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19530 Commits

Author SHA1 Message Date
RomanBapst
c0053409a3 ak09916: fixed driver not reporting magnetometer as external 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-25 13:17:08 +02:00
Hamish Willee
2b8337e5e2 Add units for EKF2_RNG_A_HMAX and EKF2_RNG_A_VMAX (#12545) 2019-07-25 08:09:35 +02:00
RomanBapst
2fbb70d9ca mc_att_control: output zero throttle in manual mode when landed 
- MPC_MANTHR_MIN is used as minimum throttle in attitude control mode when
the vehicle is in air. This is useful to retain some control around roll and
pitch axis if airmode is not enabled and the user demands zero throttle.
However, when the vehicle is landed there is not need to keep the throttle
at a higher value than zero.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-23 17:12:45 +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
Timothy Scott
2ed8ebf889 rover_pos_control: refactor to ModuleBase and use C++ Param API 2019-07-23 11:16:52 +02:00
Matthias Grob
e964af9262 commander_params: enable RC override by default 
It doesn't affect fixed wing flying anymore. I disabled it for the
deltaquad since I presume @sanderux prefers to have the feature disabled
even when flying in multicopter mode.
 2019-07-22 09:57:37 +02:00
Matthias Grob
706500f19c Commander: make RC override multicopter only 
AAs discussed in the devcall this functionality is only useful for
rotary-wing (multicopter) flying since it's a big safety hazard to
accidentally bring a fixed wing out of an auto mode e.g. a mission
and fly away in a straight line or into an obstacle.
 2019-07-22 09:57:37 +02:00
Matthias Grob
5c1ab06343 Commander: pure refactor of RC override conditions 2019-07-22 09:57:37 +02:00
Bob Long
84a0d16386 Clarify weird behavior of the LIS3MDL 
See issue #12514
 2019-07-21 12:08:26 -04:00
Beat Küng
b71bae414b param: fix potential nullptr dereferencing on param import 
NuttX 7.28 seemed to handle this gracefully, but officially passing NULL
results in undefined behavior, and with 7.29 leads to a hardfault.

This happens on configs with flash-based params, on the first unsuccessful
import attempt.
 2019-07-19 09:55:08 +02:00
Matthias Grob
aaad71faab commander_params: enable automatic disarming after land detection by default 2019-07-18 14:36:50 +02:00
Daniel Agar
9986a88697 mavlink: split BATTERY_STATUS from SYS_STATUS update and handle all bricks (#12034) 2019-07-18 13:32:41 +02:00
Timothy Scott
ecf396443f Minor bugfix 2019-07-17 10:47:56 +02:00
Timothy Scott
b9a2c9daf8 Fixed uninitialized variable 2019-07-17 10:47:16 +02:00
Beat Küng
e6aa035209 hotfix for logger: use '%i' instead of '%zu' 
Work-around for https://github.com/PX4/Firmware/issues/12485.

This can be reverted after the root-cause is fixed.
 2019-07-16 13:11:41 +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
bresch
d24c415fd7 PID rate controller - Add controller gain to support Ideal PID form (ISA standard) 2019-07-16 10:24:19 +02:00
Timothy Scott
7c05073044 Fixed overflowing tslc. 2019-07-16 09:43:58 +02:00
Timothy Scott
e25ad348e8 Added message handler for UTM_GLOBAL_POSITION 2019-07-16 09:43:58 +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
f803e54eee ToneAlarmInterface: add support for non-pwm-based buzzers 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
Beat Küng
d8da9db04c fix atxxxx osd driver: use correct device id 2019-07-16 08:09:22 +02:00
Beat Küng
5fe4c61b42 rc_input: add RC_PORT_CONFIG param to configure RC port 
The parameter will only be available if the board defines an 'RC' serial
port in SERIAL_PORTS (in default.cmake).
 2019-07-16 08:09:22 +02:00
Beat Küng
b7a0e1ef03 boards: simplify RC port configuration by using NuttX ioctl's 
A board only needs to define:
 #define RC_SERIAL_PORT                     "/dev/ttyS4"

Then it can optionally define one or more of the following:
 #define RC_SERIAL_SWAP_RXTX
 #define RC_SERIAL_SINGLEWIRE
 #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
 2019-07-16 08:09:22 +02:00
Beat Küng
9a1ad97c11 fix ToneAlarmInterface: correct TOME_ALARM_CLOCK for timer 13 and 14 2019-07-16 08:09:22 +02:00
Beat Küng
fcb7372554 atxxxx: fix comment 2019-07-16 08:09:22 +02:00
Beat Küng
1112828dcf adc: allow board to not define BOARD_ADC_HIPOWER_5V_OC or BOARD_ADC_PERIPH_5V_OC 2019-07-16 08:09:22 +02:00
Beat Küng
5d8710d539 bmp280: fix device_id initialization 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
8aad105265 mc_pos_control: increase stack size by 100 bytes 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
0ee770e853 logger: log obstacle_distance_fused instead of obstacle_distance 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
ff6a4d9e71 stream mavlink message OBSTACLE DISTANCE 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
d216b45202 cm8jl65: use paramter to set sensor orientation 2019-07-15 10:58:00 +02:00
Martina Rivizzigno
6a0ed6af93 cm8jl65: add field of view 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
Martina Rivizzigno
aff131774e simulator mavlink: add horizontal and vertical fov + quaterion orientation 
to distance sensor
 2019-07-15 10:58:00 +02:00
BazookaJoe1900
7be5d15502 px4fmu: cleanup - removed duplicate const MAX_ACTUATORS definition 2019-07-11 18:25:56 -04:00