b6d08fecb3
flow testing
2022-02-24 13:52:52 +01:00
61c66a723c
ekf rng fusion: use terrain state as offset directly
2022-02-23 16:07:27 +01:00
f1658aeaf8
hagl: fix flow for terrain starting
...
unit tests are passing
2022-02-22 16:03:20 +01:00
c4c5a2f201
ekf_test: fix terrain unit tests
2022-02-22 15:28:42 +01:00
37c662e452
update terrain validity all the time
2022-02-22 15:27:29 +01:00
f36f0052de
allow starting flow fusion without recent height fusion (no rng finder)
2022-02-22 15:27:29 +01:00
bcf652b728
log 25th state
2022-02-22 15:27:29 +01:00
2b7b16986d
update terrain state un fuse function
2022-02-22 15:27:29 +01:00
36fb465c5a
fix unit tests
2022-02-22 15:27:29 +01:00
41d7331bc3
boards: fix sitl.cmake script error
2022-02-22 15:27:29 +01:00
313c9ec442
ROMFS: Optimise gazebo SITL optical flow test logging for EKF replay
2022-02-22 15:27:29 +01:00
3ce4b40bcf
ROMFS: Use single EKF for optical flow SITL test to enable replay
2022-02-22 15:27:29 +01:00
ea8465c277
ekf2: remove legacy functions for terrain estimation
2022-02-22 15:27:27 +01:00
d1fd00b92a
ekf2: add observation method for HAGL
2022-02-22 14:29:26 +01:00
899c0f2309
ekf2: add derivation for HAGL observation
2022-02-22 14:25:41 +01:00
cd0a5c24e8
ekf2: add terrain state to optical flow fusion
2022-02-22 14:25:41 +01:00
dd841b6765
ekf2: fix bug in derivation of flow observation equations
2022-02-22 14:25:41 +01:00
294e3abfeb
ekf2: Add terrain vertical position state to prediction methods
2022-02-22 14:25:41 +01:00
7269a8ec3e
ekf2: update derivation output
2022-02-22 14:25:41 +01:00
fb3dadd0fe
ekf2: use legacy quat to rotation matrix for observation equations
2022-02-22 14:25:41 +01:00
cb0b4c596d
ekf2: add terrain state to derivation
2022-02-22 14:25:41 +01:00
0e0e0d8be7
[AUTO COMMIT] update change indication
2022-02-22 11:49:25 +01:00
4f0a959244
gps_hgt: add and improve unit tests
2022-02-22 11:49:25 +01:00
edabfd2f0e
ekf_hgt: call specific height reset function instead of generic one
...
- Also use the delayed current data instead of newest that might not be
available (gps buffer is sometimes empty if the dt between samples is
larger than the delayed horizon).
- Separate "baro fault" from "baro intermittent": intermittent is a
temporary failure and should prevent from switching to baro right now,
but "fault" means that it should never be used anymore
- In case of height timeout, check for metrics but not for consistency
as the filter is likely to have diverged already.
2022-02-22 11:49:25 +01:00
cba73585e1
use recorded last sensor timestamp for intermittent check
2022-02-22 11:49:25 +01:00
f431b233f3
ekf2: preflight checker fix flow y innovation filter
2022-02-22 09:39:22 +01:00
4f62b01dc7
Tools/px4moduledoc: add new rpm_sensor subcategory
2022-02-22 07:57:30 +01:00
f31f3370ef
Add support for Timer15 on H743 boards ( #19228 )
...
* Adds Timer15 to stm32_common, if the timer base is defined
* Adds Timer15 logic for DMA and AltFunc config on stm32h7 boards
* Adds TIM15 BDTR->MOE support in stm32_common timer init
* Adds support for TIM15 pwm channels on Matek H743 Slim
2022-02-21 16:52:38 -05:00
710185d2ad
drivers/magnetometer/rm3100: cleanup and simplify ( #19238 )
...
* switch to continuous mode at 75 Hz
* add simple failure count and reset mechanism
* add range checks and perf counts
2022-02-21 16:48:20 -05:00
976c994156
Extend the PCF8583 driver to support multiple instances ( #19232 )
...
* Add some restart events into pcf8583 driver
Co-authored-by: Vít Hanousek <vithanousek@seznam.cz >
2022-02-21 16:47:16 -05:00
3c58932aff
boards: px4_fmu-v2_default disable ms4525 to save flash
2022-02-21 16:45:22 -05:00
699f34ba83
drivers/magnetometer/rm3100: self-test procedure revision ( #19207 )
...
* Adds retry behavior and additional checks to RM3100 BIST
Signed-off-by: Charles Cross <charles@missionrobotics.us >
2022-02-21 11:27:42 -05:00
960003a86a
control_allocator: fix weak authority matrix check & update
...
- use max(fabsf(val)) instead of max(val)
- use correct actuator count
2022-02-21 11:17:00 -05:00
591b7b6934
ekf2: add new estimator_gps_status.msg
...
- includes the estimator status check fail bits broken out as descriptive booleans
- absorbs ekf_gps_drift.msg
2022-02-21 08:58:59 -05:00
f8d7574d3c
ekf2: simplify global position publication validity check
2022-02-21 08:57:33 -05:00
be92165c54
AirspeedSelector: fix messaging
2022-02-21 15:21:13 +03:00
c0facec889
cdc_acm_check:Prevent USB disconect on param save
...
If the hardware support RESET lockout that has nArmed ANDed with VBUS
vbus_sense may drop during a param save which uses
BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE to prevent external resets
while writing the params. If we are not armed and nARMRED is low
we are in such a lock out so ignore changes on VBUS_SENSE during this
time.
2022-02-21 10:56:41 +01:00
9b35b680f6
gimbal: fix input selection
...
Once we have valid input we should use that and not overwrite our
update_result with the result from other inputs, otherwise the
automatic selection does not actually work.
This behavior means that only the first update will be used if there are
several sources updating in the same cycle.
2022-02-21 08:38:16 +01:00
3c09448daf
dataman: add silence flag for _file_initialize
2022-02-21 08:36:36 +01:00
cc6c6c3b8c
power_monitor: Determine I2C communication errors
2022-02-20 16:05:44 -05:00
09e36e6cb4
gimbal: new pitch limits [MNT_LND_P_MIN, MNT_LND_P_MAX] when landed
2022-02-20 16:04:09 -05:00
59f28517c5
Force ignition to use version 5 (edifice) which is what it is built for so it doesn't default to a newer version
2022-02-19 19:04:26 +01:00
d147ad3a9a
gimbal: add parameter units
2022-02-18 14:15:58 -05:00
2a8aa17a81
mavlink: streams MOUNT_ORIENTATION populate time_boot_ms
2022-02-18 14:14:56 -05:00
1f77a3750e
mavlink: don't reset _src_addr_initialized on parameter updates
2022-02-18 14:14:36 -05:00
e0a8d217fc
mavlink increase HEARTBEAT timeout 1.5->2.5s
...
- tolerate missing one HEARTBEAT + jitter
2022-02-18 10:16:20 -05:00
1addbe469e
mavlink: STATUSTEXT increase stale message timeout
2022-02-18 10:16:20 -05:00
d5d50d5855
gyro_calibration: add additional validity check before finalizing calibrations
...
- this can slip through if sensors are running normally, but then stop publishing valid data
2022-02-18 09:12:30 -05:00
dab7b007de
Auto-generate a list of kernel-side built-in modules(drivers)
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2022-02-18 07:58:58 +01:00
9449ed6e66
Add support for protected build in drivers, systemcmds and modules Kconfig
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2022-02-18 07:58:58 +01:00
bresch