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13210 Commits

Author SHA1 Message Date
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
Daniel Agar
0dc8bb9c86
uORB: increase ORB_MULTI_MAX_INSTANCES 4 -> 10 
- put more realistic bounds on maximum number of battery instances, gps, etc
 2020-09-24 11:01:28 -04:00
Matthias Grob
5d47a4c9e0
Commander: fix rc override threshold scaling (#15807) 
Improve parameter description for threshold
and lower the threshold a bit.
 2020-09-24 14:52:19 +02:00
Daniel Agar
8579b5dd26
uORB: Subscription add copy/move constructor and assignment 2020-09-23 10:04:54 -04:00
Matthias Grob
bf248746ce mavlink_messages: cast rotation types for assert 2020-09-23 09:08:23 -04:00
Daniel Agar
d5295ef4e1 mavlink: add static asserts to keep MAV_SENSOR_ROTATION in sync with PX4 ROTATION 2020-09-22 11:10:31 -04:00
Daniel Agar
00e955cc3e rotations: sync rotation enum, SENS_BOARD_ROT, CAL_MAGx_ROT with MAV_SENSOR_ORIENTATION 2020-09-22 11:10:31 -04:00
Daniel Agar
d676e65294
logger: log_writer_file increase stack 1170 -> 1472 bytes (#15765) 2020-09-21 22:17:31 -04:00
bresch
1141cfa7c6 ekf2_main: reduce update mag bias minimum learning time to 30s 
120 seconds of learning time in 3D fusion mode was too long for most normal flights. The learned bias is usually really good after a shorter period and was not used to update the parameters. 30s seems to be a good compromise.
 2020-09-21 15:54:24 +02:00
Daniel Agar
09af5e0637
commander: mag calibration use expected WMM sphere radius to reject samples if GPS is available 2020-09-20 12:22:56 -04:00
David Sidrane
323dd389fe vehicle_imu:VehicleIMU Fix style issues 2020-09-16 21:32:04 -04:00
David Sidrane
760f2ecb22 LoadMon:track upstream malloc changes 2020-09-16 21:32:04 -04:00
David Sidrane
c948d41284 up_cxxinitialize:is now automatic in task start 2020-09-16 21:32:04 -04:00
David Sidrane
06d030b6d9 px4iofirmware Updates for NuttX 9.1.0- 2020-09-16 21:32:04 -04:00
Julian Oes
9ed07a7873 simulator: fix temperature setting after rebase 2020-09-16 12:51:56 -04:00
Julian Oes
a37b839e27 simulator: add missing timestamp 2020-09-16 12:51:56 -04:00
Julian Oes
b1219811c5 mavlink: SYS_FAILURE_EN is just a bool 
Thanks @bkueng for the review comment.
 2020-09-16 12:51:56 -04:00
Julian Oes
4d76ed34f3 simulator: update temperature in sync with baro 
This fixes the case where the baro was not rejected if stuck because the
temperature still varied.
 2020-09-16 12:51:56 -04:00
Julian Oes
c31246e13a mavsdk_tests: add test for stuck mag 2020-09-16 12:51:56 -04:00
Julian Oes
afcfa2fbe0 mavsdk_tests: check for stuck baro 2020-09-16 12:51:56 -04:00
Julian Oes
a9c4f269bd simulator: use failure injection to block GPS 
This uses the new failure injection system using vehicle_commands
instead of specific parameters. For now it implements GPS only.
 2020-09-16 12:51:56 -04:00
Julian Oes
53b14233a2 mavlink: handle failure injection commands 
This adds handling of MAVLink failure injection commands. An
additional parameter is added as a guard to prevent triggering any
failures by accident.
 2020-09-16 12:51:56 -04:00
Nicolas MARTIN
504730386a fix COM_ARM_AUTH comment 2020-09-15 22:12:55 -04:00
Daniel Agar
c41f053c7b
vehicle_imu/vehicle_magnetometer add calibration indicator to message 
- vehicle_imu/vehicle_magnetometer add monotonically increasing `calibration_count` field so that downstream subscribers are aware of calibration changes
 2020-09-15 13:12:57 -04:00
Daniel Agar
87471a988d land_detector: use hover thrust if it was valid recently 
- the hover thrust estimate will often invalidate upon ground contact, but before the land detector ground_contact triggers
 - use same time throughout call to avoid subtle timing surprises
 2020-09-15 10:17:25 -04:00
Daniel Agar
dc507ee544 sensors: add SENS_MAG_MODE to optionally publish all magnetometers 2020-09-15 10:15:39 -04:00
Daniel Agar
a04412fc1f sensors: add SENS_IMU_MODE to optionally skip IMU voting/selection 2020-09-15 10:15:39 -04:00
Mirko Denecke
5ebc4d31da CubeOrange and CubeYellow IMU heating fix 2020-09-15 10:08:58 -04:00
Ricardo Marques
c15efea429
mavlink: publish ESC_INFO and ESC_STATUS 
Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>
 2020-09-14 09:38:44 -04:00
JaeyoungLim
0592f6ba6e
Support gliding setpoints for autonomous soaring (#14643) 
* Enable offboard gliding position setpoints

Adds a capability to make the vehicle glide when given position setpoints.

Gliding setpoints are enabled by setting POSITION_TARGET_TYPEMASK_Z_IGNORE, POSITION_TARGET_TYPEMASK_VZ_IGNORE,  POSITION_TARGET_TYPEMASK_AZ_IGNORE on the typemask of position setpoints.
Include zero cruising throttle
Invalid setpoints with nan

* Handle nans for curise_throttle
 2020-09-14 10:56:29 +02:00
Daniel Agar
13db2ebb2b
accel/gyro/mag calibration set default priority uninitialized 
- this allows the default priority to be set differently for internal/external sensors
 - accel and gyro initialize default priority like mag in preparation for fully supporting external sensors
 - fixes #15652
 2020-09-13 21:02:53 -04:00
Daniel Agar
d70e183f5b commander: sensor calibration check parameter save success 2020-09-13 21:00:40 -04:00
Thies Lennart Alff
531242468e fixed erroneous task_spawn 2020-09-13 18:31:02 -04:00
Morten Fyhn Amundsen
cfe4982023 mavlink_messages: Subscribe to all distance_sensor instances 
This will make all distance_sensor messages be published to
mavlink. Previously, if you ran multiple distance_sensor publishers,
typically multiple distance sensors, then you'd only get one of them
on mavlink.

The modifications to MavlinkStreamDistanceSensor are based on
MavlinkStreamBatteryStatus, which already exists with multi-instance
subscription and streaming to mavlink.

Use SubscriptionMultiArray

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2020-09-13 12:42:07 -04:00
Quentin PERROT
9116acc431 change message critical state for arm authorization 2020-09-09 08:59:21 +02:00
Matthias Grob
f70dda12a6 failureDetectorCheck: remove string manipulation 2020-09-08 11:42:30 +02:00
Matthias Grob
5eba25d2b5 Commander: remove duplicate flag changes 2020-09-08 11:42:30 +02:00
Matthias Grob
ab17b6bad4 failureDetectorCheck: revise messageing 2020-09-08 11:42:30 +02:00
Matthias Grob
981e05c633 FailureDetector: move esc topic check into esc status update 2020-09-08 11:42:30 +02:00
Matthias Grob
c180e09b9a FailureDetector: replace resetAttitudeStatus 2020-09-08 11:42:30 +02:00
Matthias Grob
390edb770d Commander: separate failure detector cases 
One case could lead to the action for the other!
 2020-09-08 11:42:30 +02:00
Matthias Grob
f47bb95b26 FailureDetector: remove obsolete bit switch checks 2020-09-08 11:42:30 +02:00
Matthias Grob
c9b81eaf08 FailureDetector: simplify updated/changed check 2020-09-08 11:42:30 +02:00
Matthias Grob
2bb5917188 FailureDetector: refactor naming, member order 2020-09-08 11:42:30 +02:00
Matthias Grob
25cdb383c6 Commander: simplify main failure detector condition 2020-09-08 11:42:30 +02:00
bresch
db25f20120 ekf2: move "using" keywords to cpp 2020-09-07 09:42:56 -04:00