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2197 Commits
Author SHA1 Message Date
bresch 50fbb56737 Yaw mode 3 - Add check for minimum distance to target in MPC_YAW_MODE 3 (along trajectory) to be consistent with the other yaw modes 2019-08-07 10:30:34 +02:00
Martina 119e5e3182 Revert "CollisionPrevention only process distance_sensor updates" 
This reverts commit 839787568c.
 2019-08-07 04:01:50 -04:00
Martina Rivizzigno 19ad80385e ObstacleAvoidance: update empty_trajectory_waypoint 2019-08-05 16:05:40 +02:00
Martina Rivizzigno d29f2ff60c ObstacleAvoidance: use hysteresis on z to check progress towards the goal 2019-08-05 16:05:40 +02:00
Martina Rivizzigno 39e59d6cc4 add point type (mavlink command associated with wp) in Obstacle Avoidance interface 2019-08-05 16:05:40 +02:00
Daniel Agar e69398c09f introduce uORB::PublicationQueued and transition most orb_advertise_queue usage 2019-08-04 10:08:09 -04:00
Daniel Agar 839787568c CollisionPrevention only process distance_sensor updates 2019-08-04 10:04:09 -04:00
Daniel Agar 6a6bc4be58 drivers helper classes remove empty publication (forced advertise) 
- this is no longer necessary with all publications outside of ISRs
 2019-08-03 14:08:45 -04:00
PX4 Build Bot 5f962401cb Update submodule DriverFramework to latest Fri Aug 2 08:39:05 EDT 2019 
- DriverFramework in PX4/Firmware (eda49a4b63): https://github.com/PX4/DriverFramework/commit/06277ef49fb8c9fad18d56ef40e8bc9fe1655a65
    - DriverFramework current upstream: https://github.com/PX4/DriverFramework/commit/c7d2fe2d4f5954b9042af4edf7e5aeb21dbdd129
    - Changes: https://github.com/PX4/DriverFramework/compare/06277ef49fb8c9fad18d56ef40e8bc9fe1655a65...c7d2fe2d4f5954b9042af4edf7e5aeb21dbdd129

    c7d2fe2 2019-07-23 Andrii Beregovenko - Fix missing symbol from librobotcontrol
 2019-08-02 10:36:38 -04:00
Timothy Scott 39a5799e65 Mavlink: fixed temperature for batteries (#12605) 2019-08-02 10:09:03 -04:00
Daniel Agar 29c50da1f6 ll40ls: cleanup and create PX4Rangerfinder helper class (#12567) 2019-07-31 15:17:35 -04:00
PX4 Build Bot 36534d5bab Update submodule ecl to latest Fri Jul 26 12:38:35 UTC 2019 
- ecl in PX4/Firmware (83316cf7b0484e7ba7f9b61201dea7215185da49): https://github.com/PX4/ecl/commit/e1751188fd15b799cbfae86bd7373bb91206069b
    - ecl current upstream: https://github.com/PX4/ecl/commit/d38164fc8e68b740405669127138e550c3c7375c
    - Changes: https://github.com/PX4/ecl/compare/e1751188fd15b799cbfae86bd7373bb91206069b...d38164fc8e68b740405669127138e550c3c7375c

    d38164f 2019-07-21 Jaeyoung-Lim - Fix flag for initialization
 2019-07-26 12:04:07 -04:00
TSC21 2b4c878e77 rebase: sync up submodules 2019-07-26 15:05:54 +02:00
TSC21 3d9f83a4f2 microRTPS_bridge: structural change to make possible to generate pub/sub code for multi-topics/aliased msgs 2019-07-26 15:05:54 +02:00
Beat Küng 05ff7bb731 version: validate format of the git tag 
This fails the build if a wrong version tag is used.
A wrong tag leads to wrong reporting in QGC, and incorrect error messages
about minimum required PX4 version.
It also leads to wrong statistics on Flight Review.
 2019-07-23 13:16:43 +02:00
bresch ea0e164145 FlightTask - Rename state_prev to last_setpoint 2019-07-16 13:09:09 +02:00
bresch 37a9b90945 FlightTask - Move checkSetpoints function in each FlightTask to be tailored to the specific needs and avoid checking all the setpoints 2019-07-16 13:09:09 +02:00
bresch 24811cf550 FlightTask smoothVel - Initialize ekf reset counters when task is activated 2019-07-16 13:09:09 +02:00
bresch 1414f50cea FlightTask - When switching task, pass the last setpoints of the previous task to the new task 
This is done to allow proper initialization of the new FlightTask and
give it a chance to continue the setpoints without discontinuity. The
function checkSetpoints replaces the setpoints containing NANs with an
estimate of the state. The estimate is usually the current estimate of
the EKF or zero.
The transition FlightTask also provides an estimate of the current
acceleration to properly initialize the next FlightTask after
back-transition. This avoid having to initialize the accelerations to
zero knowing that the actual acceleration is usually far from zero.
 2019-07-16 13:09:09 +02:00
Beat Küng 098afad9e0 missing SD card error tune: play only twice instead of repeating endlessly 2019-07-16 08:09:22 +02:00
Beat Küng 92c2d7ae36 CBRK_BUZZER: allow to disable startup sound 
The 'if [ $LOG_FILE = /dev/null ]' block can be removed, because
STARTUP_TUNE is already set in that case.
 2019-07-16 08:09:22 +02:00
Martina Rivizzigno 1fb80612f3 CollisionPrevention: address https://github.com/PX4/Firmware/pull/12179 
review comments
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno ac67d5603f CollisionPrevention: compute the attitude_sensor_frame outside for loop 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 560c9f972a CollisionPrevention: use the maximum timestamp between offboard and 
distance sensor such that if one of the two fails the vehicle goes into
failsafe, do not switch off CollisionPrevention if it fails
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 02bdc2c46b CollisionPrevention: use FlightTasks convention for private/public methods, 
add doxygen on header file
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 8637a9255e CollisionPrevention: add failsafe for stale distance data 2019-07-15 10:58:00 +02:00
Martina Rivizzigno e6e4d846fb add uORB message obstacle_distance_fused with data from offboard 
obstacle_distance and distance sensor
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno a9b1946bea CollisionPrevention: make sure that vehicle tilt compensation is 
correct for all sensor orientation
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 2439dc09ae CollisionPrevention: refactor code to make it more readable 2019-07-15 10:58:00 +02:00
Martina Rivizzigno b6eea508bb CollisionPrevention: make sure that the timestamp is updated for distance 
sensors even if they are out of range
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 09bfb00c88 Obstacle_distance: use only one increment in float directly 
CollisionPrevention: rename a few variables to make the code more readable
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 5b24f28ac7 CollisionPrevention: map distance_sensor data to obstacle distance 2019-07-15 10:58:00 +02:00
bresch e5128ac7b9 Cosmetic - Use c++ list initialization 2019-07-11 17:46:44 +02:00
bresch 15ec73629b MPC auto - Add MPC_YAW_MODE: towards waypoint (yaw first) mode. This mode ensures that 
the vehicle yaws towards the next waypoint before accelerating. This is
required for drones with front vision and aerodynamic multicopters such
as standard vtol planes or highspeed multirotors.
 2019-07-11 17:46:44 +02:00
Daniel Agar dc10a68539 NuttX and apps update 7.29 2019-07-10 12:58:35 -04:00
Roman Bapst b54a43fccc UAVCAN driver: support throttle linearization (THR_MLD_FAC parameter) 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-09 15:10:54 -04:00
bresch 6df1600357 Auto - Update velocity setpoint generator to avoid overshoot at high cruise speed. 
The linear mapping from position error to cruise velocity is changed by
a combination of that linear mapping and a nonlinear function containing
the maximum acceleration and jerk to avoid overshoots at waypoints due to
overoptimistic breaking distance.
 2019-07-09 09:46:45 +02:00
Jacob Dahl 59c555aec3 Multicopter Auto: Adjustable land speed via RC (#12220) 2019-07-08 23:55:21 -04:00
PX4 Build Bot d9c90ed31a Update submodule ecl to latest Fri Jul 5 12:38:36 UTC 2019 
- ecl in PX4/Firmware (590b55cb222ec68d4bbb61208f301102607b6161): https://github.com/PX4/ecl/commit/a036cf82cc92ef6572ea7ee960cfff4d305c01fa
    - ecl current upstream: https://github.com/PX4/ecl/commit/e1751188fd15b799cbfae86bd7373bb91206069b
    - Changes: https://github.com/PX4/ecl/compare/a036cf82cc92ef6572ea7ee960cfff4d305c01fa...e1751188fd15b799cbfae86bd7373bb91206069b

    e175118 2019-06-28 bresch - EKF - Initialize _deadrekon_time_exceeded to true. If no sample have been received, deadrekoning and local position should be invalid.
 2019-07-05 16:46:31 -04:00
Timothy Scott dce1dda871 Fixed incorrect timestamps 2019-07-03 14:39:59 +02:00
Daniel Agar 9450496eb4 Analog Devices ADIS16497 move to PX4Accelerometer/PX4Gyroscope and cleanup 2019-07-01 22:47:31 -04:00
Daniele Pettenuzzo 55b5e7552c mavlink: add new extvisionmin mode (#12279) 
Signed-off-by: DanielePettenuzzo <daniele@px4.io>
 2019-06-28 10:44:22 -04:00
Angel 46662072d1 Missed conversion to radians in AutoMapper and AutoMapper2 2019-06-25 14:01:35 +02:00
PX4 Build Bot 4831a4b0cf Update submodule ecl to latest Tue Jun 18 20:37:33 EDT 2019 
- ecl in PX4/Firmware (4673dd0a0c9b90fcab84a26e75812a5c7172d1af): https://github.com/PX4/ecl/commit/0f49eb34a08e499a26d749ed981429047f2100ff
    - ecl current upstream: https://github.com/PX4/ecl/commit/a036cf82cc92ef6572ea7ee960cfff4d305c01fa
    - Changes: https://github.com/PX4/ecl/compare/0f49eb34a08e499a26d749ed981429047f2100ff...a036cf82cc92ef6572ea7ee960cfff4d305c01fa

    a036cf8 2019-06-14 Paul Riseborough - EKF: Remove use of of quaternion self product operator and fix delta rotation sign
0e946f2 2019-06-14 Paul Riseborough - EKF: Remove use of quaternion self product operator and fix delta rotation sign error
ad7f7af 2019-05-21 CarlOlsson - ekf: correct quaternion multiplication order
d6351bd 2019-05-21 CarlOlsson - EKF: update comment
7612fa4 2019-05-30 Paul Riseborough - EKF: Don't start using GPS for height until all validity checks have passed
cef2ba5 2019-05-08 Roman - implemented Kahan summation algorithm for adding process noise to delta angle- and delta velocity bias variance
 2019-06-19 11:38:49 +10:00
Beat Küng beaba44e5b mc mixer: prioritize roll/pitch over yaw for full airmode 
Improves roll/pitch tracking in situations of large yaw demands.
 2019-06-17 13:17:18 +02:00
bresch 83d90410ff Jerk-limited auto mode - use MPC_ACC_HOR instead of MPC_ACC_HOR_MAX 
as written in the parameter desctiption
 2019-06-14 09:56:56 +02:00
Timothy Scott a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00
Martina Rivizzigno 7a586d2b60 ObstacleAvoidance: hysteresis on failsafe 2019-06-12 16:42:02 +02:00
Daniel Agar 79d4c09d59 uORB::Publication simplify and cleanup 
- base class is now template
 - drop linked list
 - virtualization no longer required
 2019-06-12 08:48:19 -04:00
PX4 Build Bot 736a1c4778 Update submodule ecl to latest Mon Jun 10 12:38:13 UTC 2019 
- ecl in PX4/Firmware (e80050ce8c261e9b5c1cf7e1e8c62f32db08099f): https://github.com/PX4/ecl/commit/54ac147ae8930f1c280a0bd5c25fa90eaf4c6e0d
    - ecl current upstream: https://github.com/PX4/ecl/commit/0f49eb34a08e499a26d749ed981429047f2100ff
    - Changes: https://github.com/PX4/ecl/compare/54ac147ae8930f1c280a0bd5c25fa90eaf4c6e0d...0f49eb34a08e499a26d749ed981429047f2100ff

    0f49eb3 2019-05-24 RomanBapst - fixed method which calculates validity of terrain estimate
cd34ab8 2019-05-24 Daniel Agar - mathlib delete floorf in favor of math.h
340d85a 2019-05-27 Robert de Vries - EKF: fix variable names in estimator_interface.h
90b4c7c 2019-05-24 Matthias Grob - mathlib: fix floorf indentation
710c529 2019-05-23 Sebastian Verling - fixed calculation of magentic table values by using floor instead of int casting
 2019-06-10 10:42:37 -07:00