01-21 11:48:02 +01:00
9665db3efc
Use px4_config.h not board_config.h
2017-01-21 11:45:36 +01:00
df6b46d0ba
FMUV1 Moved magic numbers for battery V div and A per V to board_config.h
2017-01-21 11:45:36 +01:00
894b41e313
AEROCORE Moved magic numbers for battery V div and A per V to board_config.h
2017-01-21 11:45:36 +01:00
f86a8c0e5e
MINDPX_V2 Moved magic numbers for battery V div and A per V to board_config.h
2017-01-21 11:45:36 +01:00
e0fa53f444
FMUV2 Moved magic numbers for battery V div and A per V to board_config.h
2017-01-21 11:45:36 +01:00
0baefec09f
FMUV4 Moved magic numbers for battery V div and A per V to board_config.h
2017-01-21 11:45:36 +01:00
e9ca626e19
TAP_V1 Moved magic numbers for battery V div and A per V to board_config.h
2017-01-21 11:45:36 +01:00
fd25f0a594
AEROFC_V1 Moved magic numbers for battery V div and A per V to board_config.h
2017-01-21 11:45:36 +01:00
99902807c9
SITL Moved magic numbers for battery V div and A per V to px4_config.h
2017-01-21 11:45:36 +01:00
a8b9c906f6
Board_config.h will provide the BOARD_BATTERYx_V_DIV
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Prep to distrubte the magic numbers assgined in parameters.cpp
to the board_config.h
common/board_common.h will define:
1) BOARD_BATTERY[1|2]_V_DIV as 0.0f if not defined to ensure
the missing default trips a low voltage lockdown
2) BOARD_BATTERY[1|2]_A_PER_V as 0.0f if not defined to ensure
the default leads to an unrealistic current value.
2017-01-21 11:45:36 +01:00
1c3ebadb85
Removed unused defines AVIONICS_ERROR_VOLTAGE and AVIONICS_WARN_VOLTAGE
2017-01-21 11:45:36 +01:00
0bb0e92378
gpio_led removed dependancy on CONFIG_ARCH_BOARD_xxxx
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The gpio leg can use either the FMU GPIO_SERVO (Aux Pins)
or the FMUv1 style IO pins.
We define either LED_ON_SERVO_GPIO or LED_ON_EXT_GPIO_AND_PIO
based on if the board_config provides GPIO_SERVO_1 or
GPIO_EXT_1.
For LED_ON_SERVO_GPIO we further define GPIO_MIN_SERVO_PIN and
the GPIO_MAX_SERVO_PIN based on the highest GPIO_SERVO_x provided
by the board_config
When base the ability to use the PX4PIO not in the existance of
the path but on the define BOARD_USES_PX4PIO
2017-01-21 11:45:36 +01:00
084e714f62
Mixer: Fix yaw throttle adjustment
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When a motor hits a limit we only want to lower the collective throttle as much as the total limit, not per motor hitting the limit.
2017-01-21 08:33:51 +01:00
1d66d4b051
sensors: Allow for difference in temperature readings across sensors
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We need to track the temperature change in each sensor instance individually when using it as basis for publication.
2017-01-21 08:31:56 +01:00
1beb2911e2
init shmem early to avoid random crash in fastrpc ( #6407 )
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* init shmem early to avoid possible crash
* fix_code_style
* Keep the initialziation to NULL, remove the duplicate memory allocation
2017-01-21 08:30:46 +01:00
c1b1d03515
mc_att_control: use a maximum of 3 gyros
2017-01-19 19:24:52 +01:00
21a3e4d36a
mc_att_control: fix out-of-bounds access if system has multiple gyros
2017-01-19 19:24:52 +01:00
ab9e0aa524
sensors temp compensation: do an orb_copy to get the driver ID
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This removes the necessity, that the driver class ID matches the uorb topic
instance.
Also improve error handling & reporting
2017-01-19 19:24:52 +01:00
41d220ac2d
sensors: reorder initialization calls
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needed for the next commit
2017-01-19 19:24:52 +01:00
f6f145cbe8
sensors & mc_att_control: increase stack sizes due to recent changes
2017-01-19 19:24:52 +01:00
fd48d9c190
sensors: print status of temp compensation with 'sensors status'
2017-01-19 19:24:52 +01:00
916a04bc56
sensors temp compensation: use SENSOR_COUNT_MAX instead of just 3
2017-01-19 19:24:52 +01:00
117826a31f
sensors temp compensation: refactor into a separate class
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- reduces some code duplication
- provides clear API & separation for temp compensation
additional changes:
- added timestamp to sensor_correction topic
- reduced its publication rate, to only when voting index or scales or
offsets change (if there is more than 1deg change in temperature)
2017-01-19 19:24:52 +01:00
23d278cc43
sensors temp compensation: minor cleanup
2017-01-19 19:24:52 +01:00
f38843278d
voted_sensors_update: make msl_pressure static const
2017-01-19 19:24:52 +01:00
e1ff6af792
mc_att_control_main: initialize _sensor_corrections properly
2017-01-19 19:24:52 +01:00
535b1ea0dd
voted_sensors_update: simplify accel & gyro poll methods
2017-01-19 19:24:52 +01:00
7d5cd02c70
mc_att_control_main: fix bound check for gyro instance
2017-01-19 19:24:52 +01:00
bbd47389e0
voted_sensors_update: fix copy paste naming mistake
2017-01-19 19:24:52 +01:00
0765ed552c
sensor_correction.msg rename {gyro,accel,baro}_select to match uORB convention
2017-01-19 19:24:52 +01:00
00d26b75e9
MC att control: Harden against incorrect indices
2017-01-19 19:24:52 +01:00
905c091f8c
MAVLink receiver: Use fake device ID
2017-01-19 19:24:52 +01:00
eac6dfed3c
mc_att_control: Sync attitude loops to gyro data
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Sync the attitude controller to the raw gyro data to remove the latency in the rate loops caused by the sensor and estimator modules.
Attitude data latency will increase as it will be from the previous EKF update, however attitude loops are less latency sensitive.
Thermal compensation and bias data will be from the previous frame.
2017-01-19 19:24:52 +01:00
0485c2b94a
sensors: add baro pressure temperature compensation and reporting
2017-01-19 19:24:52 +01:00
0ba31b521c
uavcan: Populate baro device ID
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TODO - use unique HW ID
2017-01-19 19:24:52 +01:00
677616ed83
mavlink: Populate baro device ID
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TODO - use unique HW ID
2017-01-19 19:24:52 +01:00
c2fc283fdb
sensors: Update single axis temp comp method to 5th order
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This allows future use with baro sensors that require a higher fit order
2017-01-19 19:24:52 +01:00
f8cef1e9ab
attitude_estimator_q: populate control state gyro bias data
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Populate with zeros.
TODO provide estimate.
2017-01-19 19:24:52 +01:00
27e6f07485
ekf2: publish control state gyro bias data
2017-01-19 19:24:52 +01:00
Lorenz Meier