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187 Commits
Author SHA1 Message Date
Jacob Dahl ce3e62841f module_base: remove CRTP template pattern to reduce flash bloat (#26476) 
* module_base: claude rewrite to remove CRTP bloat

* module_base: apply to all drivers/modules

* format

* fix build errors

* fix missing syntax

* remove reference to module.h in files that need module_base.h

* remove old ModuleBase<T>

* add module_base.cpp to px4_protected_layers.cmake

* fix IridiumSBD can_stop()

* fix IridiumSBD.cpp

* clang-tidy: downcast static cast

* get_instance() template accessor, revert clang-tidy global

* rename module_base.h to module.h

* revert changes in zenoh/Kconfig.topics
 2026-02-19 15:17:17 +13:00
Matthias Grob f2bca92221 Fix duplicate newlines at the end of files 2024-07-19 14:33:36 +02:00
Daniel Agar 157f7cf40b simplify world_magnetic_model interface (degrees in, degrees out) 
- this hopefully helps avoid accidental mis-use
 - try to clarify units everywhere
 2024-06-04 09:14:36 -04:00
Daniel Agar 78bbb66568 delete SYS_MC_EST_GROUP 
- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
 - add basic checks to prevent EKF2 + LPE running simultaneously
 2024-04-15 16:06:08 -04:00
Beat Küng ae70f9c640 attitude_estimator_q: disable ATT_ACC_COMP by default 
Improves tracking in the CI test, and I always disabled it on my vehicles
as well.
 2023-08-08 12:28:52 -04:00
Sergei Grichine f000238987 SensorGps.msg: switch to double precision for lat/lon/alt 
To match https://github.com/PX4/PX4-GPSDrivers/pull/132 - adding high precision RTK lat/lon/alt components
 2023-07-13 07:50:09 +02:00
Matthias Grob 5ca28dd6dc Use isAllFinite() in all places that check finiteness on entire vectors or matrices 2022-10-19 19:09:20 +02:00
Daniel AgarandMathieu Bresciani dfdfbbfa9c msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966) 
- replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly)
 - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit
 - ekf2: add new helper to get roll/pitch/yaw covariances
 - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD)
 - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough)

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-08-04 12:55:21 -04:00
Daniel Agar 15223009d2 combine sensor_gps + vehicle_gps_position msgs (keeping separate topics) 2022-07-07 10:24:11 -04:00
Mark Sauder c19e74784a attitude_estimator_q: Run() method refactoring (#19526) 
* Refactor attitude_estimator_q_main.cpp Run() method by breaking apart into separate method calls:
    * update_vehicle_local_position()
    * update_motion_capture_odometry()
    * update_visual_odometry()
    * update_magnetometer()
    * update_vehicle_attitude()
    * update_sensors()
 * Rename init_attitude_q()
 * Standardize whitespace formatting
 * Add remaining c++ style initializers.
 2022-06-01 13:41:42 -04:00
Daniel Agar 6135bb384b cleanup module callback registration failed errors 2022-03-23 20:44:50 -04:00
Matthias Grob 68a0414622 Quaternion: rename function to rotate vectors 2022-03-07 20:03:54 -05:00
Jukka Laitinen 9449ed6e66 Add support for protected build in drivers, systemcmds and modules Kconfig 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-18 07:58:58 +01:00
Peter van der Perk d5e3e9a7bc [Kconfig] Decompose Kconfig, now each module has its own Kconfig 
Which is better for versioning and decomposability
 2021-10-07 10:09:01 -04:00
Daniel Agar 883624d915 lib/geo: move from ecl 2021-07-15 10:38:24 -04:00
Daniel Agar fedf8f0266 world_magnetic_model: move from ecl 2021-07-15 10:38:24 -04:00
Daniel Agar dbaed99626 cmake remove git_ecl target 2021-07-13 10:03:06 -04:00
Beat Küng 629f7ba15b params: ensure short description is only a single line 
So a UI can display it properly
 2021-03-23 12:55:11 -04:00
Daniel Agar 967d35a6b6 rate limit most parameter_update subscriptions 
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
 - limit modules from updating faster than once per second
 2021-01-10 21:09:15 -05:00
Daniel Agar 98cff94702 px4_work_queue: directly support SITL lockstep 
- the purpose is to ensure that every WorkItem (and WorkItems scheduled
by WorkItems) is allowed to run to completion every step
 - per workqueue register a lockstep component whenever a work item is
added (if not already registered)
 - once the work queue is empty unregister component
 2021-01-04 09:38:05 +01:00
Daniel Agar 20c2fe6d28 estimator messages add explicit timestamp_sample 
- timestamp is uORB publication metadata
 - this allows us to see what the system saw at publication time plus the latency in estimation
 2020-09-04 10:48:26 -04:00
Daniel AgarandMatthias Grob 1191a0efe6 Update ecl to geo_lookup, SymPy covariance, bugfixes 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2020-08-02 12:26:48 -04:00
Daniel Agar fa44cd5cd5 px4_work_queue: rename navigation_and_controllers -> nav_and_controllers 
- keep the thread within the current NuttX max length
 2020-07-14 09:48:47 -04:00
Beat Küng 71dcf8d619 sitl: use lockstep components API 
- avoids the need for ekf2_timestamp publications by q and lpe
- adds logger to the lockstep cycle and makes it poll on ekf2_timestamps
  or vehicle_attitude. This avoids dropped samples (required for replay).
 2020-06-23 11:53:55 -04:00
Mohammed Kabir 5ffe88672e vehicle_odometry: add timestamp_sample field for latency monitoring 2020-04-28 13:58:43 -04:00
Daniel Agar 326d8efc16 move attitude controllers to new wq:attitude_ctrl 2020-04-27 21:34:35 -04:00
Daniel Agar a89b69b0ea vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz) 
* attitude_estimator_q: get velocity from local position (if available)
 2020-03-11 23:57:43 -04:00
Julian Oes 581b92dd3f attitude_estimator_q: enable lockstep without LPE 
When lockstep is enabled and LPE is not running, the
attitude_estimator_q needs to publish ekf2_timestamps in order to signal
to the simulator module that it has fully run.

This essentially fixes flying in lockstep when SYS_MC_EST_GROUP is 3.
 2020-03-03 09:31:52 +01:00
Daniel Agar 21a8d7db7f WorkItem modules: Run() shouldn't be public 2020-01-22 12:03:03 -05:00
Daniel Agar db69ff0a6e attitude_estimator_q: move to WQ, module base and module params 2019-11-22 16:02:54 -05:00
Beat Küng 3198610f85 src/platforms: move all headers to platforms/common/include/px4_platform_common 
and remove the px4_ prefix, except for px4_config.h.

command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done

Transitional headers for submodules are added (px4_{defines,log,time}.h)
 2019-10-30 11:48:47 +01:00
Daniel Agar c8e59c4e39 parameter_update use uORB::Subscription consistently 2019-09-29 10:49:03 -04:00
Julian Kent 2d4ecab3b0 Remove unsafe access to .data() and _data in Matrix 2019-09-18 22:01:36 -04:00
Daniel Agar 78ef8aab2d STACK_MAIN increase default 1024 -> 2048 2019-08-30 19:11:51 -07:00
Daniel Agar 2ad12d7977 sensors: create vehicle_angular_velocity module (#12596) 
* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
 2019-08-06 12:55:25 -04:00
Daniel Agar c165a6f71b attitude_estimator_q: move most orb subscriptions to uORB::Subscription 2019-06-29 15:51:49 -04:00
ArkadiuszNiemiec 556ac5547b attitude_estimator_q: fix newline at end of file 2019-02-13 08:51:41 -05:00
ArkadiuszNiemiec d93c3da172 q_estimator: correctly handle loss of external yaw estimation 2019-02-13 08:51:41 -05:00
ArkadiuszNiemiec 6257037924 Revert "q_estimator: correctly handle loss of external yaw estimation" 2019-02-13 08:51:41 -05:00
Arkadiusz Niemiec 075c836dfb q_estimator: correctly handle loss of external yaw estimation 2019-02-13 08:51:41 -05:00
Daniel Agar 2ffb49b734 delete px4_includes.h header and update boards/ to use syslog 2019-01-23 18:25:18 -05:00
Daniel Agar 60f2a92e3d replace <cfloat> with <float.h> 
- <cfloat> isn't available in the NuttX c++ library
 2019-01-06 19:20:57 -05:00
Julian Oes 5b9dea5604 Replacing usleep with px4_usleep 
This is a step towards isolating time from the system.
 2018-12-22 10:32:18 +01:00
TSC21 20b3adebf4 attitude_estimator_q_main: remove epsilon comparison; fix logic 2018-11-21 12:21:16 +01:00
TSC21 cc73f214d1 add covariance matrices index aliases 2018-09-18 09:52:33 +02:00
TSC21 8325724079 general fixes on VIO data access 2018-09-18 09:52:33 +02:00
TSC21 5865a40bf3 attitude_estimator_q: add attitude data validation check 2018-09-18 09:52:33 +02:00
TSC21 6b2fb54963 attitude_estimator_q: use vehicle_visual_odometry topic to get the heading 2018-09-18 09:52:33 +02:00
TSC21 440ebfde02 remove att_pos_mocap uORB topics 2018-09-18 09:52:33 +02:00
Beat Küng f4fef5efc8 attitude_estimator_q: cleanup output, remove unnecessary topic init 2018-07-23 22:32:17 +02:00