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13096 Commits

Author SHA1 Message Date
Beat Küng
ba5d7773f8
mavlink_timesync: print sender comp id for 'RTT too high for timesync' msg (#15539) 
helps with debugging
 2020-08-13 10:58:25 +02:00
Thies Lennart Alff
d7d8aa9b64
uuv_att_control: removed redundant code, switched to new uORB API 2020-08-12 13:16:28 -04:00
Daniel Agar
942eb83184 sensors: keep legacy params active (BAT_V_DIV/BAT_A_PER_V) for QGC SITL 
- fixes https://github.com/PX4/Firmware/issues/15505
 2020-08-12 11:57:34 -04:00
Daniel Agar
f19a20dc43 commander: preflight power check ignore module count if USB connected 
- this check isn't relevent during bench testing
 2020-08-12 11:48:38 -04:00
RomanBapst
355e3ea986 vtol_type: use correct pwm device path in init function 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-08-12 08:55:23 +02:00
RomanBapst
01535a726a vtol_type: reset quadchute filter states if TECS is not running 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-08-12 08:55:23 +02:00
SalimTerryLi
49e83b6ae4
load_mon: add linux support 2020-08-11 18:33:44 -04:00
kritz
9d962cdfbc
Pr update matrix (#15520) 
* Update submodule Matrix

* replace deprecated matrix functions

* update submodule ECL

* Update Matrix submodule

* Use absolute value of loiter radius

* Update ECL submodule
 2020-08-11 10:08:41 +02:00
Daniel Agar
b7f9ff6747 mc_att_control: don't use auto for primitive types 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2020-08-10 14:07:42 -04:00
Daniel Agar
0781fdd813 mc_att_control: don't store vehicle_status copy 2020-08-10 14:07:42 -04:00
Daniel Agar
8c42c38650 mc_att_control: don't store full vehicle_land_detected copy 2020-08-10 14:07:42 -04:00
Daniel Agar
41a1675c53 AttitudeControl: only normalize attitude setpoint once on update 2020-08-10 14:07:42 -04:00
Daniel Agar
1c42d12491 mc_att_control: don't keep att copy and avoid unnecessary Quatf construction and copies 2020-08-10 14:07:42 -04:00
Daniel Agar
5e739f66d6 mc_att_control: inline control attitude call and rate publication 
- this makes it clear that we didn't need to keep local copies of the rate setpoint
 2020-08-10 14:07:42 -04:00
Daniel Agar
14f734ac15 mc_pos_control: use local position timestamp for dt 2020-08-10 10:51:52 -04:00
Daniel Agar
c5eb084236 mc_rate_control: use angular velocity timestamp for dt 2020-08-10 10:51:52 -04:00
Daniel Agar
45ee16d236 mc_att_control: use attitude timestamp for dt 2020-08-10 10:51:52 -04:00
Daniel Agar
9992bd05db fw_att_control: pass time through from run 2020-08-10 10:51:52 -04:00
Daniel Agar
560c22e612 fw_pos_control_l1: pass time through from run 2020-08-10 10:51:52 -04:00
Daniel Agar
97fc1db768 vehicle_local_position: rename yaw -> heading and add reset logic 
- vehicle_global_position yaw removed (redundant)
 2020-08-10 11:42:03 +02:00
bresch
33fb9d0c62 Commander: update home position yaw in case of EKF yaw reset 
This makes sure the drone lands in the correct orientation
during RTL even if the initial yaw at takeoff was wrong.
 2020-08-10 11:42:03 +02:00
Daniel Leonard Robinson
fa4818e467
vehicles: add new vehicle type: Airship (#14862) 
Co-authored-by: Anton Erasmus <anton@flycloudline.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2020-08-10 08:52:51 +02:00
Daniel Agar
3002e74b4f
mavlink: publish telemetry_status per instance with all HEARTBEATS from the same system 
- one telemetry_status publication per mavlink instance
 - each telemetry_status has an array of HEARTBEATS
 2020-08-07 12:23:52 -04:00
Thies Lennart Alff
f950fe8a38
uuv_att_control: added bodyrate setpoint to the geometric controller 
* added bodyrate setpoint to the geometric controller
* started switching to new uORB API
 2020-08-06 10:40:44 -04:00
Daniel Agar
b6a17a6538
new IntrusiveSortedList container used for uORB, WorkQueues, and WorkItems 
- new intrusive linked list container (c++ template) that sorts on insertion
 - primarily for convenience inspecting things in the system like uORB or WorkQueues
 - uorb status or top sorted alphabetically 
 - work_queue status threads sorted by priority, then items sorted alphabetically within each
 2020-08-04 11:09:41 -04:00
Beat Küng
dfc2160489 commander: update vehicle_status with at least 2Hz 
So we're sure it's logged.
 2020-08-04 10:53:20 -04:00
Beat Küng
5f8c6512b3 vehicle_status: add latest arming/disarming reason 
Makes it easier to debug.
 2020-08-04 10:53:20 -04:00
Daniel Agar
c40cf9a626
uORB: remove lost message count per DeviceNode 
- update 'uorb status' to print basic info for all advertised DeviceNodes
 - report vehicle_command gaps in commander, navigator, mavlink
 2020-08-04 10:34:11 -04:00
Daniel Agar
ba640acfcc
mc_hover_thrust_estimator: validity flag and other small improvements/fixes 
- track and publish validity based on hover thrust variance, innovation test ratio, and hysteresis
 - only publish on actual updates or becoming inactive
 - fix dt (previous timestamp wasn't being saved)
 - use local position timestamp (corresponding) to accel data rather than current time to avoid unnecessary timing jitter
 - check local position validity before using
 - mc_hover_thrust_estimator: move from wq:lp_default -> wq:nav_and_controllers to ensure the hover thrust estimator runs after the position controller and uses the same vehicle_local_position data
 - land_detector: check hover thrust estimate validity and adjust low throttle thresholds if hover thrust is available
 - mc_pos_control: only use hover thrust estimate if valid
 2020-08-03 10:30:52 -04:00
Daniel Agar
f5f2897486
land_detector: multicopter ground contact fixes, improvements, and cleanup 
- if "landed" and "maybe_landed" states are false then both the "hit_ground" and the "low_thrust" condition need to be true in order to detect landing
 - ground contact MC NAN setpoint workaround
 - ground contact additionally check acceleration setpoint
 - schedule with vehicle_local_position updates (most updates require valid local position)
 - don't allow LNDMC_Z_VEL_MAX to exceed MPC_LAND_SPEED
 - ground contact horizontal movement checks default to failed if estimates aren't available
 2020-08-02 13:37:23 -04:00
Daniel Agar
63a23957b1
rc/dsm: decode improvements 
- always check system field for validity
 - reject any data outside of "servo position" valid range from Spektrum specification
 - properly support XPlus channels (12+)
 - debug message if channel count changes
 2020-08-02 12:52:16 -04:00
Daniel Agar
1191a0efe6
Update ecl to geo_lookup, SymPy covariance, bugfixes 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2020-08-02 12:26:48 -04:00
Steve Nogar
48bf9268c3 rename Mixer to MixerBase to resolve case-insensitivity on mac 2020-07-31 09:37:49 -04:00
TSC21
342b1c5ded microRTPS: client: properly set task/thread naming 2020-07-31 14:13:10 +01:00
TSC21
162e0c7675 microRTPS: client: reserve the minimum required stack to the send/receive tasks 2020-07-31 14:13:10 +01:00
TSC21
0124ca6e41 microRTPS: add debug verbose option '-v'; use while loop for reads; ease the RTTI check on timesync 2020-07-31 14:13:10 +01:00
TSC21
2f4eff4c38 microRTPS: add possibility to set HW or SW flow control; improve verbosity aesthetics 2020-07-31 14:13:10 +01:00
TSC21
b2845c60d3 microRTPS: move buffer size to transport 2020-07-31 14:13:10 +01:00
Matthias Grob
a6777e2650 Subscription: correct doxygen comment 2020-07-30 09:56:01 -04:00
Daniel Agar
e4fa7597f4
logger: SDLOG_PROFILE remove estimator replay from default to minimize log rate 
- log full sensor_combined by default for now
 - small decrease to input_rc rate (manual_control_setpoint is no longer filtered)
 - sensor_correction can be logged at full rate (low publication rate)
 2020-07-29 15:07:42 -04:00
Daniel Agar
1b30bd328e logger: decrease try subsribe interval 1000 ms -> 20 ms 2020-07-29 13:36:22 -04:00
Daniel Agar
7b46efaa6b logger: record message gaps 2020-07-29 13:36:22 -04:00
Daniel Agar
ca33bb1c01
load_mon: slightly longer cpu average (300 -> 500 ms) 2020-07-28 13:41:50 -04:00
Matthias Grob
0b391fdcfc mc_att_control: add gradual3 function to cover hover thrust rescaling 2020-07-24 11:31:15 +02:00
Mirko Denecke
2581badabd Add ifdef to invert heater pin for px4 IO firmware. 2020-07-22 10:50:47 -04:00
Lorenz Meier
3b1be7dcd3 Revert "mavlink: GLOBAL_POSITION_INT send without lat/lon availability" 
This reverts commit ad14796b5feb556aa9da8895e12b62b96105a31c.
 2020-07-22 10:34:18 -04:00
Daniel Agar
e4f65f81f7
vtol_att_control: limit excessive scheduling 
- this is to prevent vtol_att_control running at absurdly high rates (kilohertz) from every single actuator controls publication from both the multicopter and fixed wing controllers
 - I don't really like this solution, but it works for now until there are larger VTOL architectural changes in place
 2020-07-21 11:40:04 -04:00
Daniel Agar
b8b19f6166
cdev: posix remove std::map usage 
- this is to make things a little easier for platforms like QuRT (voxl snapdragon) where there are libstdc++ complications
 2020-07-21 10:17:55 -04:00
Daniel Agar
81f57bccb6 px4io: servorail_status -> px4io_status and log all flags 2020-07-21 09:56:13 -04:00
xdwgood
7ecccf01c2 tailsitter.cpp:ensure input quaternions are exactly normalized 2020-07-21 08:21:41 +02:00