bb516be61e
Commander: Enforce correct system configuration for HITL
...
This is important to ensure that users are not trying to use HITL with airframes that will not work.
2017-12-30 11:24:22 +01:00
0ae1737e85
Commander: Fix HITL state initialization that prevented pre-flight checks to pass in HITL mode on v1.7.2
...
This is a minor change that fixes the ordering of the initialization.
2017-12-30 11:24:22 +01:00
644db1b03f
State machine helper: Fix typo
2017-12-30 11:24:22 +01:00
c31e31bf5e
Voted sensors: Better error messages
2017-12-30 11:24:22 +01:00
f69a6af989
Commander: increase stack to ensure enough margin remains
2017-12-30 11:24:03 +01:00
370da89573
fw_pos_control fix parameter sanity check ( #8521 )
...
- the sanity check result wasn't being sent to the user and prevents landing slope, runway takeoff, and launch detector parameter updates.
2017-12-26 16:02:31 -05:00
72823e6eb4
MicroRTPS bridge: Depend on messages, not just on headers
...
This ensures that an update of the message spec re-generates the bridge.
;
2017-12-26 16:01:11 -05:00
fc7c8b4b89
vehicle_status delete engine_failure_cmd
2017-12-27 02:41:10 +08:00
17e17d79dd
commander delete unused vtol_transition_failure_cmd
2017-12-27 02:41:10 +08:00
d0fba8bf8b
commander delete unused data_link_lost_cmd
2017-12-27 02:41:10 +08:00
c0be801b5c
commander delete unused rc_signal_lost_cmd
2017-12-27 02:41:10 +08:00
5a6cde41d5
commander delete unused gps_failure_cmd
2017-12-27 02:41:10 +08:00
ca804a2308
commander delete unused sensors check
2017-12-27 02:41:10 +08:00
294fbc46a9
commander initial class structure
2017-12-27 02:41:10 +08:00
5d6edcc15d
commander consolidate periodic state publishing
2017-12-22 10:42:14 -05:00
1ea5de43cf
logger add vehicle_status_flags
2017-12-22 10:42:14 -05:00
043ad3c33e
commander vehicle_status_flags only publish if changed
2017-12-22 10:42:14 -05:00
176738c688
commander: add missing px4_close ( #8513 )
2017-12-22 08:57:06 +11:00
ec57832a8f
FW land detector increase trigger time and cleanup ( #8486 )
2017-12-21 12:17:32 -05:00
7dab5d4380
mission feasibility full home position isn't always needed
2017-12-21 15:28:45 +08:00
925c65b4d5
ekf2: add beta innovation gate to parameters
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2017-12-21 04:02:10 +08:00
58d1cdc733
Allow MAV_CMD_DO_SET_HOME as a mission command
2017-12-20 10:19:07 +01:00
a8c26265b5
Check manual home set when setting during arming
2017-12-20 10:19:07 +01:00
375ae991bc
commander DO_SET_HOME populate local coordinates
...
- unify commander home update
2017-12-20 10:19:07 +01:00
cf7ad67678
Check home reset in local frame
2017-12-20 10:19:07 +01:00
4e175d13c4
Set manual_home when home set manually
2017-12-20 10:19:07 +01:00
74868f8c2b
Reset home position when landed and disarmed
2017-12-20 10:19:07 +01:00
6172315cf7
navigator mission_result fix increment sign
2017-12-20 17:05:25 +08:00
a4be7ae7d0
commander mission_result check time and instance
2017-12-20 17:05:25 +08:00
4bd7d62b5c
ekf2: update AID_MASK bitmask comment for QGC
2017-12-20 05:22:11 +08:00
e8624f8afe
navigator takeoff alt check use altitude acceptance ( #8480 )
2017-12-17 01:39:53 -05:00
642aeccd1e
logger add home_position to the default set
2017-12-17 00:57:17 -05:00
cbdb08bb61
mavlink receiver delete unused orb_adverts
2017-12-12 11:25:09 -05:00
d2457467e7
mavlink delete unimplemented and deprecated handle_message_request_data_stream
2017-12-12 11:25:09 -05:00
c8aa262e85
mavlink delete unimplemented handle_message_quad_swarm_roll_pitch_yaw_thrust
2017-12-12 11:25:09 -05:00
3c667bb4f5
mc_pos_control: format fixes
2017-12-12 12:14:24 +00:00
deaa83bba0
mc_pos_control: Use vertical position derivative when in velocity control mode
...
Stops vertical velocity bias errors preventing the vehicle from landing.
Use of the vertical derivative is blended in so that for zero vertical velocity set point, the local_position.vz is used and when the magnitude of the vertical velocity setpoint exceeds the landing speed, the local_position.z_deriv is used.
2017-12-12 12:14:24 +00:00
26e85736a5
land_detector: Reduce and detection false negatives due to estimator bias
...
Using the vertical derivative estimate prevents vertical velocity offsets caused by estimation vertical velocity errors preventing the vehicle disarming.
2017-12-12 12:14:24 +00:00
64a06d8523
commander: Fix pre-flight delta velocity bias check level ( #8446 )
...
Previous check level was less than the max achievable by the estimator using current default parameters making the check ineffective.
2017-12-12 11:41:42 +11:00
32cba41bed
cmake handle mavlink v1 submodule only where used
2017-12-10 19:24:05 -05:00
c56b0a0e7c
Mavlink only stream HOME_POSITION if valid ( #8440 )
2017-12-10 02:31:42 -05:00
63718bf27b
fix MISSION_ITEM REACHED message broadcast ( #8332 )
2017-12-10 02:30:58 -05:00
324c5151e7
ekf2: use local scope for control mask variable
2017-12-08 07:43:13 +00:00
b812f95a77
ekf2: Adjust pre-flight check level
...
Reduce max yaw error when not using global frame aiding data to prevent large yaw yaw changes after takeoff.
2017-12-08 07:43:13 +00:00
ded9ca13e4
ekf2: Reduce sensitivity of preflight yaw check when not doing absolute aiding
...
When the EKF is not fusing in observations from the NE global reference frame, the tolerance to yaw errors is much higher. This changes will prevent false triggering of the preflight fail check when operating indoors without GPS where mag field errors can be high.
2017-12-08 07:43:13 +00:00
fa929322ab
load_mon: remove usage of CONFIG_RAM_SIZE
...
The define should not be used, as it might be wrong.
This is the case on fmu-v5, which meant that the used RAM was always 1.
2017-12-07 20:28:17 +00:00
4f8f0d8645
mc_pos_control: set triplets to NAN if not in auto mode
2017-12-07 20:27:11 +00:00
a0afc370d0
land detector: move arming state into base class & set param when disarming
...
Before that, different modules (ekf2, commander & land detector) changed
params upon different events:
- ekf2 & commander set params after disarm
- land detector set params on land detected
If the 2 events were several 100ms appart, it led to 2 param saves, and
the latter param set could have been blocked by an ongoing save. And if
the land detector was blocked, it could lead to mag timeouts.
This patch makes all modules use the same event, thus only a single param
save will happen.
If we want to have guarantees to never block, we should introduce a
param_try_set() API method.
2017-12-07 11:55:51 +00:00
1dbeec6a19
logger: do not write param changes if _should_stop_file_log is set
...
_should_stop_file_log is set after disarming: logging continues for 1s
to measure the CPU usage.
During that time, other modules might change params (such as ekf), and
we don't need to have these the log. However currently all modules do
not notify the system when setting params after disarming.
Meaning this patch is not strictly needed, it's more a preventive
measure.
2017-12-07 11:55:51 +00:00
b5be990109
lpe: fix incorrect setting of local_position.z_global
2017-12-07 08:20:16 +00:00
Lorenz Meier