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19465 Commits
Author SHA1 Message Date
TSC21 20b3adebf4 attitude_estimator_q_main: remove epsilon comparison; fix logic 2018-11-21 12:21:16 +01:00
PX4 Build Bot 7d54913f80 Update submodule matrix to latest Wed Nov 21 00:38:27 UTC 2018 
- matrix in PX4/Firmware (4005de7b9600db8a310d52f9bf7a47a0019868d8): https://github.com/PX4/Matrix/commit/0d3bff5e006cfaa358b51e3a6d11984e3782a90e
    - matrix current upstream: https://github.com/PX4/Matrix/commit/9c0acfba36a928b7b002eea3a9dca54a5a0c1250
    - Changes: https://github.com/PX4/Matrix/compare/0d3bff5e006cfaa358b51e3a6d11984e3782a90e...9c0acfba36a928b7b002eea3a9dca54a5a0c1250

    9c0acfb 2018-11-20 Matthias Grob - Matrix: remove unsafe copyToRaw method
 2018-11-20 20:35:15 -05:00
Beat Küng 1e17a86a39 collisionprevention: fix typo in param description & minor code style 2018-11-20 14:14:13 +01:00
baumanta 053494c535 use only one parameter and enable parameter change in flight. clean up code 2018-11-20 14:11:33 +01:00
baumanta efa7e0ba77 clean up 2018-11-20 14:11:33 +01:00
baumanta f5369db245 Put parameters inside library. Get rid of unnecessary activation logic 2018-11-20 14:11:33 +01:00
baumanta dd45fa6541 change feature name from CollisionAvoidance to CollisionPrevention 2018-11-20 14:11:33 +01:00
baumanta f611eddadd unadvertise publishers in the destructor 2018-11-20 14:11:33 +01:00
Matthias Grob 81ec6c5b1e ColisionAvoidance: move instantiation to FlightTask 2018-11-20 14:11:33 +01:00
Matthias Grob 7e276bc163 CollisionAvoidance: move activation logic to library 2018-11-20 14:11:33 +01:00
baumanta 27dc60a419 Improve comments 2018-11-20 14:11:33 +01:00
baumanta ce7dc85450 Change wrong comment 2018-11-20 14:11:33 +01:00
baumanta db514fe441 Add a collision avoidance library which uses range data 2018-11-20 14:11:33 +01:00
David Sidrane 1d12827408 Commander:Replace color based LED manipulators with logical ones. 2018-11-19 14:32:47 -05:00
David Sidrane fbc143dc55 sitl:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on sitl
 2018-11-19 14:32:47 -05:00
David Sidrane 05ea187b1d px4nucleoF767ZI-v1:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on px4nucleoF767ZI-v1
 2018-11-19 14:32:47 -05:00
David Sidrane b37675fa76 px4fmu-v5:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on px4fmu-v5
 2018-11-19 14:32:47 -05:00
David Sidrane 26026b5d39 px4fmu-v4pro:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on px4fmu-v4pro
 2018-11-19 14:32:47 -05:00
David Sidrane 735830a483 px4fmu-v4:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on px4fmu-v4
 2018-11-19 14:32:47 -05:00
David Sidrane 90106c1fd2 px4fmu-v2:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on px4fmu-v2
 2018-11-19 14:32:47 -05:00
David Sidrane e40a0839e9 px4-stm32f4discovery:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on px4-stm32f4discovery
 2018-11-19 14:32:47 -05:00
David Sidrane 03aae61395 px4-same70xplained-v1:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on px4-same70xplained-v1
 2018-11-19 14:32:47 -05:00
David Sidrane 42a8a6ffac omnibus-f4sd:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on omnibus-f4sd
 2018-11-19 14:32:47 -05:00
David Sidrane 1da0021be9 nxphlite-v3:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on nxphlite-v3
 2018-11-19 14:32:47 -05:00
David Sidrane a12f26aee0 mindpx-v2:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on mindpx-v2
 2018-11-19 14:32:47 -05:00
David Sidrane 3c6539257f crazyflie:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on crazyflie
 2018-11-19 14:32:47 -05:00
David Sidrane e960978296 auav-x21:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on auav-x21
 2018-11-19 14:32:47 -05:00
David Sidrane aa30560d68 aerofc-v1:Added Logical BOARD specific LED mapping 
Define the logical LED that are uses on aerofc-v1
 2018-11-19 14:32:47 -05:00
David Sidrane 96ba6c1174 sitl led:Support logical LED operations in commander 
add support for all the LEDS to support
   BOARD_HAS_CONTROL_STATUS_LEDS
 2018-11-19 14:32:47 -05:00
David Sidrane 0a1dd24af6 omnibus-f4sd:led clean up code and prevent out of bounds indexing 2018-11-19 14:32:47 -05:00
David Sidrane dc29820bd9 Document the LED colors used 2018-11-19 14:32:47 -05:00
David Sidrane 98394afcc7 board common:Define default CONTROL_STATUS LED mapping 
This commit is the groundwork to fix the power LED
   blinking on V5

   Background:
   ----------
   Early boards only had an AMBER LED that was used to
   indicate a High Load condition.

   This change defines the new logical inteface
   the LED_<color> should not be used in application
   code moving forward, only the minipulator macros
   should be used.

       Logical usage             Legacy default
      ------------------------+-------------
       BOARD_OVERLOAD_LED     | LED_RED

   Later boards defined BOARD_HAS_CONTROL_STATUS_LEDS
   and added the use of a BLUE and GREEN LED that were
   used as follows:

   Logical usage             Legacy default
      ------------------------+-------------
       BOARD_ARMED_LED        | LED_BLUE
       BOARD_ARMED_STATE_LED  | LED_GREEN

   With this PR a board may now define _only_ a subset
   the leds and map them at the board level to the
   color LED it wants to use.

       Logical usage             Legacy default
      ------------------------+-------------
       BOARD_OVERLOAD_LED     | LED_RED
    when BOARD_HAS_CONTROL_STATUS_LEDS is defined
       BOARD_ARMED_LED        | LED_BLUE
       BOARD_ARMED_STATE_LED  | LED_GREEN

   If any of the BOARD_{OVERLOAD|ARMED|ARMED_STATE}_LED are not
   defined. The code output generates a null action for that
   LED.
 2018-11-19 14:32:47 -05:00
Daniel Agar bba475aca1 logger limit trajectory_setpoint rate 2018-11-19 09:59:22 -05:00
Daniel Agar 48ba88eaf0 pwm_out_sim add mixer saturation status publication (#10866) 2018-11-16 16:42:20 -05:00
Paul Riseborough 3ee596284d ecl: Magnetic declination use improvements 
Fixes bugs causing learned or GEO lookup declination to not be used in some circumstances.

https://github.com/PX4/ecl/pull/518
https://github.com/PX4/ecl/pull/520
 2018-11-16 10:25:59 -05:00
TSC21 05d9932f6c logger: limit vehicle_*_odometry topics to 30hz on default logging 2018-11-16 09:44:32 +01:00
TSC21 2c111222cf logger: fix vision topics naming 2018-11-16 09:44:32 +01:00
bresch 7779c0bd69 MPC - Update velocity integrator definition 2018-11-15 22:08:00 +01:00
bresch d852ce20e6 MPC - Increase max velocity integral gain to 3.0 2018-11-15 22:08:00 +01:00
bresch 0863e95a2c Add "Tracking Anti-Reset Windup" in velocity PID controller 2018-11-15 22:08:00 +01:00
Julian Oes d7c34ddee4 mavlink: fix yawing to North for LOITER_TIME (#10828) 
* mavlink: yaw should wrap at 2 pi, not pi
* mavlink: use newer rad/deg conversion
 2018-11-13 14:32:40 -05:00
Beat Küng b3afa6ddac mc_pos_control: fix task activation failure for Transition 2018-11-13 09:30:18 +01:00
Beat Küng 330941c1fc FlightTaskManualAltitude: initialze yaw setpoint with NAN 
Also update some comments.

In case we activate the task and don't have a locked yaw, we should
initialize the yaw setpoint with NAN to avoid any abrupt changes.
 2018-11-13 09:30:18 +01:00
Beat Küng 2b7d3bd088 flight tasks: move weather vane yaw handler from Altitude to Position task 2018-11-13 09:30:18 +01:00
Beat Küng c9e52d4386 MPC_MAN_TILT_MAX: increase max limit from 90 to 180 degrees 
This is especially useful for testing (the vehicle must behave correctly
even at high tilt angles).
 2018-11-13 09:30:18 +01:00
Beat Küng adf1fea554 mc_att_control: fix for Rattitude mode 
When switching back from rate to attitude control, the code depended on a
vehicle_control_mode topics update, but the publication frequency of that
is low. So the switch was noticeably delayed.
 2018-11-13 09:30:18 +01:00
Beat Küng 36ee0297ee FlightTask.hpp: minor code cleanup 2018-11-13 09:30:18 +01:00
Beat Küng ca7acae904 mc stabilized mode: move from mc_pos_control to mc_att_control 
- better in terms of dependencies:
  - the position controller code depended on position topics for yaw
  - mc_pos_control does not have to be run for Stabilized mode
- the code path is much simpler, and thus less error prone. This is
  especially important since Stabilized is often used as a fail-safe flight
  mode.
 2018-11-13 09:30:18 +01:00
Beat Küng f31f63fff7 mc_att_control: use orb_publish_auto 
use nullptr for instance to make sure we always get the first instance.
 2018-11-13 09:30:18 +01:00
Beat Küng 00c2086dd6 mc_pos_control: simplify weathervane logic 2018-11-13 09:30:18 +01:00