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22681 Commits

Author SHA1 Message Date
Matthias Grob
b7600f4e4d Commander: check_posvel_validity use return value 2021-03-30 22:33:01 -04:00
Matthias Grob
29e1e0905c Commander: switch main_state functions to pass by reference 2021-03-30 22:33:01 -04:00
Matthias Grob
531de5c588 Commander: switch all state_machine_helper functions to pass by reference 2021-03-30 22:33:01 -04:00
Matthias Grob
d97fba67e5 Commander: switch helper functions to pass by reference 2021-03-30 22:33:01 -04:00
Daniel Agar
0fa91f7cb0 commander: centralize main_state strings and simplify main state change attempts 
* commander: centralize main_state strings and simplify main state change attempts
 2021-03-30 17:56:28 +02:00
Daniel Agar
18be1bacdc state_machine_helper: automatically initialize to assist mode if using mavlink manual control 2021-03-30 17:56:28 +02:00
Claudio Micheli
b001865e5c Commander: clean up logic for flight mode transitions and add joystick mode initialization 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-03-30 17:56:28 +02:00
Daniel Agar
9a35756cd1
ekf2: enable range aid by default 
- this is to help more users get the benefit (by default) and perhaps circumvent the common mistake of setting EKF2_HGT_MODE to range sensor
 - this should be safe to enable as the range aid defaults are fairly conservative (max horizontal velocity 1 m/s, and range aid gate 1 SD)
 2021-03-30 10:23:18 -04:00
Michael Schaeuble
f9af1bbe2d PreFlightCheck: Check if SD card is present only once and store the result 
statfs accesses the file-system and can be blocking for an extended period. Since the SD card check is part of the preflight checks in the main thread of commander, it could block its execution and cause various issues. The SD card is only mounted in rcS during boot so the state will not change after the first check.
 2021-03-30 08:20:49 +02:00
Daniel Agar
c2350c06c1 commander: ManualControl avoid unnecessary copy 2021-03-30 08:19:07 +02:00
Beat Küng
416a663d11 params: add build dependency for *parameters.c 
Makes sure changes to these files trigger metadata rebuild
 2021-03-30 08:18:49 +02:00
Beat Küng
42a865f349 param json: ensure category is set to Standard if not set 
For xml this was previously done on the QGC side.
 2021-03-30 08:18:49 +02:00
Beat Küng
2d2799b739 IMU_GYRO_CUTOFF: add 800 (used by SITL) 2021-03-30 08:18:49 +02:00
Beat Küng
346f269d8f IMU_INTEG_RATE: add 250 (used by SITL) 2021-03-30 08:18:49 +02:00
Beat Küng
6a7688cbca component_information: rework to reflect mavlink message changes 2021-03-30 08:18:49 +02:00
Daniel Agar
3d667b1675
delete unused drivers/lights/blinkm 2021-03-28 19:21:29 -04:00
Daniel Agar
631d1647d3 boards: minimize unnecessary differences in default variants 2021-03-28 14:46:47 -04:00
Daniel Agar
fcc4153c26 drivers/gps: explicitly link libm 
- needed on stripped down builds
 2021-03-28 12:39:22 -04:00
Daniel Agar
7314b69adc cmake: fix jlink_flash_uavcan_bin helper 2021-03-28 12:39:22 -04:00
Daniel Agar
86b831b019
Update submodule GPSDrivers to latest Sun Mar 28 12:39:06 UTC 2021 (#17253) 
- devices in PX4/Firmware (22b74424d42fa89ebc4df84422ca7ea633843878): e7f0b23f47
    - devices current upstream: f2eb62c2c7
    - Changes: e7f0b23f47...f2eb62c2c7

    f2eb62c 2021-02-21 chenhui.yu - sbf: fix #430 longitude judgement bug

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2021-03-28 11:13:58 -04:00
Daniel Agar
a9b47558b1
magnetometer/lsm9ds1_mag: fix register typo and refactor to new style with state machine and configuration monitoring 2021-03-26 14:23:25 -04:00
bresch
a124426541 ecl: apply same GNSS speed accuracy for EKF2 and yaw estimator 2021-03-25 12:57:36 -04:00
bresch
ace6f81c93 commander: report estimator mag fault detection to ground station 2021-03-25 12:57:36 -04:00
bresch
2c5342acd4 commander: increase nav_test_failed hysteresis time 
This is to avoid race condition with the yaw emergency estimator having
the same trigger delay of 1 second. Commander will now give more time to
EKF2 to reset itself before switching to altitude mode.
 2021-03-25 12:57:36 -04:00
Daniel Agar
5a1eb3f9ef
Update submodule GPSDrivers to latest Thu Mar 25 00:41:54 UTC 2021 2021-03-25 00:25:29 -04:00
David Sidrane
7f2566dd8a
NuttX STM32H7 16 bit SPI fixes + ADIS16470 updates for proper 16 bit mode in burst 2021-03-24 19:29:40 -04:00
Daniel Agar
92910de81d gyro_fft: silence initial sensor selection attempt 
- early in startup the selected gyro may not be published yet
 2021-03-24 18:58:18 -04:00
Daniel Agar
2d6deb4f1c drivers/rc_input: don't accept RX_PAIR cmd when armed 2021-03-24 15:13:38 -04:00
Lorenz Meier
435ef38eda RC Input: Reset lock state when switching to a new protocol 2021-03-24 15:13:38 -04:00
Beat Küng
f528c5d206 github ci: push parameter metadata to s3 2021-03-24 10:08:41 -04:00
Beat Küng
c3985709e4 version: add optional oem version tag (ext/oem-<version>) and log it 2021-03-24 10:08:41 -04:00
Beat Küng
bac2a02a65 git: ignore git tags starting with 'ext/' when getting the version tag 
Allows for external/extra tags
 2021-03-24 10:08:41 -04:00
Daniel Agar
ae010ea55c sensors/vehicle_angular_velocity: unify filtering for both FIFO and regular use cases 2021-03-24 09:23:40 +01:00
PX4 BuildBot
8c173b2e7f Update submodule ecl to latest Wed Mar 24 00:38:46 UTC 2021 
- ecl in PX4/Firmware (a730f0f5ce7a2cc909cb3d0dfab5f0106a9b3aeb): bb950a1550
    - ecl current upstream: e3d1ade660
    - Changes: bb950a1550...e3d1ade660

    e3d1ade 2021-03-12 Daniel Agar - EKF: use flow for vel test ratio if only active source of horizontal aiding
 2021-03-23 22:17:11 -04:00
Daniel Agar
b2faea7f43
pwm_out: check PWM_OUT_MAX_INSTANCES with conditional 
- PWM_OUT_MAX_INSTANCES is a constant (static constexpr) not available to the preprocessor
 2021-03-23 22:13:18 -04:00
Beat Küng
2dace0c9ea param: limit short description lenght to 150 for existing, 70 for yaml 2021-03-23 12:55:11 -04:00
Beat Küng
629f7ba15b params: ensure short description is only a single line 
So a UI can display it properly
 2021-03-23 12:55:11 -04:00
Daniel Agar
ea902e7f38 systemcmds/tests: split out individual module test commands 2021-03-23 11:39:14 -04:00
Daniel Agar
9b1cf98474 drivers/pwm_out: fix launch for non-multi case 
- skip _objects[1] access if only 1 possible instance
 - command line request new mode via atomic
 2021-03-23 10:40:22 -04:00
Mohamed Moustafa
5802dce699
mavlink: ignore self published UTM_GLOBAL_POSITION msgs in simulation using sys id (#17193) 2021-03-23 10:32:21 +01:00
Daniel Agar
e57aaaaa5e
rotate accel/gyro FIFO before publish and fix angular velocity filter resets 
- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
     - to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
 - fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
      - in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
 2021-03-22 12:01:12 -04:00
Star Simpson
d4dd019578 removing hardcoded units from parameter descriptions throughout land_detector_params 2021-03-22 11:39:53 +01:00
Star Simpson
48219ab1e6 fixed typo in description of RWTO_PSP parameter 2021-03-22 00:37:18 -04:00
Daniel Agar
7563438558
sensors/vehicle_angular_velocity: fix dynamic notch ESC in FIFO case 
- last timestamp sample must be set in FIFO case for ESC RPM dynamic filter update
 - slightly relax thresholds for dynamic notch FFT apply or reset
 2021-03-21 20:46:54 -04:00
PX4 BuildBot
e79b3930f3 Update submodule ecl to latest Sun Mar 21 12:39:12 UTC 2021 
- ecl in PX4/Firmware (81e811997b8e611aff08fa25c81322e4b956425f): 4df0054873
    - ecl current upstream: bb950a1550
    - Changes: 4df0054873...bb950a1550

    bb950a1 2021-03-10 Morten Fyhn Amundsen - Expose terrain vpos reset counter
ab69681 2021-03-10 Morten Fyhn Amundsen - Add parameter for terrain timeout
 2021-03-21 10:42:43 -04:00
Lorenz Meier
6e9f745809 PWM out: Robustify initialization 
This ensures that all PWM outputs get correctly inialized on targets that only support one.
 2021-03-21 00:21:10 +01:00
Julian Oes
a13459858d commander: improve logic for ekf2 preflight check 
With this change we prevent the case where arming silently fails within
the first 10 seconds after boot.

Also, we now set the sensors as healthy as soon as the ekf is healthy,
and don't wait 10 seconds without actually checking.
 2021-03-19 15:58:14 -04:00
Julian Oes
2f024a9a8a commander: pass in correct time since boot 
This fixes the case where the preflight check fail right after the start
and report "sensors unstable".
 2021-03-19 15:58:14 -04:00
Morten Fyhn Amundsen
19533377b3 drv_hrt: Fix hrt_abstime literal argument names 
The user-defined literals for milli- and microseconds
should have argument names matching their units. The
current argument names 'seconds' is probably an oversight.
 2021-03-19 16:36:36 +01:00
David Sidrane
cc098f9dff netman:Fix setting on first boot 2021-03-19 15:48:25 +01:00