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2711 Commits

Author SHA1 Message Date
Beat Küng c5aef9d512 i2c_spi_buses: add support for multiple instances of the same device on a bus 
This also simplifies the API a bit, since we anyway have to change the
drivers to pass additional information (the bus device index).

The orientation flag is merged with the rotation.
 2021-07-08 12:59:35 -04:00
Beat Küng e3972d563a cmake: ensure generated source files exist before extracting events 
Only needed for Makefile-based builds:
gmake[3]: *** No rule to make target 'src/modules/flight_mode_manager/FlightTasks_generated.hpp', needed by 'events/px4.json'.  Stop.
 2021-07-07 21:38:09 -04:00
Beat Küng 59f359f7dc events: add custom (px4-specific) enums json file 2021-07-07 21:38:09 -04:00
Beat Küng 38f3b8d356 mavlink & system: add events interface 
- sending protocol
- uorb event message & template methods for argument packing
- libevents submodule to send common events and handle json files
- cmake maintains a list of all (PX4) source files for the current build
  (PX4 modules + libs), which is used to extract event metadata and
  generate a json file
 2021-07-07 21:38:09 -04:00
Oleg Evseev f296a41737 cdev: fixes hardfaults when device get disconnected (#17846) 
check if inode is not unlinked before use
 2021-07-06 12:35:47 -04:00
Daniel Agar a5ee28883a gyro_fft: track FFT peaks and median filter frequency 2021-07-06 12:32:25 -04:00
Matthias Grob acf848ba99 PWM: Draft implementation to respect PWM_OUT when loading defaults 2021-07-02 12:48:04 +02:00
Matthias Grob 62546350f1 battery: use local instead of global member battery_status message 2021-07-01 14:24:38 +02:00
Matthias Grob fa976f84b1 battery: clear interface for determineWarning() 2021-07-01 14:24:38 +02:00
Matthias Grob b824f33ae9 battery: publish measured values also when battery not connected 2021-07-01 14:24:38 +02:00
Matthias Grob a99ddd0845 battery: don't reset on every loop iteration 2021-07-01 14:24:38 +02:00
Matthias Grob 8d74e52bb7 battery: omit separate publish() function 2021-07-01 14:24:38 +02:00
Matthias Grob 41cc73e555 battery: simplify battery_initialized condition 2021-07-01 14:24:38 +02:00
Matthias Grob a51d47f8e8 battery: connected check outside of determineWarning() 2021-07-01 14:24:38 +02:00
Jukka Laitinen b3e9904df0 Add monocypher crypto library in src/lib/crypto/monocypher 
This simple crypto library is used as an example default backend for the crypto
interfaces

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-06-25 08:35:58 +02:00
David Sidrane 9c87766021 sensor_calibration:Use inttytpes 2021-06-16 17:07:47 +02:00
David Sidrane 4bc7f1f3f3 lib/perf:Use inttypes 2021-06-16 17:07:47 +02:00
David Sidrane f50b238c78 lib/parameters:Use inttypes 2021-06-16 17:07:47 +02:00
David Sidrane b4ebc68a40 lib/drivers/nuttx/ I2C SPI:Use inttypes 2021-06-16 17:07:47 +02:00
David Sidrane ff2748ba53 PX4Gyroscope:Fix types 2021-06-16 17:07:47 +02:00
David Sidrane 42e51b0215 PX4Accelerometer:Fix types 2021-06-16 17:07:47 +02:00
David Sidrane 17502da493 lib/battery:Fix types 2021-06-16 17:07:47 +02:00
AlexKlimaj dddd2c3297 drivers/distance_sensor: New Broadcom AFBR-S50LV85D distance sensor driver 
* Basic Broadcom AFBR-S50 driver using vendor API and binary blob https://github.com/Broadcom/AFBR-S50-API
* fix ARK Flow paw3902 rotation
 2021-06-15 12:12:24 -04:00
echoG 6bc09138c1 Adding BatMon smart battery as a module and refactoring SMBUS based SBS 1.1 spec to a library 2021-06-09 12:17:45 -04:00
Hamish Willee 665d2ea74e markdownout for parameters - makes link internal 2021-06-09 11:09:48 +02:00
Daniel Agar 4f850c7cd0 sensors: preserve all valid calibration parameters even if sensor currently missing 
- mark calibration slots active for first N sensors found
 - calibration procedure don't bother resetting unused slots
 2021-06-07 08:50:32 -04:00
RomanBapst ad9288536b TECS: enable direct height-rate control 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
RomanBapst a5cc449e69 tecs: propagate altitude setpoint based on target climb/sink rate 
- avoids tecs always climbing and sinking and max rates and allows to fine tune these rates
- avoid numerical calculation of feedforward velocity using derivative, this
 was prone to jitter in dt

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
bresch 8ad0f36f48 pwm: specific fail/disarm parameters should default to global value 2021-06-03 21:26:13 -04:00
Beat Küng dfa5964719 Accelerometer: fix thermal calibration index 2021-06-01 10:01:36 -04:00
Daniel Agar d430e13401 sensors: wait for real sample rate to initialize LowPassFilter2p 2021-06-01 08:58:10 -04:00
Daniel Agar 438b0abc7a mathlib: Biquad filters use internal fields for parameter update 2021-06-01 08:58:10 -04:00
Daniel Agar 9661eddef8 mathlib: LowPassFilter2p initialize b0 to 1 for safety 2021-06-01 08:58:10 -04:00
RomanBapst b06b46b224 log raw airspeed derivative, pitch setpoint and airspeed innovation for TECS 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-31 23:56:23 +02:00
Daniel Agar 5493d96d17 mathlib: merge LowPassFilter2p, LowPassFilter2pArray, and LowPassFilter2pVector3f 
- fix reset for direct form 2
 - push NAN checks out to filter users
 2021-05-31 10:26:45 -04:00
Daniel Agar f25a70a674 mathlib: Notchfilter updates 
- merge NotchFilterArray into regular NotchFilter (apply vs applyArray)
 - only use direct form 1 to prevent reset confusion
 - safe default field initialization
 - update VehicleAngularVelocity usage
 2021-05-31 10:26:45 -04:00
Silvan Fuhrer 4b42a1639b TECS: in airspeed-less mode, set airspeed estimate to cruise airspeed 
In airspeed-less mode, instead of the average of min/max airspeed, take the cruise
airspeed (from param) for current airspeed estimate. A diff of the airspeed setpoint
from this value results in increased enegery demand (incerase of throttle) even
in airspeed-less mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-28 14:25:53 +02:00
PX4 BuildBot 187297653a Update submodule ecl to latest Mon May 24 12:39:12 UTC 2021 
- ecl in PX4/Firmware (17da6293aa8e32a0e41c8fe10b8ffbf4e3e922b3): https://github.com/PX4/PX4-ECL/commit/e57af44d71dea2da62055076f186b3d15278ae7e
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/71fc1b81612fa9b5184d5abb93b69d109e9d0e4b
    - Changes: https://github.com/PX4/PX4-ECL/compare/e57af44d71dea2da62055076f186b3d15278ae7e...71fc1b81612fa9b5184d5abb93b69d109e9d0e4b

    71fc1b8 2021-05-20 bresch - airspeed fusion: use yaw from 312 sequence when pitch is close to 90deg
 2021-05-24 18:59:56 -04:00
PX4 BuildBot 142d6f3dbc Update submodule ecl to latest Sat May 22 12:39:15 UTC 2021 
- ecl in PX4/Firmware (2a18b8feeb24dcb07c2dd141e6097e211f83e6bd): https://github.com/PX4/PX4-ECL/commit/85f5a935fe6095f585bfb12b584e0813126cbc2a
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/e57af44d71dea2da62055076f186b3d15278ae7e
    - Changes: https://github.com/PX4/PX4-ECL/compare/85f5a935fe6095f585bfb12b584e0813126cbc2a...e57af44d71dea2da62055076f186b3d15278ae7e

    e57af44 2021-05-18 Bazooka Joe - set parameters that doesn't change with const attribute, for clearification
 2021-05-22 13:34:31 -04:00
PX4 BuildBot 319cab6c2c Update submodule ecl to latest Tue May 18 00:50:43 UTC 2021 
- ecl in PX4/Firmware (4668ea5c32075aca28fd813881a349f765ad8d2a): https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/85f5a935fe6095f585bfb12b584e0813126cbc2a
    - Changes: https://github.com/PX4/PX4-ECL/compare/29243ac5cbb5d27ac71744e88afcd786df6f748d...85f5a935fe6095f585bfb12b584e0813126cbc2a

    85f5a93 2021-05-11 bresch - [AUTO COMMIT] update change indication
f7c687e 2021-05-11 bresch - GNSS yaw unit test: test fallback to non yaw aiding mode
a4fe2b1 2021-05-11 bresch - yaw_align: let the mag control logic do the alignement and resets
2cc0230 2021-05-11 bresch - mag control: select mag mode before doing the reset
fe943cf 2021-05-11 bresch - mag reset: force align in MC custom mode (aka. indoor mode)
cadcc58 2021-05-11 bresch - mag reset: do not stop the fusion from inside the reset function
6248646 2021-05-11 bresch - EV yaw: move EV yaw reset out of resetMagHeading function
48722a2 2021-05-07 bresch - control: inhibit EV yaw from restarting when GPS aid wants to start
a685987 2021-05-07 bresch - GNSS yaw: unset yaw_align if fusion stops before takeoff
7ee6970 2021-05-04 bresch - GNSS yaw: add test case when measurement jumps
7a11871 2021-05-04 bresch - GNSS yaw tests: adjust timing
51197a5 2021-05-03 bresch - GNSS yaw selection logic refactor
 2021-05-17 21:52:00 -04:00
Silvan Fuhrer 2f73115b54 translate ASPD_STALL to FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
PX4 BuildBot e265ebabc5 Update submodule ecl to latest Thu May 6 12:39:12 UTC 2021 
- ecl in PX4/Firmware (a300d32523e24df3f366a0d564b764261e1c1909): https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d
    - Changes: https://github.com/PX4/PX4-ECL/compare/a7b8afe420f438554ad90bcba0f1f4872325e75b...29243ac5cbb5d27ac71744e88afcd786df6f748d

    29243ac 2021-05-05 bresch - yaw_reset: reduce minimum vector length to compute yaw error
aad4840 2021-05-02 Kabir Mohammed - EKF: increase allowed difference between flow and gyro ODRs
 2021-05-06 13:53:40 -04:00
Daniel Agar 3ec40a5956 collision_prevention: fix CP_GO_NO_DATA parameter type 2021-05-04 16:41:32 -04:00
Daniel Agar e78a4287f9 parameters: attempt import multiple times 2021-05-02 13:48:16 -04:00
PX4 BuildBot 32d354e5fe Update submodule ecl to latest Sun May 2 12:39:08 UTC 2021 
- ecl in PX4/Firmware (cb999f37d4891ebfbbc21b4ce9b3851888b39ad4): https://github.com/PX4/PX4-ECL/commit/5d34d7a24ef72b826c320a3259ee0ec68b1936df
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b
    - Changes: https://github.com/PX4/PX4-ECL/compare/5d34d7a24ef72b826c320a3259ee0ec68b1936df...a7b8afe420f438554ad90bcba0f1f4872325e75b

    a7b8afe 2021-04-30 Eike - Allow rangefinder fusion in vision height mode (Fix for #994) (#999)
4ac57d3 2021-04-25 Daniel Agar - EKF: increase fault flags value size to fit current flag bits (> 16)
 2021-05-02 11:47:36 -04:00
Daniel Agar c266c3e43a parameters: remove unnecessary param_get_system_default_value() locking 2021-04-26 09:49:15 +02:00
Daniel Agar 8478d1ea37 sensors/vehicle_angular_velocity: properly handle filter reset on FIFO data scale changes 
For the sake of efficiency (at 8 kHz) all filtering is performed on the raw data before the calibration and rotation is applied to only the final output. As a result we have to be a bit more careful when switching between sensors or in cases where the gyro scale factor changes (eg icm42688p 20 bit data rescaled to fit in int16 output).
 2021-04-25 14:20:32 -04:00
Beat Küng 1730cd1971 param: avoid warning for 'param show -c' or 'param show -a' 2021-04-23 16:44:55 -04:00
Matthias Grob ff67da1bb4 SlewRate: add getter for current state without update 2021-04-20 18:18:21 +02:00
PX4 BuildBot 96c7fe4978 Update submodule matrix to latest Thu Apr 15 12:39:10 UTC 2021 
- matrix in PX4/Firmware (501b463b36b07481181c15b734861704d9f27020): https://github.com/PX4/PX4-Matrix/commit/1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3
    - matrix current upstream: https://github.com/PX4/PX4-Matrix/commit/b8568a89db8455d0ab2e2e391e2149ba2e5e10dd
    - Changes: https://github.com/PX4/PX4-Matrix/compare/1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3...b8568a89db8455d0ab2e2e391e2149ba2e5e10dd

    b8568a8 2021-04-14 Daniel Agar - Euler: improve quaternion constructor
 2021-04-15 13:27:07 -04:00