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1326 Commits

Author SHA1 Message Date
Beat Küng
5e3e486527 px4_posix.h: avoid defining PX4_F_RDONLY as O_RDONLY 
- There is an assumption un uORB that PX4_F_RDONLY is not 0.
- But O_RDONLY is 0 on Linux. orb_exists passes 0 to px4_open, which in
  uORB::DeviceNode::open leads to an unnecessary allocation of
  SubscriberData()
- PX4_F_RDONLY is only used in combination with px4_open, never with open()

However even if it was wrong/unexpected, it did not cause any problems,
just the unnecessary allocation.
 2018-07-13 11:30:23 +02:00
Daniel Agar
850b1ad6a7 EKF2 split output predictor and publish attitude immediately (#9832) 
* EKF2 split output predictor and publish attitude immediately

* ecl: incorporate magic number tidy up
 2018-07-09 08:11:24 +10:00
DanielePettenuzzo
5cb6753572 i2c.h: include board_config 2018-07-03 17:33:18 +02:00
DanielePettenuzzo
6cb17839ee distance sensors: remove bus_option array and add it to i2c.h header 2018-07-03 17:33:18 +02:00
Daniel Agar
9ce83f2208 fix all sign-compare warnings 2018-07-01 09:36:55 +00:00
Daniel Agar
cf74166801 double promotion warning fix or ignore per module 2018-07-01 09:36:55 +00:00
Daniel Agar
3ba97297d5 tests simple timing microbenchmark 2018-07-01 09:25:22 +00:00
Daniel Agar
02d4405a62 c++11 default destructors 2018-06-30 19:55:08 -04:00
Daniel Agar
c39ac93ca8 device integrator cleanup initialization 2018-06-30 19:55:08 -04:00
Daniel Agar
d21cf7123e version library add ECL 2018-06-22 08:46:30 +02:00
Paul Riseborough
4a0b41bbc0
ekf2: Enable use of flow sensors not fitted with gyros (#9703) 
* ecl: Update to version allowing use of flow sensors without gyros

* msg: Update description for optical_flow

Adds advice for publishing gyro rate integral message when no rate gyro is fitted.
 2018-06-20 10:28:58 +10:00
Beat Küng
04db56638e ecl: update submodule 
contains:
- https://github.com/PX4/ecl/pull/460
- https://github.com/PX4/ecl/pull/462
 2018-06-15 15:53:28 +02:00
Daniel Agar
44ad3c98ad
Update submodule matrix to latest Tue Jun 12 15:14:08 CDT 2018 (#9649) 
- matrix in PX4/Firmware (ed6db94ec0f1ce2b6e4a975229c51fb5e3ff559a): 03a3e3ad46
    - matrix current upstream: b815fc97c4
    - Changes: 03a3e3ad46...b815fc97c4

    b815fc9 2018-06-12 Roman Bapst - replace quiet_NaN() with INFINITY (#70)
 2018-06-12 16:45:51 -04:00
Daniel Agar
20aabd3566 move systemlib/airspeed to standalone lib 2018-06-12 09:06:30 +02:00
Daniel Agar
b23e40ca42 move systemlib/pid to standalone lib 2018-06-12 09:06:30 +02:00
Daniel Agar
e468a9bbcc move systemlib/pwm_limit to standalone lib 2018-06-12 09:06:30 +02:00
Daniel Agar
387bc81f26 move systemlib/circuit_breaker.cpp to standalone lib 2018-06-12 09:06:30 +02:00
Daniel Agar
d0bde9ab2a replace geo _wrap_pi with matrix::wrap_pi 2018-06-12 09:00:52 +02:00
PX4 Jenkins
5d066f95c7 Update submodule matrix to latest Sun Jun 10 18:15:08 UTC 2018 
- matrix in PX4/Firmware (a138252aea03ff414ef5b4444c61e2f7d5075ebc): 21d47424c6
    - matrix current upstream: 03a3e3ad46
    - Changes: 21d47424c6...03a3e3ad46

    03a3e3a 2018-06-09 Daniel Agar - helper_functions add wrap_2pi
abc8f82 2018-06-09 Daniel Agar - travis-ci add codecov.io (#69)
 2018-06-10 20:42:33 +02:00
PX4 Jenkins
fc29e78978 Update submodule ecl to latest Sat Jun 9 15:26:38 CDT 2018 
- ecl in PX4/Firmware (f7937d783496e954efc52439148ef66824d9c80a): 1fdf33b343
    - ecl current upstream: d177e96508
    - Changes: 1fdf33b343...d177e96508

    d177e96 2018-06-08 Paul Riseborough - EKF: Fix bug causing slow drift when high rate flow data is used
ee2dc7d 2018-05-30 Paul Riseborough - EKF: Rework optical flow selection logic
e383b6a 2018-05-29 Paul Riseborough - EKF: rework optical flow selection logic
487e6a0 2018-05-28 Paul Riseborough - EKF: enable user selection of auto mag free operation
6bdbe03 2018-05-28 Paul Riseborough - EKF: Fallback to optical flow for all in-flight loss of navigation scenarios
b4d2b8c 2018-05-19 Mohammed Kabir - EKF : introduce new architechture for navigation limits
8a71339 2018-05-19 Paul Riseborough - EKF: Improve ground effect compensation
39697f1 2018-05-18 Paul Riseborough - EKF: rework optical flow switching
1cfe845 2018-05-18 Paul Riseborough - EKF: rework GPS quality check
99a8038 2018-05-18 Paul Riseborough - EKF: improve optical flow GPS quality checking
7f36add 2018-05-18 Paul Riseborough - EKF: scale GPS vertical accuracy check when using optical flow
fc9f532 2018-05-18 Paul Riseborough - EKF: relax range finder data continuity check
93c456f 2018-05-18 Paul Riseborough - EKF: Improve protection against badly conditioned dVel bias covariances
225057a 2018-05-18 Paul Riseborough - EKF: Fix bug preventing use of terrain estimator
adb4a09 2018-05-17 Paul Riseborough - EKF: Fix bug causing large yaw innovations when GPS is lost
f59cd0f 2018-05-16 Paul Riseborough - EKF: Don't make detection of indoor operation dependent on optical flow
1562a82 2018-05-16 Paul Riseborough - EKF: Add parameter to adjust on-ground movement detector sensitivity
ea9e824 2018-05-16 Paul Riseborough - EKF: Improve detection of indoor flight condition
565f992 2018-05-16 Paul Riseborough - EKF: Reduce effect of yaw gyro bias when using optical flow indoors
e10798b 2018-05-16 Paul Riseborough - EKF: Add on ground movement detector
2d3b652 2018-05-15 Paul Riseborough - EKF: Reset yaw gyro bias learning when resuming use of magnetometer
8191068 2018-05-15 Paul Riseborough - EKF: Don't start using mag if optical flow use is interrupted
4889e84 2018-05-15 Paul Riseborough - EKF: Don't fuse multi rotor drag if yaw angle is bad
092a8d8 2018-05-15 Paul Riseborough - EKF: Fix GPS validity time check error
0160aaa 2018-05-15 Paul Riseborough - EKF: Don't use magnetometer with optical flow only nav if GPS checks are failing
8451676 2018-05-14 Paul Riseborough - EKF: Use stricter GPS accuracy test when optical flow is being used
a80b3ab 2018-05-27 Daniel Agar - set MODULE define for each library
 2018-06-09 17:24:35 -04:00
Paul Riseborough
98465171aa ecl: include fix for bug affecting use of high frequency optical flow data 2018-06-09 13:38:04 +02:00
Paul Riseborough
967b27f131 ecl: rework optical flow selection logic 
Fixes a race condition introduced by use of _is_dead-reckoning.
Only runs flow use logic when there is flow data available
 2018-06-09 13:38:04 +02:00
Paul Riseborough
e3a6528a80 ecl: include fixes to flow selection logic 2018-06-09 13:38:04 +02:00
Paul Riseborough
d46ee571ce ecl: test changes to pr-ekfOptFlowFixes 2018-06-09 13:38:04 +02:00
Mohammed Kabir
9a83f55c6a ecl: test PX4/ecl/pull/452 2018-06-09 13:38:04 +02:00
Philipp Oettershagen
302cb0a285 Subsystem_info status flags & checks: Moved the set_health_flags helper functions out of the /lib/ folder and into the module/commander folder because they are actually only needed there 2018-06-06 18:54:24 +02:00
Philipp Oettershagen
e4d863b95f Subsystem_info status flags & checks: Separate the functionality to a) set the health flags inside commander and b) to publish them from external modules 2018-06-06 18:54:24 +02:00
Philipp Oettershagen
075009be2f Subsystem_info status flags & checks: 1) Set health flags in commander directly instead of publishing via uORB 2) move publish_subsystem_info into lib/ folder" 2018-06-06 18:54:24 +02:00
Philipp Oettershagen
6f1f414b49 Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function. 2018-06-06 18:54:24 +02:00
Daniel Agar
e8fa94126e
set MODULE_NAME for parameters library and external ecl libraries (#9536) 2018-05-27 14:36:41 -04:00
Beat Küng
c9d179676e simple mixer: make output scalers O: optional and use default values instead 
Reduces FLASH usage by about 4KB

Command to replace:
for i in *.mix; do sed -r -i '/O: +10000 +10000 +0 +-10000 +10000/d' $i; done
 2018-05-25 07:57:08 +02:00
Daniel Agar
222a91c6be mathlib delete Matrix, Quaternion, Vector 2018-05-23 17:27:09 -04:00
PX4 Jenkins
9cd03817b3 Update submodule ecl to latest Wed May 23 01:26:53 UTC 2018 
- ecl in PX4/Firmware (9e6449570a58587b7dd0f4919ea9d6f0a52f5239): cb63f16d48
    - ecl current upstream: 50631e5d98
    - Changes: cb63f16d48...50631e5d98

    50631e5 2018-05-21 Daniel Agar - geo remove use of DBL_EPSILON
 2018-05-23 02:32:22 -04:00
PX4 Jenkins
ff033f1e65 Update submodule DriverFramework to latest Wed May 23 01:26:47 UTC 2018 
- DriverFramework in PX4/Firmware (381d3ccd577484a57e555ec9ad6166249d590140): e06222dd15
    - DriverFramework current upstream: 410e9fc4e7
    - Changes: e06222dd15...410e9fc4e7

    410e9fc 2018-05-18 Roman - mpu9250: set internal gyro dlpf frequency to 92 Hz
 2018-05-23 02:14:54 -04:00
DanielePettenuzzo
8b54346d52 mpu9250: decrease sampling rate when using i2c 2018-05-22 12:21:45 +02:00
Daniel Agar
4e32cb17df clang-tidy modernize-use-equals-default 2018-05-18 22:48:55 +02:00
Daniel Agar
ac4053fbd6
Update submodule ecl to latest Fri May 18 01:26:47 UTC 2018 (#9484) 
* cb63f16 2018-05-17 Daniel Agar - cmake cache ECL source directory path to work with catkin (#447)
 * fixes #9447
 2018-05-18 00:15:15 -04:00
PX4 Jenkins
8a114c2f05 Update submodule ecl to latest Mon May 14 20:26:35 CDT 2018 
- ecl in PX4/Firmware (bcebb33f8618c8d1827ae65b904e9d85f2610b52): 372f9f430b
    - ecl current upstream: bae4b8a5e7
    - Changes: 372f9f430b...bae4b8a5e7

    bae4b8a 2018-05-11 Bart Slinger - remove superfluous elseif (#431)
16976d3 2018-05-11 Paul Riseborough - Merge branch 'pr-ekfOptFlowFixes'
75e6590 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops
e8e9e34 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops
6cadc92 2018-05-09 Paul Riseborough - EKF: Don't reject saturated flow data when it is the only aiding source
bf902e5 2018-05-09 Paul Riseborough - EKF: Prevent flow motion check false positives
bdf5b3e 2018-05-07 Paul Riseborough - EKF: Don't assume large position uncertainty when starting optical flow nav
e26711a 2018-05-05 Paul Riseborough - EKF: relax terrain update requirements for continuing optical flow use
868bc01 2018-05-05 Paul Riseborough - EKF: Relax minimum required range finder measurement rate
02963a8 2018-05-05 Paul Riseborough - EKF: relax optical flow on ground motion checks
24b005e 2018-05-03 Paul Riseborough - EKF: range finder aiding logic fixes
0c0a660 2018-05-03 Paul Riseborough - EKF: Decouple range finder use criteria checking and selection
6708bec 2018-04-29 Paul Riseborough - EKF: Don't auto select range finder for height when on ground.
0a63052 2018-04-26 Paul Riseborough - EKF: Fix false triggering of optical flow bad motion checks
f9d4934 2018-04-19 Paul Riseborough - EKF: update comments
82de314 2018-04-18 Paul Riseborough - EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height
389786e 2018-03-12 Paul Riseborough - EKF: Stop using EV for yaw when GPS fusion starts
4ab7823 2018-02-26 Paul Riseborough - EKF: Add persistence criteria to  GPS fail check
67d71ca 2018-02-26 Paul Riseborough - EKF: allow GPS fallback if quality bad and alternative aiding available
bd59e38 2018-02-26 Paul Riseborough - EKF: always run GPS checks
b227aca 2018-05-05 Daniel Agar - geo_lookup fix table bounds
e494a4e 2018-05-05 Daniel Agar - Jenkins set git username and email with environment variables
3639087 2018-05-05 Daniel Agar - cmake and Jenkins add basic address santiizer test buld
1fba622 2018-05-05 Daniel Agar - travis-ci basic build script
cde2ee9 2018-05-05 Daniel Agar - cmake ignore missing-field-initializers
2100127 2018-05-05 Daniel Agar - geo: zeroing static unnecessary
0f12db5 2018-05-03 Daniel Agar - travis-ci enable coverity_scan
aceab8c 2018-05-05 Daniel Agar - Jenkins upload coverage to codecov.io
5780cd3 2018-05-05 Daniel Agar - Jenkins create PX4/Firmware test branch and push (#436)
cf957b5 2018-05-04 Daniel Agar - code coverage cmake and Jenkins support
4e0cd45 2018-05-03 Daniel Agar - doxygen cmake and Jenkins support
 2018-05-15 19:18:36 +02:00
Beat Küng
473fa15026 BlockParam: : ensure result of strncpy is null-terminated 2018-05-09 07:59:46 +02:00
Beat Küng
3dd791c92c vfile: rename fops to fix shadowing warning 
for GCC 8.0.1
 2018-05-09 07:59:46 +02:00
Daniel Agar
2e92484325
ecl update to latest master with separate libraries (#9406) 2018-05-03 23:48:09 -04:00
Daniel Agar
9649a9d7a5
update PX4/ecl submodule to latest master 
- eec71d1 (HEAD, origin/master, origin/HEAD, master) EKF get_ekf_soln_status() fix pred_pos_horiz_abs
 - 1bd1809 EKF: Fix bug causing simultaneous range and baro height fusion (#429)
 2018-05-03 09:25:54 -04:00
Daniel Agar
ea3acb7121 cmake remove circular linking and reorganize 
- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link
 2018-04-29 21:48:54 -04:00
Beat Küng
202505fd73 mixer_multirotor: fix initialization of _outputs_prev 
memset (http://www.cplusplus.com/reference/cstring/memset/) interprets
the value argument as unsigned char, so passing a float will not work.
 2018-04-25 16:33:09 +02:00
Paul Riseborough
cbb4559c15 ecl : update to version that fixes wind relative dead reckoning bug 2018-04-24 00:02:48 -04:00
alessandro
b066ef3427 libecl: checked out recent commit of master (#9339) 
* ECL update includes physical constants for https://github.com/PX4/Firmware/pull/9319
 2018-04-19 11:25:39 -04:00
Daniel Agar
d75fd72c02 stop manually defining physical constants 2018-04-19 07:24:58 +02:00
Daniel Agar
e9aa79e309
Update submodule ecl to latest Fri Apr 13 20:26:41 CDT 2018 (#9303) 
- ecl in PX4/Firmware (163fdded13d1cb48ea4849a4596feaa7025cb796): ba2b9dfdd9
    - ecl current upstream: 02e319431b
    - Changes: ba2b9dfdd9...02e319431b

02e3194 2018-04-11 Daniel Agar - cmake remove embedded vim settings
91b5bfe 2018-04-11 Daniel Agar - attitude_fw remove unused perf include
02055ac 2018-04-09 Paul Riseborough - EKF: Fix non GPS aiding data reset logic (#418)
 2018-04-13 23:43:48 -04:00
PX4 Jenkins
0c9f483581 Update submodule DriverFramework to latest Fri Apr 13 20:26:36 CDT 2018 
- DriverFramework in PX4/Firmware (1297859680ce15980a970c95d7caa95be67957c7): f98ea65e9b
    - DriverFramework current upstream: e06222dd15
    - Changes: f98ea65e9b...e06222dd15

    e06222d 2018-04-11 Daniel Agar - cmake change px4_add_module -> px4_add_library
 2018-04-13 23:22:43 -04:00
Daniel Agar
d2abd53692 mixer lib remove custom constrain and cleanup includes 2018-04-12 00:14:50 -04:00