b29d9db7f1
control_allocator: limit status publication rate to 200Hz
...
Reduces CPU load by ~3.5% on F4 @2khz.
And compute getAllocatedControl as needed (~1.5% CPU reduction)
2021-11-23 12:40:22 -05:00
bcba3dfe52
control_allocator,angular_velocity_controller: run on rate_ctrl wq
2021-11-23 12:40:22 -05:00
a0e43bca96
msg: remove unused vehicle_actuator_setpoint topic
2021-11-23 12:40:22 -05:00
52a2ef34fd
mixer_module: add THR_MDL_FAC for SYS_CTRL_ALLOC=1
2021-11-23 12:40:22 -05:00
4346ac4a37
control_allocator: add mixer metadata
2021-11-23 12:40:22 -05:00
282d35bbf0
esc_calibration: handle SYS_CTRL_ALLOC==1
2021-11-23 12:40:22 -05:00
21699935e8
vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR
2021-11-23 12:40:22 -05:00
f99c2617ad
control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults
2021-11-23 12:40:22 -05:00
0153c870d2
Commander: make sure yaw airmode is not possible while arm gesture is enabled
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It's unsafe to arm with the gesture when yaw airmode is enabled
because e.g. in Stabilized mode that results in a high yawrate setpoint
that the drone tries to follow even with zero thrust
because of the airmode.
It was handled before by checking the arm switch parameter because that
used to disable the stick arm gesture.
See 24dc316973
2021-11-23 16:03:46 +01:00
572890f8c0
ManualControl: add parameter to disable arm/disarm stick gesture
2021-11-23 16:03:46 +01:00
468022abba
ManualControl: correct arm hysteresis parameter name
2021-11-23 16:03:46 +01:00
c84b1c6566
ManualControl: ignore unassigned mode slots
...
They were resulting in a message
"Switching to Unkown is currently not available".
2021-11-23 16:03:46 +01:00
7ff72304b4
sensors/vehicle_imu: improve disabled sensor handling
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- remove regular callback scheduling when sensor is disabled, register if re-enabled
2021-11-22 21:10:35 -05:00
577d926639
commander: improve angular velocity validity and message
2021-11-22 11:27:45 -05:00
88d9ade4d7
Update submodule mavlink to latest Mon Nov 22 12:39:21 UTC 2021
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- mavlink in PX4/Firmware (0e4e8162407a12dc09c8d17635c60d4036b81bc7): https://github.com/mavlink/mavlink/commit/c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04
- Changes: https://github.com/mavlink/mavlink/compare/c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2...5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04
5309ba44 2021-11-18 Hamish Willee - Remove backticks - these do not render as a style so not helpful (#1745 )
9cac0e5a 2021-11-17 David Jablonski - docs: catch more hyperlinks (#1744 )
ea9349b5 2021-11-16 David Jablonski - common: add SET_FOCUS_TYPE_AUTO (#1741 )
2021-11-22 09:08:50 -05:00
8fc3b05491
mavlink: param_get proper type to silence errors
2021-11-22 09:08:38 -05:00
7a1a4ea7a6
Format fix & Remove redundant lines
2021-11-20 16:13:46 +01:00
51ce8306ee
Remove redundant code out of hil_lpos
2021-11-20 16:13:46 +01:00
b2c5919d29
Update src/modules/simulator/simulator_mavlink.cpp
...
Co-authored-by: JaeyoungLim <jalim@ethz.ch >
2021-11-20 16:13:46 +01:00
160fec5f25
Update simulator_mavlink.cpp
2021-11-20 16:13:46 +01:00
6e2060ddb6
Add accel to vehicle_local_position_groundtruth
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Related Issue: #18527
According to [this doc](https://github.com/mavlink/c_library_v2/blob/92b1a43468e8737da2d4cc1e72304e6443dcfdd3/common/mavlink_msg_hil_state_quaternion.h#L102 ), the *acc value are mili-Gee, so multiply the value with `CONSTANT_ONE_G/1000.0f` would get the acceleration in `m/s`.
2021-11-20 16:13:46 +01:00
505f963dd0
mavlink: receiver fix SENS_FLOW_ROT type
2021-11-19 21:08:04 -05:00
f912ee2c8b
Commander: send out parachute MAVLink command when kill switch engaged
2021-11-19 17:15:04 +01:00
3193b554ca
Add optional preflight check for healthy MAVLink parachute system
2021-11-19 17:15:04 +01:00
43c529f294
Add MAVLink parachute system heartbeat detection
2021-11-19 17:15:04 +01:00
fb54324f56
gyro-fft: Disable asm-operand-widths warning on apple silicon. The warning is caused by unused functions only. As with compiling for x86, the functions containing assembly never get used, but since the apple silicon is also an ARM target, they trigger a warning.
2021-11-19 09:14:11 -05:00
4c6621f6cf
Commander: Allow arming a rover with the throttle stick in the middle
2021-11-19 10:10:32 +01:00
35d4986ea7
FlightTasks: remove updateFinalize() concept because it got obsolete
2021-11-18 19:12:44 -05:00
9eac0edbc0
FlightTaskAuto: remove generateSetpoints function, replace by implementation
2021-11-18 19:12:44 -05:00
ece8fdddec
FlightTaskAuto: simplify early setpoint preparation based on triplet type
2021-11-18 19:12:44 -05:00
9646b49b60
[AUTO COMMIT] update change indication
2021-11-18 13:58:53 -05:00
bffd88ad81
ekf2: don't inhibit accel bias when not in air
2021-11-18 13:58:53 -05:00
f3472385da
sensors/vehicle_imu: fix accel/gyro learned bias calibration updates
...
- fix confusion between estimated bias and calibration offset when
saving after each flight
- when the stable bias estiamte is retrieved during flight it's
immediately converted to a sensor offset and saved
- fixes https://github.com/PX4/PX4-Autopilot/issues/18658
2021-11-18 10:00:26 -05:00
fc155bc57e
Ekf2Selector: declare filter unhealthy when high test ratio
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Request a switch to another instance when the combined test ratio is too high.
2021-11-18 13:29:01 +01:00
43fb076828
AngularAcceleration: explicitly disable filter when cutoff <= 0
2021-11-18 09:25:47 +01:00
4a14a8bc7f
AutoLineSV: Always publish a valid yaw setpoint
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In MPC_YAW_MODE 3 (along trajectory), the flight task is asked to
produce a yaw setpoint. If the previous yaw value was NAN (e.g.: during
early takeoff), the setpoint should then be reset to the current
estimate.
2021-11-16 18:09:37 -05:00
f751dd2242
FlightTask: set yaw_setpoint to NAN when yaw should not be controlled
2021-11-16 18:09:37 -05:00
2213343240
ft altitude: use longerThan to save a sqrt operation
2021-11-16 18:09:37 -05:00
394fa953b8
EKF: get status on yaw alignement in flight
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1s after the in air mag reset is performed, the final yaw alignment is
complete and the yaw estimate can be used for yaw control.
2021-11-16 18:09:37 -05:00
2a5751233a
FlightTasks: remove unused StraightLine library
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It was meant as an example for an easy to use interface of a
motion primitive with a minimal implementation. But the implementation
is much worse than the jerk optimized trajectory. We rather
work on making it easier to use. #18390 was a first step towards that.
2021-11-16 18:08:27 -05:00
e062f4fcf0
mavlink: ORBIT_EXECUTION_STATUS stream limit to 2 instances
2021-11-16 17:10:13 -05:00
7090e634cc
mission_block: always accept yaw in MC takeoff
2021-11-16 12:35:16 -05:00
0622cb8857
mavlink_ftp: disallow writes outside of /fs/microsd under NuttX
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As these files are kept in RAM, it could just fill up the RAM.
2021-11-16 12:34:16 -05:00
4e8c234a55
ekf2: only save mag declination if changed
2021-11-16 12:33:48 -05:00
b36dbf8de4
Remove AutoLineSmoothVel, merged into Auto
2021-11-16 10:08:47 +01:00
179b1cdf56
FlightTaskAuto: merge activate(), reActivate() and update() from FlightTaskAutoLineSmoothVel
2021-11-16 10:08:47 +01:00
51ebb0f294
FlightTaskAuto: move in helper methods from FlightTaskAutoLineSmoothVel
2021-11-16 10:08:47 +01:00
aa376c5824
FlightTaskAuto: move in parameters from FlightTaskAutoLineSmoothVel
2021-11-16 10:08:47 +01:00
50e13f132f
FlightTaskAuto: move in members from FlightTaskAutoLineSmoothVel
2021-11-16 10:08:47 +01:00
33e349d71e
FlightTask: remove unused _time
2021-11-16 10:08:47 +01:00
Beat Küng