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2197 Commits
Author SHA1 Message Date
kamilritz d7b95870b9 Update to merged ECL commit 2019-12-05 11:29:29 +01:00
kamilritz 5d0965e83a Log height innovation sensor specific 2019-12-05 11:29:29 +01:00
Daniel Agar 22e4e85eeb collision_prevention: don't unadvertise mavlink_log in destructor 2019-12-05 07:04:50 +01:00
Daniel Agar 1a395fb6d9 ST ISM330DLC IMU driver 2019-12-03 16:16:49 -05:00
PX4 BuildBot db904839c3 Update submodule matrix to latest Sat Nov 30 21:21:29 UTC 2019 
- matrix in PX4/Firmware (572fb4751b6e01512ec358b00aa795b234179d85): https://github.com/PX4/Matrix/commit/dba84236cb55cf30a8730f77c71a000babf6d204
    - matrix current upstream: https://github.com/PX4/Matrix/commit/a8009a36a3668da0cbab0cb028b6997cd8179dc1
    - Changes: https://github.com/PX4/Matrix/compare/dba84236cb55cf30a8730f77c71a000babf6d204...a8009a36a3668da0cbab0cb028b6997cd8179dc1

    a8009a3 2019-11-26 Daniel Agar - Quaternion multiply inline return
 2019-11-30 17:58:08 -05:00
Daniel Agar 6f512cc2f1 differential_pressure drivers update orb_publish usage to uORB::PublicationMulti<> 2019-11-30 15:52:53 -05:00
Beat Küng 5ff83ef740 gyro calibration: remove unused scale parameters 2019-11-29 11:28:17 -05:00
RomanBapst e360dd34f9 battery: make battery states not sticky 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-11-29 10:23:08 +03:00
PX4 BuildBot fda7d71d16 Update submodule matrix to latest Thu Nov 28 12:39:45 UTC 2019 
- matrix in PX4/Firmware (f2d08df777): https://github.com/PX4/Matrix/commit/de85dcff9760b77ad0d2cd06682f44b3f3c9716c
    - matrix current upstream: https://github.com/PX4/Matrix/commit/dba84236cb55cf30a8730f77c71a000babf6d204
    - Changes: https://github.com/PX4/Matrix/compare/de85dcff9760b77ad0d2cd06682f44b3f3c9716c...dba84236cb55cf30a8730f77c71a000babf6d204

    dba8423 2019-11-28 Daniel Agar - Vector3f cross product directly return result (#109)
 2019-11-28 12:45:52 -05:00
Daniel Agar 580308ff07 Update submodule matrix to latest Thu Nov 28 00:39:53 UTC 2019 
- matrix in PX4/Firmware (1618e9d38fb8f0c76e6b5b7dfc25da565c22bbee): https://github.com/PX4/Matrix/commit/a172c3cdac9260369fb5805fcce19067121566e5
    - matrix current upstream: https://github.com/PX4/Matrix/commit/de85dcff9760b77ad0d2cd06682f44b3f3c9716c
    - Changes: https://github.com/PX4/Matrix/compare/a172c3cdac9260369fb5805fcce19067121566e5...de85dcff9760b77ad0d2cd06682f44b3f3c9716c

    de85dcf 2019-11-26 Matthias Grob - Vector: switch read only functions to const (#108)
 2019-11-28 00:37:17 -05:00
bresch 09c8c8f706 ekf: use PDOP instead of GDOP as TDOP (part of GDOP) is not given by the GNSS receiver 2019-11-27 10:33:27 +01:00
bresch 63e99db29b ecl update 2019-11-25 21:15:55 +01:00
Daniel Agar a8ea55d9b6 remove all <cmath> usage 
* the NuttX c++ library is incomplete, let's avoid including it until we have a real standard library in place
 2019-11-25 10:04:04 -05:00
Matthias Grob 4a28c8180b FlightTaskManualAltitude: yawspeed filter remove line with no effect, comments 
FlightTaskManualAltitude: declaration order

Addressing @bkueng's review comments.
 2019-11-25 11:55:47 +01:00
bresch cd2b5e7479 FlightTaskManualAltitude: Use dedicated member variable for yawspeed filter state insted of using the previous setpoint 2019-11-25 11:55:47 +01:00
bresch ffee103ae0 FlightTask: add 1st order lpf on yawrate satepoint for smooth motion 2019-11-25 11:55:47 +01:00
Daniel Agar 75da6e351b mixer: organize by type 2019-11-22 16:48:10 -05:00
Daniel Agar f271efaf62 local_position_estimator: move to WQ and delete unused SubscriptionPollable 2019-11-22 16:02:54 -05:00
Daniel Agar a255789be4 mixer: px_generate_mixer use static constexpr 2019-11-22 15:00:25 -05:00
Daniel Agar cc7807c066 mixer: update to List<> container 2019-11-22 15:00:25 -05:00
Daniel Agar 79dc676c8f mixer: move MixerGroup out of Mixer hierarchy and delete mixer.h header 2019-11-22 15:00:25 -05:00
Daniel Agar 011186b8a5 mixer: delete copy constructors and operators 2019-11-22 15:00:25 -05:00
Daniel Agar a172858db2 mixer: move scale() and scale_check() to SimpleMixer 2019-11-22 15:00:25 -05:00
Daniel Agar 9a572b0cf2 mixer: delete unused SimpleMixer::pwm_input() 2019-11-22 15:00:25 -05:00
Daniel Agar 37ec78dc2a mixer library split into separate headers and name consistently 2019-11-22 15:00:25 -05:00
Silvan Fuhrer ebdc29bc5f Airspeed Selector: enable airspeed_validated in control modules (#12887) 
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
 2019-11-21 14:14:25 -05:00
Julien Lecoeur a46581987c Update matrix submodule and add pseudoinverse tests (tests matrix) 2019-11-21 13:06:59 -05:00
Tanja Baumann 5d3a6d8213 collision_prevention: improve behavior in case of range data loss 
* add test for no incoming range data
 2019-11-21 11:13:28 -05:00
Daniel Agar 1af7af02db bmp388: cleanup main and add to px4_fmu-v5x board_config.h 2019-11-20 13:12:03 -05:00
Matthias Grob b64abf48b2 mc_pos_control: reset velocity derivatives 2019-11-19 22:18:01 +01:00
Beat Küng a543169f1e CollisionPrevention: avoid unnecessary cast from uint16_t to int 2019-11-19 09:32:30 +01:00
PX4 BuildBot 6369ae858a Update submodule matrix to latest Wed Nov 13 22:07:30 UTC 2019 
- matrix in PX4/Firmware (d3184c866c3012105c8950a9f6652a9722fa3296): https://github.com/PX4/Matrix/commit/93d42947b612733d2bd05e66ae093ada3e35ba12
    - matrix current upstream: https://github.com/PX4/Matrix/commit/cd185c995b6b28c12e06d20a2743a94bd68be7c2
    - Changes: https://github.com/PX4/Matrix/compare/93d42947b612733d2bd05e66ae093ada3e35ba12...cd185c995b6b28c12e06d20a2743a94bd68be7c2

    cd185c9 2019-11-13 Daniel Agar - add braces around statements and cleanup formatting (#107)
38e966c 2019-11-12 kritz - Add min, max, constrain function for Matrix (#105)
 2019-11-13 19:07:24 -05:00
Daniel Agar 7996ee496c lib: name folders consistently 2019-11-13 09:29:21 -05:00
Daniel Agar c5520cbaca mpu9250: start building "NuttX" driver for Linux and QuRT 2019-11-13 09:21:02 -05:00
Daniel Agar 1c4e854f93 cmake don't build param "c" files and remove param defines 
- these aren't actual source code
 2019-11-11 10:25:42 -05:00
PX4 BuildBot 4dfe3e199e Update submodule matrix to latest Sat Nov 9 00:39:54 UTC 2019 
- matrix in PX4/Firmware (c475bb84b7274d041065fc3fd673127ae2438f4d): https://github.com/PX4/Matrix/commit/9f464839510a2779b9418ffbc2303a31f155e851
    - matrix current upstream: https://github.com/PX4/Matrix/commit/93d42947b612733d2bd05e66ae093ada3e35ba12
    - Changes: https://github.com/PX4/Matrix/compare/9f464839510a2779b9418ffbc2303a31f155e851...93d42947b612733d2bd05e66ae093ada3e35ba12

    93d4294 2019-11-08 kritz - Add test for setting Quaternion to Identity (#104)
 2019-11-09 00:51:44 -05:00
Daniel Agar 1896c758d0 [SQUASH ME] trivial style fix 2019-11-07 15:57:29 +01:00
Mike Wiatt 3595941554 Reposition landing gear check so that it is not overwritten by setpoint operations. 2019-11-07 15:57:29 +01:00
Tanja Baumann b60a955501 ColPrev: No direction change if no obstacle (#13398) 
* only change direction if in other bin
 2019-11-07 14:21:12 +01:00
Beat Küng 32359168d6 smbus: fix invalid memory access in read_word() 
read_word() expected 3 bytes (uint16_t + PEC byte), but was passed an
address to an uint16_t value.

write_word() is changed to be type-safe as well.
 2019-11-07 10:56:27 +01:00
Matthias Grob 1a79f75f94 Commander: start pulling arming related parts into separate folder 
* PreFlightCheck: remove unused reportFailures flag
* Commander: pull all pre flight checks together on the PreFlightCheck class
* PreFlightCheck: separate checks into their own files
 2019-11-05 11:25:59 -05:00
Julian Oes ef475fa9d8 mixer_module: fix poll error in SITL lockstep 
This fixes the case where the mixer_module would subscribe and use its
own test_motor publication which was created only to make sure the
topic is advertised and subsequent updates will work properly.

This happened in SITL lockstep because the timestamp would be 0 at the
very beginning, and hence elapsed time would be 0 as well.
This lead to an actuator publication which would then get lockstep out
of sync causing poll errors on the Gazebo side.
 2019-11-05 09:33:14 -05:00
PX4 BuildBot 6e395fe885 Update submodule matrix to latest Tue Nov 5 00:38:36 UTC 2019 
- matrix in PX4/Firmware (dca3f78e198f89510890fbb8b305d2fa1c3caa69): https://github.com/PX4/Matrix/commit/92d1c8761ec8e5dbe9ba3f756cebd5e90956a1b2
    - matrix current upstream: https://github.com/PX4/Matrix/commit/9f464839510a2779b9418ffbc2303a31f155e851
    - Changes: https://github.com/PX4/Matrix/compare/92d1c8761ec8e5dbe9ba3f756cebd5e90956a1b2...9f464839510a2779b9418ffbc2303a31f155e851

    9f46483 2019-11-04 Julian Kent - Fix GCC-4.8 bug
445f58d 2019-11-01 Julian Kent - Fix weird C preprocessor conflicts (#101)
215203f 2019-10-23 Julian Kent - Automatic Differentiation 'Dual' Type (#100)
 2019-11-04 20:05:43 -05:00
Julian Kent b8b7527d05 Fix off-track tracking in AutoLineSmoothVel (#13321) 
* Use position instead of last setpoint

This calculates the target velocities better taking into account disturbances along
the flight route. Previously entry angles and more were calculated assuming the flight path
originates directly from the direction of the previous waypoint. This corrects this assumption
to instead make the direction come from the vehicle location.

* Allow to specify a final speed given a braking distance.

This is to allow planning to not stop at a waypoint, but instead
to reach the waypoint while maintaining a certain velocity

* Updated src/lib/matrix

* Account for speed at target when determining constraints

* Separate constraints into x/y components

* Use setpoint position, not vehicle position

* Fix whitespace, add documentation
 2019-11-04 11:57:12 +01:00
Daniel Agar 3e189889ef FlightTasks: shift DEFINE_PARAMETERS to end of access modifiers 
- DEFINE_PARAMETERS includes a private access modifier, so we need to
keep these at the end to prevent issues when extending a flight task
 2019-11-02 12:41:45 -04:00
PX4 BuildBot f0ac270174 Update submodule ecl to latest Sat Nov 2 13:49:23 UTC 2019 
- ecl in PX4/Firmware (4658aaf8a0ff90662843558dbc8ea68adcc7284d): https://github.com/PX4/ecl/commit/9b4b24ee71902c6a4289170e8fb1ca3306c1d9c4
    - ecl current upstream: https://github.com/PX4/ecl/commit/d76b7042251b6f4f230a34dd38818f7af1bb991d
    - Changes: https://github.com/PX4/ecl/compare/9b4b24ee71902c6a4289170e8fb1ca3306c1d9c4...d76b7042251b6f4f230a34dd38818f7af1bb991d

    d76b704 2019-11-01 kamilritz - Only inlcude gtest if standalone build
7c1e38d 2019-10-18 kamilritz - Make it build with Firmware
d79199c 2019-10-17 kamilritz - Remove swig and python test related things
d88e242 2019-10-17 kamilritz - pytest are replaced in gtests
71be26e 2019-10-17 kamilritz - Port RingBuffer Test to GTests
cac5f3f 2019-10-17 kamilritz - GTest and Coverage cleanup and Basic EKF GTest
fcea13e 2019-10-14 Martina Rivizzigno - add gtest, temp disable swig
 2019-11-02 10:48:45 -04:00
Beat Küng 3b7c1b4ff1 src/drivers/boards: move to platforms/nuttx/src/px4/common 2019-10-30 11:48:47 +01:00
Beat Küng 3198610f85 src/platforms: move all headers to platforms/common/include/px4_platform_common 
and remove the px4_ prefix, except for px4_config.h.

command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done

Transitional headers for submodules are added (px4_{defines,log,time}.h)
 2019-10-30 11:48:47 +01:00
Daniel Agar 375fc4a75c uavcan module cleanup 
- move most orb to uORB::Publication and uORB::Subscription
 - update legacy message handling (warn to PX4_INFO, PX4_WARN, PX4_ERR)
 - add perf counters
 - sensors/mag support newer `uavcan::equipment::ahrs::MagneticFieldStrength2` message
 - sensors/gps support `uavcan::equipment::gnss::Auxiliary` for hdop and vdop
 - sensors delete obsolete ioctl and read methods
 - use PublicationMulti for actuator_outputs and esc_reports (to coexist with other output modules)
 - add GNSS parameter metadata (parameters_injected.xml)
 2019-10-28 19:57:50 -04:00
Daniel Agar c284198bec clang-tidy: partially fix hicpp-use-override 2019-10-28 10:50:31 -04:00