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Author SHA1 Message Date
Daniel Agar baa05b2631 drivers/pwm_out: remove custom module boilerplate (dual output bank handling) 2022-09-09 09:14:09 -04:00
Daniel Agar ce337a3d80 delete unused PWM IOCTLs 2022-09-09 09:14:09 -04:00
Daniel Agar bcdd2203d3 delete systemcmds/motor_test and msg/test_motor.msg 2022-09-09 09:14:09 -04:00
Daniel Agar 72efe84b80 delete MOT_ORDERING 2022-09-09 09:14:09 -04:00
Daniel Agar a7bbcd5b04 delete lib/mixer and mixer_module static mixing 2022-09-09 09:14:09 -04:00
Daniel Agar 0019ffbea6 delete drv_mixer.h 2022-09-09 09:14:09 -04:00
Daniel Agar d3312f955f delete systemcmds/pwm 2022-09-09 09:14:09 -04:00
Daniel Agar 5dd1e5a018 delete systemcmds/mixer 2022-09-09 09:14:09 -04:00
Daniel Agar cac9c51ac8 ROMFS: purge old mixing system 
- SYS_USE_IO is now off by default (enabled by default per board)
 2022-09-09 09:14:09 -04:00
Daniel Agar d996af4647 ekf2: pass gpsSample around where required 
- this minimizes potential misuse accessing _gps_sample_delayed and
makes the dependency clear
 2022-09-05 10:27:19 -04:00
Daniel Agar 7bbdc220f5 ekf2: initialiseFilter() simplify mag heading init and resetQuatStateYaw 
- most of resetQuatStateYaw doesn't apply to initial heading init, so
removing the special case keeps it simple
 2022-09-02 08:46:10 -04:00
Daniel Agar 5dfd2f39ef boards/cubepilot/cubeorange: initialize all I2C pins immediately 2022-09-01 20:46:09 -04:00
Daniel Agar e93a3a2a3a ak09916: enable retries and reset perf count 2022-09-01 20:45:20 -04:00
Daniel Agar f66b5ce204 simulation: ignition bridge allow IMU or pose callbacks to update system time if newer than clock 
* requires HRT lockstep changes to eliminate offset (PR #20146)
 2022-09-01 20:42:21 -04:00
Daniel Agar c52f2143d2 posix lockstep remove HRT offset and use full sim time 2022-09-01 20:40:37 -04:00
Daniel Agar 3da0293369 simulator_ignition_bridge: init error handling 2022-09-01 18:54:59 -04:00
Daniel Agar 5cb44a521c ekf2: estimator interface handle sample time with signed integers 
- this prevents unsigned integer overflow if the timestamp is smaller
than the configured delay (mostly a simulation edge case)
 2022-09-01 09:47:29 -04:00
Daniel Agar 1948c5057a ekf2: handle all time on delayed horizon (except for newest sample checks) 
- a growing number of samples come into the backend with the time
already delayed (sensor's interrupt setting timestamp sample)
 - if the incoming timestamp is already delayed then the new data checks
(relative to latest IMU) can be slightly wrong
 - handle almost all timestamps and checks on delayed time horizon,
except for explicit checks of new samples
 - isRecent() and isTimedOut() helpers use delayed time
 - add new isNewestSampleRecent() used for checking the incoming
timestamp of the incoming (adjusted) data
 2022-08-31 08:52:30 -04:00
Daniel Agar 9b0b0d1168 ekf2: update test change indication csv 2022-08-25 15:55:45 -04:00
Daniel Agar 2786239ca6 Jenkinsfile: HIL remove delete airframe from test 2022-08-25 09:48:49 -04:00
Daniel Agar 4040e4cdf2 simulation organization and cleanup 
- new modules/simulation directory to collect all simulators and related modules
 - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc
 - simulation module renamed to simulator_mavlink
 - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator)
 - ignition_simulator renamed to simulator_ignition_bridge
 - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules
 - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world)
 - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
 2022-08-25 09:10:03 -04:00
Daniel Agar b58f70726f ekf2: scale delta angle and delta velocity bias to particular IMU sample 2022-08-23 21:06:13 -04:00
Daniel AgarandJaeyoung-Lim cfc579542e new Ignition Gazebo simulation interface architecture (#20057) 
- much simpler direct interface using Ignition Transport 
 - in tree models and worlds
 - control allocation output configuration, no more magic actuator mapping to mavlink and back
 - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible)

Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
 2022-08-22 10:58:19 -04:00
Daniel AgarandKabir Mohammed 1c72f86761 Update src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp 
Co-authored-by: Kabir Mohammed  <kabir@corvus-robotics.com>
 2022-08-16 08:40:43 -04:00
Daniel Agar 49d87f1907 adis16470: fix accel and gyro scaling 2022-08-16 08:40:43 -04:00
Daniel Agar 7f2fea1cca mpu9250: try all I2C addresses if not manually specified 2022-08-09 13:06:40 -04:00
Daniel Agar 7c809f034d replay: ReplayEkf2 disable parameter auto save 
- not needed and silences a startup error
 2022-08-08 21:27:47 -04:00
Daniel Agar 34dee09b74 ekf2: replay fixes, don't use HRT for timeout checks 
- this interferes with current ekf2 replay where the latest IMU sample
is effectively the current timestamp
 2022-08-08 21:27:47 -04:00
Daniel Agar 1c49a4349f ekf2: force skip multi-EKF config if replay is enabled 2022-08-08 21:27:47 -04:00
Daniel Agar 66b55d9d0a ekf2: fix yaw estimator velocity accuracy 
- additionally require GPS speed accuracy is within EKF2_REQ_SACC
 2022-08-08 21:27:01 -04:00
Daniel Agar 0bce1ef573 drivers/imu: new TDK IIM-42652 IMU support 2022-08-08 13:51:39 -04:00
Daniel Agar bce4237963 move ekf2 Matrix helper utilities to mathlib 2022-08-05 09:58:07 -04:00
Daniel AgarandMathieu Bresciani dfdfbbfa9c msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966) 
- replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly)
 - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit
 - ekf2: add new helper to get roll/pitch/yaw covariances
 - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD)
 - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough)

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-08-04 12:55:21 -04:00
Daniel Agar 41d9c3dd2a ekf2: add AUX velocity aid src status 
- also includes velocity and position helpers for using estimator aid
   source status messages that will later be used for GPS, EV, etc
 2022-07-29 12:02:31 -04:00
Daniel Agar a397c09e59 ekf2: use estimator_aid_src for all yaw sources (mag, gnss, ev) 2022-07-29 11:20:48 -04:00
Daniel Agar 9ed861e0a3 lib/mixer_module: split functions into separate headers 
- this arguably improves visibility/discoverability
 2022-07-28 08:08:58 +02:00
Daniel Agar 38c02ea29a wind_estimator: cmake add symforce generation helper target (wind_estimator_generate_airspeed_fusion) 2022-07-27 08:19:40 -04:00
Daniel Agar 32c6ec061e sensors: add kconfig options to skip angular velocity and acceleration 2022-07-21 11:27:09 -04:00
Daniel Agar 70e95812e7 ekf2: reset mag_lpf (by zeroing _mag_counter) when resetting mag bias (or changing mags) 
- so that there's new filtered data avaiable for reset
 2022-07-21 09:24:28 -04:00
Daniel Agar ecdade3638 ekf2: mag in air reset fall back to regular resetMagHeading() if realignYawGPS() fails 2022-07-21 09:24:28 -04:00
Daniel Agar 05133aed27 ekf2: clear test ratios, flags, etc when stopping mag fusion 2022-07-21 09:24:28 -04:00
Daniel Agar 65a587e56a ekf2: mag fusion don't update all states if mag_fault or mag_field_disturbed 2022-07-21 09:24:28 -04:00
Daniel Agar a41a0e7e80 ekf2: resetMagHeading() split out simple init case 2022-07-21 09:24:28 -04:00
Daniel Agar 9efadad06a ekf2: move checkMagFieldStrength() to magFieldStrengthDisturbed() const method 2022-07-21 09:24:28 -04:00
Daniel Agar a7f573e150 ekf2: delete isStrongMagneticDisturbance() 2022-07-21 09:24:28 -04:00
Daniel Agar e6e27e694e ekf2: delete isYawResetAuthorized() 2022-07-21 09:24:28 -04:00
Daniel Agar 0f1f6daa1a ekf2: delete isMagBiasObservable() 2022-07-21 09:24:28 -04:00
Daniel Agar d160229f47 ekf2: delete isYawAngleObservable() 2022-07-21 09:24:28 -04:00
Daniel Agar b0c979f745 ekf2: add copyright header to EKFGSF_yaw and utils 2022-07-21 09:24:28 -04:00
Daniel Agar 4fee059696 ekf2: simplify mag yaw reset request when transitioning to mag enabled 2022-07-21 09:24:28 -04:00
Daniel Agar f254b55523 ekf2: add mag fusion timestamps 2022-07-21 09:24:28 -04:00
Daniel Agar 2f3cb97872 sensors/vehicle_magnetometer: don't advertise vehicle_magnetometer instance if mag has been disable 
- if using multi-EKF across all magnetometers then an instance of
vehicle_magnetometer is advertised immediately for every sensor_mag
instance
 - this can become problematic if EKF2 multi-mag is enabled, but with
only 1 IMU (EKF2_MULTI_MAG) because you will be stuck with no magnetometer data
 2022-07-20 01:18:19 -04:00
Daniel Agar e5be0e776e ekf2: if multi-mag disabled (EKF2_MULTI_MAG <= 1) properly re-enable sensors hub selection (SENS_MAG_MODE) 
- this prevents potential misconfiguration if trying to disable ekf2 multi mag
 2022-07-20 01:16:55 -04:00
Daniel Agar 8ccd8fbed1 px4io: minimal backup scheduling regardless of dynamic mixing 
- even if there's no configured output we still need to run to grab RC
data
 2022-07-20 01:15:36 -04:00
Daniel Agar 8f8615e6c2 delete CBRK_RATE_CTRL 2022-07-20 01:14:53 -04:00
Daniel Agar 14df1ee917 boards: px4_fmu-v5x_rtps disable systemcmds/gpio to save flash 2022-07-20 01:05:28 -04:00
Daniel Agar 2ece92abd0 sagetech_mxs: module.yaml remove invalid default 2022-07-20 01:00:15 -04:00
Daniel Agar ace80e2b9d fw_att_control: add simple backup scheduling if vehicle_attitude unavailable (or stops) 2022-07-20 00:53:37 -04:00
Daniel Agar 39453405a0 ekf2: cleanup zero innovation heading fusion 
- refactor updateQuaternion() to compute the yaw jacobian directly (respecting  the rotation sequence determination)
 - fuseHeading()/fuseYaw321()/fuseYaw312() helpers are eliminated and now mag heading fusion and EV yaw fusion compute the innovation in place
 - clear up logic for performing zero innovation heading fusion when quaternion variance exceeds threshold (no more _is_yaw_fusion_inhibited flag manipulation)
 - when at rest continue fusing last static heading with very low variance even if other heading sources are active
 2022-07-19 11:58:27 -04:00
Daniel Agar 1a513153be ekf2: update range sample fix ekf2_timestamps 
- this is necessary to use distance_sensor data in replay
 2022-07-18 14:39:12 -04:00
Daniel Agar c71cc5b815 drivers/imu/bosch: new BMI085 driver 
- very similar to the BMI088 with minor differences in accel range
 2022-07-14 18:20:13 -04:00
Daniel Agar 077547f31e rm3100: fix trivial whitespace style failure 2022-07-14 14:44:59 -04:00
Daniel Agar ea4a1bfb6a sagetech_mxs: don't run by default 2022-07-14 10:20:20 -04:00
Daniel Agar a2f83269e9 airspeed_selector: don't consider vehicle_local_position valid if dead_reckoning 2022-07-13 09:01:33 +02:00
Daniel Agar ac209c2e78 ekf2: vehicle_local_position add dead_reckoning flag 2022-07-13 09:01:33 +02:00
Daniel Agar e99da22cbe delete CBRK_VELPOSERR circuit breaker 2022-07-12 13:51:13 -04:00
Daniel Agar 19b9b052ab uavcan: GNSS optionally publish RTCMStream or MovingBaselineData 2022-07-12 08:15:15 -04:00
Daniel Agar a73efd9c4f NuttX carry minimal c++ cmath (replacing Matrix stdlib_imports.hpp) 2022-07-12 08:05:06 -04:00
Daniel Agar fe22167512 differential_pressure/sdp3x: sdp3x_main fix 'keep running' regression 2022-07-12 09:11:57 +02:00
Daniel Agar e1933f6ade ROMFS: execute rc.autostart (airframes) before starting dataman 2022-07-07 11:37:39 -04:00
Daniel AgarTravis Bottalicoakushley
 		f591988f32 drivers/actuators: modalai_esc driver 
Co-authored-by: Travis Bottalico <travis@modalai.com>
Co-authored-by: akushley <akushley>
 2022-07-07 10:32:52 -04:00
Daniel Agar fe9af6769c commander add GPS warnings (GPS invalid if flying and jamming critical) 2022-07-07 10:24:11 -04:00
Daniel Agar 15223009d2 combine sensor_gps + vehicle_gps_position msgs (keeping separate topics) 2022-07-07 10:24:11 -04:00
Daniel Agar efde738826 ekf2: update EKF2_EV_DELAY default to 0 2022-07-04 11:44:53 -04:00
Daniel Agar c9b6047124 platforms/nuttx/CMakeLists.txt add STM32H743VI SVD/debug 2022-07-03 11:38:01 -04:00
Daniel Agar 7f76761657 uavcannode: schedule to run on log_message publications 
- this is a precaution to minimize message latency and potential lost messages
 2022-07-01 09:18:17 -04:00
Daniel Agar ab4e10dc26 paa3905: update scaling from datasheet 2022-06-21 16:59:14 -04:00
Daniel Agar 07e28fda7a paw3902: update scaling from datasheet 2022-06-21 16:59:14 -04:00
Daniel Agar dc8ed97809 ekf2: optical flow control limits constrain speed using HAGL max 2022-06-21 12:52:25 -04:00
Daniel AgarandMatthias Grob 15747239c1 mc_pos_control: always respect position estimate vxy_max if set 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-06-21 12:52:25 -04:00
Daniel Agar 5d2dfadb0e boards: px4_fmu-v5_uavcanv0periph disable modules to save flash 2022-06-20 21:31:27 -04:00
Daniel Agar e5f081d9ac drivers/optical_flow/paa3905: cleanup/overhaul 
- remove internal accumulation and publish every valid raw sample synchronized with sensor
 - store timestamp_sample from motion interrupt
 - improve timing requirements from datasheet (minimum delays after register read/write)
 2022-06-20 20:56:56 -04:00
Daniel Agar 1fbe3c4ab3 drivers/optical_flow/paw3902: cleanup/overhaul 
- remove internal accumulation and publish every valid raw sample synchronized with sensor
 - store timestamp_sample from motion interrupt
 - improve timing requirements from datasheet (minimum delays after register read/write)
 2022-06-20 20:56:56 -04:00
Daniel Agarandalexklimaj d5839e2dd5 optical flow sensor pipeline overhaul 
- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
 2022-06-20 20:56:56 -04:00
Daniel Agar 450fcca8b8 drivers/differential_pressure/Kconfig: remove ets and ms4515 from common sensors to save flash 2022-06-20 13:04:19 -04:00
Daniel Agar 8d2e8ef422 boards: px4_fmu-v5_test disable gyro_fft module to save flash 2022-06-20 13:04:19 -04:00
Daniel Agar 73f45fee6e boards: px4_fmu-v5_test disable fake_gps module to save flash 2022-06-19 14:25:06 -04:00
Daniel Agar 902b789292 boards: px4_fmu-v5_protected disable gyro_fft module to save flash 2022-06-19 14:25:01 -04:00
Daniel Agar b81a5b3efa ekf2: request mag yaw reset after calibration or sensor change 2022-06-17 21:04:05 -04:00
Daniel Agar c7cec4252c sensors: add CONFIG_SENSORS_VEHICLE_AIRSPEED for airspeed/differential pressure 
- disable CONFIG_SENSORS_VEHICLE_AIRSPEED on boards only used for multicopter
 2022-06-17 19:31:45 -04:00
Daniel Agar 10deb7019e enable gyro_calibration for CAN nodes 
- allow saving initial gyro cal if very close to 0
 2022-06-17 19:31:45 -04:00
Daniel Agar db4e09d529 Tools/kconfig: delete old migration helpers 
- people are updating this without really understanding the purpose,
and it's generally no longer useful
 2022-06-17 19:31:45 -04:00
Daniel Agar c46fa01195 sensors: add kconfig mechanism to optionally exclude sensor types 2022-06-17 19:31:45 -04:00
Daniel Agar dea404a9a3 boards: disable modules to save flash 
- px4_fmu-v5x_rtps disable common barometers to save flash
 - px4_fmu-v6x_default disable telemetry drivers to save flash
 2022-06-16 16:14:57 -04:00
Daniel AgarandPX4 BuildBot c1c2858341 Update submodule GPSDrivers to latest Thu Jun 16 12:38:52 UTC 2022 
- GPSDrivers in PX4/Firmware (1069570a2a90fdc7f0e081b6c2c4b418446d65d7): https://github.com/PX4/PX4-GPSDrivers/commit/016c37cd1f18c716427e2465d8daa6aa1054b0f1
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/8c09c5426d23ea4db4e462c1f4e3a1de33d253cc
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/016c37cd1f18c716427e2465d8daa6aa1054b0f1...8c09c5426d23ea4db4e462c1f4e3a1de33d253cc

    8c09c54 2022-06-15 Daniel Agar - sbf trivial whitespace fix

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-06-16 12:21:06 -04:00
Daniel Agar 1980b5c5e8 ekf2: setEkfGlobalOrigin() reset baro and hgt sensor offsets if necessary 
- handle uninitalized _gps_alt_ref
 - add basic lat/lon/alt sanity checks
 2022-06-16 00:59:54 -04:00
Daniel Agar ce70b6f4ac sensors/vehicle_angular_velocity: add IMU_GYRO_RATEMAX constraints 2022-06-07 15:45:47 -04:00
Daniel Agar 01f0992f49 sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX 2022-06-07 15:45:47 -04:00
Daniel Agar cb2738e187 Update submodule GPSDrivers to latest Sat Jun 4 12:38:49 UTC 2022 (#19766) 
- GPSDrivers in PX4/Firmware (6e77a084cd43830c8b13018b7fd5470da9bc4ff5): https://github.com/PX4/PX4-GPSDrivers/commit/181fae1a4b5e33576d786755782adb2f195ecc48
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/016c37cd1f18c716427e2465d8daa6aa1054b0f1
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/181fae1a4b5e33576d786755782adb2f195ecc48...016c37cd1f18c716427e2465d8daa6aa1054b0f1

    016c37c 2022-06-01 Julian Oes - sbf: fix overrun on invalid length
 2022-06-04 15:58:56 -04:00
Daniel Agar 21b1c933dc ekf2: EKFGSF_yaw delete unnecessary internal state 2022-06-01 13:16:06 -04:00