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Commit Graph
2010 Commits
Author SHA1 Message Date
Julian Kent b27d6a958a Account for the time since range data arrived 2019-09-11 12:34:59 -04:00
Hamish Willee 94ef585f76 Link to missing params docs 2019-09-11 09:17:00 -04:00
Julian Kent a8fbe6bba2 Remove references to pow(x,0.5), use sqrt instead (#12928) 
* Remove references to pow(x,0.5), use sqrt instead

* Update matrix library
 2019-09-10 13:29:39 +02:00
mcsauder ddd9a97d42 Modify the LeddarOne driver class to utilize the PX4RangeFinder library. 2019-09-06 11:59:29 +02:00
Tanja Baumann f3c5ca6015 Collision Prevention: support multiple sensors and frames (#12883) 
* build internal sensor map

* Extend testing coverage

* Update matrix library
 2019-09-06 08:38:56 +02:00
Julien Lecoeur 7bea81f02c Add board orientation ROLL_90_YAW_270 2019-09-05 20:41:32 -07:00
Daniel Agar c75954fef8 lib/led: temporarily ignore implicit fallthrough warning 2019-09-04 20:03:02 -07:00
PX4 Build Bot 69475a172b Update submodule ecl to latest Wed Sep 4 08:37:31 EDT 2019 
- ecl in PX4/Firmware (da6970329175df98ff46b2d9ddfa467ba438bb2e): https://github.com/PX4/ecl/commit/62fa464e4dd6cb5e585d23bd353aa50a469879f7
    - ecl current upstream: https://github.com/PX4/ecl/commit/3b32ee41660afd4785c374355e0fdefdae83e9b9
    - Changes: https://github.com/PX4/ecl/compare/62fa464e4dd6cb5e585d23bd353aa50a469879f7...3b32ee41660afd4785c374355e0fdefdae83e9b9

    3b32ee4 2019-09-02 bresch - Flow aiding - Reset state when flow is enabled only if it is the only position/velocity aiding sensor. Until now, it was alway resetting if the vehicle does not have gps or external vision. This caused a reset/glitch at every stop (when range data gets valid)
be368f3 2019-08-28 kamilritz - Update comment
c5abfe6 2019-08-28 kamilritz - remove canonicalize and adapt comments
67512d8 2019-08-22 kamilritz - Update matrix library for CI
a2ff415 2019-08-22 kamilritz - Fix get frame aligning quaternion function
53eac6e 2019-08-21 kamilritz - Canonicalize alignment quaternion
933c32c 2019-08-20 kamilritz - Enable local frame alignment also without using it
ea352a6 2019-08-20 kamilritz - Dont use mag suffix for magnitude
05196db 2019-08-20 kamilritz - Fix alignment of local frame
 2019-09-04 08:09:36 -07:00
Julian Oes 5e9cae11f8 controllib: fix for undefined sanitizer 2019-09-03 11:54:09 -05:00
Daniel Agar 4d9f2bf776 add IMU_GYRO_RATEMAX to optionally limit gyro control publication rate 2019-09-02 20:06:50 -04:00
Daniel Agar b0f82ee8ac CollisionPrevention: update orb_publish to uORB::Publication<> 2019-09-02 15:35:34 -04:00
Julian Kent bc58bed960 Add test for jerk reduction 2019-09-02 14:51:18 +02:00
Julian Kent 865157228f Add collision prevention velocity limitations also based on max accel/jerk 2019-09-02 14:51:18 +02:00
Beat Küng f0ee0b5d49 MixingOutput: make scheduling configurable 
And make sure fmu calls MixingOutput::updateSubscriptions on startup even
if no mixer is loaded, so that it gets scheduled.
 2019-08-31 10:05:00 -04:00
Beat Küng a2ebbe9066 pwm_limit: rename to output_limit 
As there is nothing pwm-specific about it.
 2019-08-31 10:05:00 -04:00
Beat Küng 1bee984bb0 MC_AIRMODE: move parameter definition to mixer_module 
Makes sure that the parameter is included for the builds that need it.
 2019-08-31 10:05:00 -04:00
Beat Küng 077b229655 MixingOutput: make mixer loading thread-safe 2019-08-31 10:05:00 -04:00
Beat Küng d3fb610fde mixer_module: create MixingOutput library and use in fmu 
This should be a pure refactoring, no functional change.
 2019-08-31 10:05:00 -04:00
Matthias Grob d3c7d06288 FlightTaskOrbit: don't apply yaw feed forward in circle approach 
The yaw pointing towards the center makes sense since that's the approach
direction anyways. But with the yaw feed forward results in a weird looking
bias when not orbiting yet.
 2019-08-31 14:25:39 +02:00
Matthias Grob 7774b150a9 FlightTaskOrbit: only reapproach circle if center changed 
The condition that the vehicle is more than 3m away from the circle line
was too sloppy. That often happens when the radius is changed by sticks.
A reapproach is only necessary when the center is moved and that's only
possible through the orbit command.
 2019-08-31 14:25:39 +02:00
Matthias Grob cca7596bcd FlightTaskOrbit: use StraightLine library to approach circle 
The initial approach to the circle to orbit on was very agressive since
it was just the controller trying to stay on the circle reaching the
limits. Now there's first an approach phase in which the vehicle reaches
the circle trajeectory in a smooth perpendicular line before starting the
orbit execution.
 2019-08-31 14:25:39 +02:00
Matthias Grob 345ad06d7e StraightLine: rewrite old implementation 
Before it was:
- not used anywhere
- copied from an old mission implementation version
- didn't plan in advance
- had a lot of broken cases
- dependent on a lot of parameters

I'm starting with a new relatively simple implementation that works as
expected for a minimum viable implementation and can be improved over time.
The first version is used to approach the circle path in Orbit mode to
verify the interface and get testing such that it gets eventually used
everywhere.
 2019-08-31 14:25:39 +02:00
Beat Küng 43fdcd7876 px4_middleware: remove that header and move px4::init to px4_init.h 
delete include:
for i in $(grep -rl 'px4_middleware.h' src platforms); do sed -i '/#include <px4_middleware.h/d' $i; done
 2019-08-30 07:59:44 +02:00
Beat Küng f32abe8534 src/platforms: move remaining source files to platforms/common 2019-08-30 07:59:44 +02:00
Beat Küng f8e0441e7b src/platforms/common: move to platforms/common 
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
 2019-08-30 07:59:44 +02:00
Beat Küng 3bdfd8ce8d ToneAlarmInterface: move to drivers/drv_tone_alarm 
It belongs there since it's not a library providing the implementation, but
just declaring the interface.
 2019-08-30 07:59:44 +02:00
bresch fe73cef224 TestVelocitySmoothing - Split time synchronization and final state checks into two different test functions 
Also improve the comments
 2019-08-29 15:20:53 +02:00
bresch 94d15931f2 TestVelocitySmoothing - Remove useless function override, use ceil instead of ceilf and remove line duplicate 2019-08-29 15:20:53 +02:00
bresch 5b82fa3a0f TestVelocitySmoothing - add check for time synchronization and final acceleration 2019-08-29 15:20:53 +02:00
bresch f40d571858 VelocitySmoothing - add zero setpoint test 2019-08-29 15:20:53 +02:00
bresch c59bcc686c VelocitySmothing - Add gtest script 2019-08-29 15:20:53 +02:00
roangel 1e510f5a44 [FlightTasks] Added class enum for FlightTasks errors (#12822) 2019-08-29 14:48:52 +02:00
PX4 Build Bot 511438d6ef Update submodule matrix to latest Thu Aug 29 00:42:01 UTC 2019 
- matrix in PX4/Firmware (341c0ae739753db98dcd0711e91f621c1666b16d): https://github.com/PX4/Matrix/commit/56b069956da141da244926ed7000e89b2ba6c731
    - matrix current upstream: https://github.com/PX4/Matrix/commit/cc084e0791535e8426780e6a4f05794804db1b82
    - Changes: https://github.com/PX4/Matrix/compare/56b069956da141da244926ed7000e89b2ba6c731...cc084e0791535e8426780e6a4f05794804db1b82

    cc084e0 2019-08-26 Martina Rivizzigno - matrix: add method to check all values are nan (#82)
84b3da2 2019-08-22 kritz - Canonical Quaternion with tests (#81)
 2019-08-28 21:45:09 -04:00
Julian Oes 3fa3cbd28a version: add beta tag 
This adds the "beta" tag and adds a dash before "rc" or "beta".
 2019-08-23 13:18:52 +02:00
Julian Oes 68078795c0 px_update_git_header.py: allow -beta/-rc in tag 
This changes two things:
- This adds "-beta" as a valid tag suffix.
- This changes "rc" without "-" to "-rc". "rc" without is now described
  as deprecated and with "-rc" is preferred.
 2019-08-22 18:45:50 +02:00
bresch f4b40865af SmoothVel - Fix altitude lock logic. 
It was broken because _velocity_setpoint is used for input and output
and was assumed to be the input at a place where it was already overwitten
To clarify this, the input setpoint is renamed "target"
 2019-08-22 16:43:41 +02:00
Julian Kent 5c68880b56 Reset parameters in test setup, not teardown 2019-08-21 14:53:41 +02:00
Julian Kent 63140f1d61 Do a single setup of uORB/Parameters instead of once every test 2019-08-21 14:53:41 +02:00
Silvan Fuhrer ab28f1e4f7 Navigator: VTOL: disable weather vane during yaw aligning before front transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-21 10:08:04 +02:00
baumanta af0d63250c check velocity_setpoint instead of sticks in altitude mode 2019-08-21 10:02:40 +02:00
baumanta d168d5049f check vel_setpoint instead of stick input for position lock 2019-08-21 10:02:40 +02:00
Daniel Agar 5d813224c8 PX4 SPI default to thread locking mode 2019-08-20 21:36:21 -04:00
Daniel Agar 5ae408382b led drivers and controller move to uORB::Subscription 2019-08-20 14:03:23 -04:00
Tanja Baumann be233f6bc7 Collision Prevention: don't allow moving outside sensor FOV (#12741) 
* don't allow moving outside FOV

* Update parameters in tests
 2019-08-20 17:01:13 +02:00
Daniel Agar dacaabe92e introduce sensor_gyro_control message for vehicle_angular_velocity (#12145) 2019-08-16 13:53:59 -04:00
Julian Kent d70b024ec7 GTest functional tests that include parameters and uORB messaging (#12521) 
* Add kdevelop to gitignore

* Add test stubs

* Rename px4_add_gtest to px4_add_unit_gtest

* Add infrastructure to run functional tests

* Add example tests with parameters and uorb messages

* Fix memory issues in destructors in uORB manager and CDev

* Add a more real-world test of the collision prevention
 2019-08-09 15:10:09 +02:00
bresch 4eb9c7d812 Create TrajMath library and move waypoint speed calculations in it 2019-08-09 12:04:48 +02:00
bresch b1698b78bc AutoSmoothVel - scale down acc_hor using traj_p parameter in the computation of the maximum waypoint entrance speed 2019-08-09 12:04:48 +02:00
bresch de10f1e04d MC auto - Modify yaw_sp_aligned to take mis_yaw_error tolerance. 
Add check for this flag in AutoLine
 2019-08-09 12:04:48 +02:00
Dennis Mannhart 9e9b2ab9e8 FlightTaskAutoLine/SmoothVel: stop at waypoint if altitude is has not been reached yet 2019-08-09 12:04:48 +02:00