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Author SHA1 Message Date
Beat Küng 9d11d94e7e px4iofirmware: guard against parsing multiple RC protocols 
It was for example possible that DSM got parsed, and in the next iteration
SBUS got parsed, leading to multiple PX4IO_P_STATUS_FLAGS_RC_ flags set.
input_rc::input_source was then incorrectly set to DSM.

Partially guarding was already done: if SBUS got parsed, DSM and others
were skipped.

The IO will still clear all PX4IO_P_STATUS_FLAGS_RC_* flags on RC loss.
 2021-02-19 09:28:46 -05:00
Beat Küng b0abc0c111 airframes: exclude from 1100, 4018 and 6003 px4_fmu-v2 2021-02-09 09:44:50 +01:00
Beat Küng 5a1c60b5a1 component_information: switch from gzip to xz 
Improves compression, e.g. current params file: 62KB to 51KB

There's also a PRESET_EXTREME option, which reduces by another 2KB.
We can revisit that once needed, as it increases mem usage as well.
 2021-02-09 09:44:50 +01:00
Beat Küng cedfae9e46 jenkins: upload params.json.gz to S3 2021-02-09 09:44:50 +01:00
Beat Küng f8989fe5aa mavlink: speed up ftp transfers on POSIX 
Around 900 KB/s - not fast, but should be fast enough for the use-cases.
 2021-02-09 09:44:50 +01:00
Beat Küng d0e35efe3a parameters: remove uid from json output 
Got removed from the spec
 2021-02-09 09:44:50 +01:00
Beat Küng 4ca883f843 parameters: fix JSON output types 
All types were previously output as strings
 2021-02-09 09:44:50 +01:00
Beat Küng 5a244888cd Tools: add validate_json.py 
Can be used to validate the schemas under
https://github.com/mavlink/mavlink/tree/master/component_information
 2021-02-09 09:44:50 +01:00
Beat Küng 1f8e7de824 mavlink: implement COMPONENT_INFORMATION 
- implement COMP_METADATA_TYPE_VERSION & add component_version.json.gz to
  ROMFS for all targets.
- implement COMP_METADATA_TYPE_PARAMETER (only enabled for SITL currently)
 2021-02-09 09:44:50 +01:00
Beat Küng 76a447ed0f fix StickAccelerationXY: avoid setpoint oscillations around 0 
With a higher responsiveness, after centering the stick, the velocity and
acceleration setpoints could oscillate around 0 and never reach 0, due to
discretization.
This also prevented position lock engagement.
 2021-02-08 13:51:36 +01:00
Beat Küng b190d98d6d Jenkinsfile: remove dev-guide metadata deployment 
dev guide got merged with the user guide.
 2021-01-20 10:03:00 -05:00
Beat Küng c36340d29a ActuatorEffectivenessMultirotor: set effectiveness to zero when computing the matrix 
Just to be on the safe side.
 2021-01-18 11:25:37 -05:00
Beat Küng 212ec821b1 control_allocator: set unused actuators to trim instead of min 2021-01-18 11:25:37 -05:00
Beat Küng 3606f86518 control_allocator: ensure unused outputs are initialized to min 
Mostly important in cases where the ouputs would change (e.g. param change)
 2021-01-18 11:25:37 -05:00
Beat Küng 3dad79d8f5 control_allocator: inline one-line setters & getters 2021-01-18 11:25:37 -05:00
Beat Küng 164511a7b5 control_allocator: avoid vector copies and sqrt() 2021-01-18 11:25:37 -05:00
Beat Küng 0e66b0876b control_allocator: change SequentialDesaturation to existing MC mixer 
And limit the operations to the number of configured outputs.

Only using the number of configured actuators reduces CPU load by ~2% on
F7 @1khz.
 2021-01-18 11:25:37 -05:00
Beat Küng 308f614735 refactor control_allocator: directly get the effectiveness matrix when updated 
Reduces stack + RAM usage
 2021-01-18 11:25:37 -05:00
Beat Küng 38782029ad fix control_allocator: set _last_run at the correct place 2021-01-18 11:25:37 -05:00
Beat Küng 0e86ab47f6 fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory 2021-01-18 11:25:37 -05:00
Beat Küng 066464c4e8 control_allocator: remove unused _task_start 2021-01-18 11:25:37 -05:00
Beat Küng 25f3fe8456 fix control_allocator_status: torque_setpoint_achieved and thrust_setpoint_achieved are bool 2021-01-18 11:25:37 -05:00
Beat Küng ade3871bee adc: add support for multiple sensor voltage channels 2021-01-15 10:57:20 -05:00
Beat Küng e2337a34eb system_power: add comp_5v_valid and can1_gps1_5v_valid 
And fill it in from the v5x GPIO expander.
 2021-01-15 10:57:20 -05:00
Beat Küng 704a82aaa6 gpio: extend support for /dev/gp* GPIO's 
Note that there's a small CLI interface change.
 2021-01-15 10:57:20 -05:00
Beat Küng 88fe047556 px4/v5x: enable mcp23009 GPIO driver 2021-01-15 10:57:20 -05:00
Beat Küng 3e4b8763a5 nuttx: add mcp23009 gpio driver 2021-01-15 10:57:20 -05:00
Beat Küng e1983381e7 rcS: add SYS_PARAM_VER to param reset_all exception list 
Avoids an extra reboot when resetting the airframe
 2021-01-15 10:57:20 -05:00
Beat Küng 26e8c231b0 v5x,v6x: move mtd_caldata after mtd_id partition 
to avoid losing factory calibration params on existing setups
 2021-01-15 10:57:20 -05:00
Beat Küng 12ebbd995d bmp388: wait a bit longer to schedule first cycle after reset 2021-01-15 10:57:20 -05:00
Beat Küng 529c3112ac bmp388: quiet if startup fails (no sensor on bus) 2021-01-15 10:57:20 -05:00
Beat Küng daaf8b61dc drivers: remove ism330dlc 
not used anymore
 2021-01-12 09:55:59 -05:00
Beat Küng 9f5dee2ecf v5x/v6x: update IMU sensors (remove ISM330DLC) 2021-01-12 09:55:59 -05:00
Beat Küng 72420dfff3 mavlink_receiver: remove unused _param_com_flight_uuid 2020-12-10 08:47:04 +01:00
Beat Küng a63e8cc149 fix mavlink: ensure vehicle_command topic exists 
If the first publisher publishes multiple commands right after each other
(e.g. on 'commander takeoff'), mavlink would miss the first and print an
error like 'vehicle_command lost, generation 0 -> 2'.

This is due to a recent uORB behavior change.
 2020-11-30 11:53:22 -05:00
Beat Küng 05a3492174 commander: remove low priority thread, run tasks in a worker thread on demand 
- removes race conditions
- removes dependencies on static data & methods
- reduces RAM usage by ~3.8KB
 2020-11-30 11:53:22 -05:00
Beat Küng 419b336a15 commander: fix ModuleBase usage, remove volatile flag 2020-11-30 11:53:22 -05:00
Beat Küng 615333badb logger: log gps_dump if GPS_DUMP_COMM is set 2020-11-20 11:04:52 -05:00
Beat Küng e6ad321ab2 gps: add GPS_{1,2}_PROTOCOL param to select protocol, default to u-blox 
u-blox is the most widely used GPS, so module detection should be a bit
faster in general.
 2020-11-04 10:26:49 -05:00
Beat Küng ab43a94224 gps: keep track of RX data rate 2020-11-04 10:26:49 -05:00
Beat Küng c5c521f5e0 gps: add support for u-blox heading with 2 F9P devices 2020-11-04 10:26:49 -05:00
Beat Küng 8f72ea9577 Jenkins: push module documentation to PX4 user guide as well 2020-11-04 13:08:05 +01:00
Beat Küng d83da4ded4 fix SubscriptionMultiArray: end() iterator needs to point past the end 
And ensure not to dereference.
 2020-11-02 09:00:04 +01:00
Beat Küng d2644a3bf7 distance_sensor/sf0x: rename to lightware_laser_serial 2020-10-22 11:30:50 -04:00
Beat Küng a68ac95399 distance_sensor/sf1xx: rename to lightware_laser_i2c 2020-10-22 11:30:50 -04:00
Beat Küng 6d2e306d50 sf1xx: use new protocol for LW20/c 
benefits:
- read & validate product name
- sensor configuration with the output we want (raw distance data)
- get signal quality

Protocol description: http://support.lightware.co.za/sf20/#/commands

Other Lightware sensors can easily be moved over to that as well.
 2020-10-22 11:30:50 -04:00
Beat Küng c0cf144a5a ll40ls: fix rotation -> orientation 2020-10-22 11:30:50 -04:00
Beat Küng 5f27407acd tests: don't run battery_simulator 
The battery migration interferes with the tests.
 2020-10-20 09:18:47 +02:00
Beat Küng f776997a07 battery: disable secondary module by default 
Avoid a GCS showing 2 battery indicators.
Alternatively we could also check the 'connected' flag, but this is more
explicit.
 2020-10-20 09:18:47 +02:00
Beat Küng 83b81fbbef battery: fix isFloatEqual(), use matrix::isEqualF 
Fixes param migration, e.g. if BAT_N_CELLS is set, migrates to
BAT1_N_CELLS.
 2020-10-20 09:18:47 +02:00
Beat Küng 6ae17eb13c fix EscBattery: remove _battery.publish(); 
updateBatteryStatus() already publishes
 2020-10-20 09:18:47 +02:00
Beat Küng d0fd60de8d output_limit: use add_library instead of px4_add_library 
px4_add_library adds uorb dependencies, which since cf26f24387 added libm.
This in turn led to build failures for px4_io-v2 in the form of:
__aeabi_f2d' wf_sqrt.c:(.text.sqrtf+0x54): undefined reference to
__aeabi_ddiv'
 2020-10-19 09:45:46 -04:00
Beat Küng ff3008c051 calibration: add SYS_FAC_CAL_MODE parameter 
If set, stores calibration parameters in separate storage /fs/mtd_caldata.
 2020-10-12 15:22:26 +02:00
Beat Küng f1f6ca21cb rcS: try to load params from secondary storage if available 2020-10-12 15:22:26 +02:00
Beat Küng 3e9692c5bd param_import: add mark_saved argument 
Behavior of the 'param import' command:
- if no file provided, parameters are marked as saved (differs from before)
- if a file is provided: parameters are not marked as saved
 2020-10-12 15:22:26 +02:00
Beat Küng f6e8ddfaa0 param_export: add optional filter method 2020-10-12 15:22:26 +02:00
Beat Küng f927cacd9c v5x: enable eeprom storage on IMU board 2020-10-12 15:22:26 +02:00
Beat Küng c6cd0536d7 mtd: support multiple instances 2020-10-12 15:22:26 +02:00
Beat Küng 274ccaf57c system: include shutdown lock to BOARD_INDICATE_ARMED_STATE 
BOARD_INDICATE_ARMED_STATE was only set during arming, so an external
component might have reset the board during param save, leading to param
loss.

This extends the API to trigger the arming state also while the shutdown
lock is taken.
 2020-10-09 08:23:47 +02:00
Beat Küng 91fa2002e3 kakutef7: fix output ordering 
Regression from d2254c2e44, I overlooked that they were defined in
reverse order.
 2020-10-03 10:45:30 -04:00
Beat Küng 5ac0c7c799 List.hpp: let operator* return a reference 
So that clang 12 does not complain:
loop variable 'child' is always a copy because the range of type 'List<ModuleParams *>' does not return a reference
 2020-09-21 09:23:21 -04:00
Beat Küng 5fdff6a0e4 i2c drivers: add '-k' flag for keep_running directly to BusCLIArguments 2020-09-18 09:45:06 -04:00
Beat Küng 1bf030e8ba lps33hw: refactor and add -k flag to keep running even if no sensor found 2020-09-18 09:45:06 -04:00
Beat Küng f106e6b266 param: add 'param show-for-airframe' command 
- simplifies creation of an airframe config
- could be done from QGC, but it only knows if a param is non-default from
  metadata, which can be incorrect/missing information
- for the list of exceptions we could look at '@category', but we don't have
  that info in the build
- there might be some more exceptions to be added
 2020-09-18 09:03:29 +02:00
Beat Küng abf5c2b301 ROMFS/CMakeLists.txt: change dependencies 
- moves process airframe deps to the tar generation, to ensure whenever
  airframes are processed, the tar is extracted first.
  This is required, because if the airframe processing is done on pruned
  ROMFS, it's missing the tags.
- avoid using init.d/rcS in dependencies, use a separate file instead.
  This is because pruning modifies the rcS, and the next rebuild was
  seeing a changed rcS, resulting in unnecessary regeneration.
 2020-09-16 09:30:58 -04:00
Beat Küng ef55680ab1 sitl: enable EMBEDDED_METADATA to add parameter metadata to ROMFS 2020-09-15 09:30:16 +02:00
Beat Küng 0a061160f7 cmake px4_add_board: add EMBEDDED_METADATA 
Allowing to put additional metadata into the ROMFS, the first is
parameters.json.gz.
 2020-09-15 09:30:16 +02:00
Beat Küng d5b8f6cdf9 sitl_run.sh: cleanup, kill jmavsim only if $program == jmavsim 2020-09-15 09:30:16 +02:00
Beat Küng 055fa768d8 posix: enable ROMFSROOT 
This will copy the ROMFS into the build directory under etc/, and thus
needs a change of the PX4 startup parameters and mixer paths.
 2020-09-15 09:30:16 +02:00
Beat Küng d3362f38d1 parameters: add parameters.json.gz as output 2020-09-15 09:30:16 +02:00
Beat Küng 809d05053b posix: add support for ROMFSROOT 
- add missing ROMFS files to CMakeLists.txt
- rename genromfs to etc, so that it's clearer for SITL use
 2020-09-15 09:30:16 +02:00
Beat Küng 2b0396d5df gps: use px4::atomic instead of volatile 2020-09-13 18:31:37 -04:00
Beat Küng e906106ea2 gps: fix memory leak on module exit (delete _helper) 2020-09-13 18:31:37 -04:00
Beat Küng 2956aa340e module: increase max timeout for stopping modules from 2s to 5s 
The gps module might take up to 4s to stop (if stopped during module
configuration).
 2020-09-13 18:31:37 -04:00
Beat Küng 787f9c1213 i2c: use board-specific bus numbering for '-X -b <bus>' CLI 
As boards don't have their external buses labeled consistently, it was not
useful to use an abstraction.
 2020-09-03 15:32:35 -04:00
Beat KüngandDaniel Agar 4088c2581f i2c_spi_buses: add '-q' for quiet startup flag (#14969) 
* [WIP] i2c_spi_buses: add '-q' for quiet startup flag

And enable for optional board sensors.

* ROMFS: rc.sensors try starting all optional I2C sensors quietly

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2020-08-26 08:46:35 +02:00
Beat Küng b7b23a521a sdp3x: remove reset during init 
It is not playing nice with other devices on the same bus.
In particular with the FreeFly RTK GPS: once the reset is sent, the whole
bus is blocked and becomes unusable.
Current understanding is that this device contains another chip on the bus
(apart from the mag+baro+led).

I don't see much use for it either, as we configure everything there is to
configure (just the mode).
 2020-08-24 17:55:05 -04:00
Beat Küng ba5d7773f8 mavlink_timesync: print sender comp id for 'RTT too high for timesync' msg (#15539) 
helps with debugging
 2020-08-13 10:58:25 +02:00
Beat Küng 0f68121ae0 kopis 2 airframe: enable frsky telemetry 2020-08-06 00:08:23 -04:00
Beat Küng bc9be2d040 frsky_telemetry: add support for inverted single-wire S.Port on F7 2020-08-06 00:08:23 -04:00
Beat Küng b6052fbb11 nuttx: update submodule 2020-08-06 00:08:23 -04:00
Beat Küng e28395a58b TRIG_MODE: update description to support 78 2020-08-05 09:02:58 +02:00
Beat Küng dfc2160489 commander: update vehicle_status with at least 2Hz 
So we're sure it's logged.
 2020-08-04 10:53:20 -04:00
Beat Küng 5f8c6512b3 vehicle_status: add latest arming/disarming reason 
Makes it easier to debug.
 2020-08-04 10:53:20 -04:00
Beat Küng 4282b3dd47 TRIG_PINS: allow triggering on 78 while still using the lower 6 pins for pwm 2020-08-04 13:37:40 +02:00
Beat Küng ca189fefb7 v5x: use board-specific camera capture pin PI0 2020-08-04 13:37:40 +02:00
Beat Küng 316085c154 camera_capture: remove board-specific ifdef 2020-08-04 13:37:40 +02:00
Beat Küng 46208edfac fix camera_trigger: no need to check for '_pins[i] < num_gpios' 
_pins[i] >= num_gpios is a valid config.
 2020-08-04 13:37:40 +02:00
Beat Küng 002e671d3f fix pwm_out,dshot: set _num_outputs to 5 for mode_pwm5 2020-08-04 13:37:40 +02:00
Beat Küng 78e918ff3a fix pwm_out: respect _num_outputs for calling up_pwm_servo_set() 
_num_outputs is set according to the mode_pwmX call, which is required
for camera triggering.
This fixes camera triggering via PWM, as it avoids overwriting the channel.
 2020-08-04 13:37:40 +02:00
Beat Küng 405cb5038d sdp3x: introduce State enum 
to avoid blocking the work queue during configuring.
 2020-07-08 11:43:21 -04:00
Beat Küng fc1be6e0b1 sdp3x: add '-k' option to keep retrying even if probing fails 
we have a setup where the sensor is connected via magnets, so the system
could boot without sensor initially attached.
 2020-07-08 11:43:21 -04:00
Beat Küng 3cc394e6c7 sdp3x: improve robustness, try to reconfigure on transfer error 2020-07-08 11:43:21 -04:00
Beat Küng 2bcc2f4ccc mag params: add missing mag rotations according to rotation.h 2020-07-06 10:16:17 -04:00
Beat Küng 795b9e938e drivers: add ST LPS33HW baro driver 
Note: only tested on I2C
 2020-07-06 10:13:11 -04:00
Beat Küng 03e51076b0 v5x: fix icm20602 sensor orientation 
and reorder baro startup, so that the other one is used by default.
 2020-07-06 11:02:48 +02:00
Beat Küng 0c4fd2bfa0 param: also show unused params for 'param show -c' 
I find this generally useful for debugging.
 2020-06-29 09:49:56 -04:00
Beat Küng d22bbde7c5 logger: fix hardfault for invalid SDLOG_PROFILE setting 
If some bits are set but no topic was added, _subscriptions was null but
later accessed.

During normal use this only happens when switching between different
firmware versions with different SDLOG_PROFILE definition (with custom
config).
 2020-06-29 09:49:56 -04:00
Beat Küng fe9a971f0e logger: use subscription interval also in polling mode 
Now that replay uses lockstep scheduling we don't need that work-around
anymore.
 2020-06-23 11:53:55 -04:00
Beat Küng a3d1c94aa4 logger: reduce poll timeout to 20ms 
Just to ensure even if the topic is not updated, logger will still update
regularly.
 2020-06-23 11:53:55 -04:00