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25823 Commits

Author SHA1 Message Date
Matthias Grob ce5cff55b7 mac_att_control: heading lock in stabilized only after ekf final yaw alignment 2023-02-21 19:33:28 +01:00
Silvan Fuhrer f0571de731 MCAttitudeController: remove reset of yaw_sp when landed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-21 19:33:28 +01:00
Beat Küng fe3c1d0a92 logger: do not try to wait for mavlink ack when writing watchdog data 
As it might block for 2.5s (if mavlink is blocked) and therefore would not
write to file before restoring the priorities.
 2023-02-21 11:32:30 -05:00
Beat Küng 66b0f6eb35 log_writer_file: call fsync after reliable transfer 
ensures watchdog data is flushed immediately
 2023-02-21 11:32:30 -05:00
Beat Küng e4cef9f303 logger: update watchdog 
- reduce boost priority to PX4_WQ_HP_BASE - 6
- add cli command 'trigger_watchdog' to manually trigger watchdog
- add perf counters when triggering watchdog
- reduce top measurement to 300ms
- restore priorities after 1.5s

There are precautions in case the SD card code itself has a busy-loop.
 2023-02-21 11:32:30 -05:00
Beat Küng 015ba62727 log_writer_file: do not call close() with mutex held 
Generally not an issue, but if close() takes long, or even busy-loops due
to an underlying bug in the OS, it will block the main thread too.
 2023-02-21 11:32:30 -05:00
Jaeyoung Lim 5676cc32bc Optionally enable sensor simulations 2023-02-21 11:16:25 -05:00
Silvan Fuhrer 94be17af8f FWPositionControllre: only check acceptance radius to swich to loiter to reach WP alt 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 21:55:27 -05:00
Julian Oes 9ec6a4b1d7 icm42688p: fix comment about gyro and accel bits 
This really confused me.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-02-20 21:47:11 -05:00
Silvan Fuhrer 2008a447c3 FW PositionController: circular landing: publish orbit status 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer 485785d81d FW PositionController: circular landing: enable automatic landing aborts 
Enable automatic landing abort on timed out distance sensor reading also for
the circular landing. Do not enable the no-terrain timeout check, as, opposed
to the straight landing, we here don't know when to expect the distance sensor
to get valid.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer 37b6dccda9 Land: use MIS_LND_ABRT_ALT also in non-mission Land 
As we don't know the landing point altitude in non-mission landings, assume
the worst case (abort right before touchdown) and thus always climb
MIS_LND_ABRT_ALT on triggering an abort.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer c47210fc77 FWPositionController: add support for circular landings 
Add method for circular landing, that is used instead of the straight fixed-wing
landings in case the landing is not part of a mission landing.
Use straight landing if previous WP is valid, and the ciruclar otherwise.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer 50d75c537e FWPositionController: auto_landing(): move non-position handling to top 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer b94ed34406 FW Position Control: initializeAutoLanding(): pass only alt value of pos_sp_curr 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer 805de8a6d9 Navigator: set position setpoint to current location instead of to NAN 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer eaa4180920 Navigator: remove ununsed argument from set_land_item() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer 167e58abba AirspeedSelector: remove unused variable 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 11:35:24 +01:00
Silvan Fuhrer 1acb07c600 Navigator: set _land_start_index to first item with a position after the marker 
_land_start_index is used to to start the mission from this item index, and to
avoid to publish a triplet.current.type=IDLE, we need to fill it with the actual
position setpoint that the vehicle should go to at the start of a mission landing.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 06:50:53 +01:00
bresch fafcdbf4ed tests: empty parentheses were disambiguated as a function declaration 2023-02-17 21:10:44 -05:00
bresch 8ebf47edb1 ekf2: stop mag fusion when there is no data anymore 2023-02-17 08:51:55 -05:00
Silvan Fuhrer deabe9a38d Navigator: accept yaw immedietaly if the flag heading_good_for_control is not set 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-17 13:34:30 +01:00
RomanBapst b00efcd966 cleanup 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 7ef2bff0a2 FeasibilityChecker: Fixed bug and added unit test for it 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 2e50277695 improved function naming 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 8ecb550331 cleanup 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 00b1968a5c more clang tidy stuff 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst b8d0a8821a fixed clang tidy 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst c09263d53c use correct type 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 11fd3ef71a use legacy parameter system and cleaned up vehicle type 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 741fbb931d fixed land requirement for VTOL 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 6e07af959f fixed bug in Matrix library 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 925ad97ff3 added unit tests 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 11143def82 tried to add functional unit test 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst ceb8f6e1d5 started with feasibility checks 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
Christian Rauch d6bb19e11b drivers/linux_pwm_out: link mixer_module 2023-02-15 16:04:31 -05:00
Jaeyoung Lim 0e1e1afcf9 Correct dates in the license headers 2023-02-15 01:37:32 +09:00
Jaeyoung Lim 0b3f4dd385 Inject failure for airspeed sim 2023-02-15 01:37:32 +09:00
Jaeyoung Lim 3f50bd051f Optionally enable airspeed sensor sim 
Enable and disable sensor sim module with parameter
 2023-02-15 01:37:32 +09:00
PX4 BuildBot 192764387d Update submodule mavlink to latest Tue Feb 14 12:38:55 UTC 2023 
- mavlink in PX4/Firmware (e7a5dedf48f967465d1f9e6c96a9bf304e1a74b1): https://github.com/mavlink/mavlink/commit/e3b8756e37cd2cd01ba658461bb4dbffb2fdf914
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/2bdcab78b53d1e349079b43c9d726036abe0617c
    - Changes: https://github.com/mavlink/mavlink/compare/e3b8756e37cd2cd01ba658461bb4dbffb2fdf914...2bdcab78b53d1e349079b43c9d726036abe0617c

    2bdcab78 2023-02-09 Hamish Willee - undo last commit
9c60f17a 2023-02-09 Hamish Willee - param_id char[] description
841b7683 2023-02-08 Alessandro Ros - remove invalid enum reference from storm32.xml (#1947)
8d4e50ee 2023-02-08 Julian Oes - scripts: install npm dependencies first
72a9b2c3 2023-02-08 Julian Oes - pymavlink: update submodule
 2023-02-14 09:53:11 -05:00
Knut Hjorth db539d15bd mavlink: fix bug when opening /dev/null as default stdin/stdout/stderr 
Prior commit added opening of /dev/null as 0, 1 and/or 2 file
descriptors, if they where not present. However, if the temporary
file descriptor used to open /dev/null matched the target file
descriptor, it would be immediately closed again. This commit fixes that,
and does not duplicate and close the temporary file descriptor if it is
already at the correct number.
 2023-02-14 08:18:01 +01:00
Daniel Agar 2ea25804a1 ekf2: allow filter init with only IMU (#21041) 
- if mag enabled heading init is now pushed to controlMagFusion()
 2023-02-13 22:07:15 -05:00
Alex Klimaj 3ed1c688bf drivers: icm42688p and iim42652 enable notch and AAF 2023-02-13 21:08:37 -05:00
Daniel Agar a18e07e525 drivers/imu/bosch/bmi088: add more time between configure and FIFO_READ 
- new FIFO_RESET state used to give the sensor more time after successful configuration before sampling begins

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2023-02-13 21:01:50 -05:00
Jaeyoung Lim d5ddb44241 Add sensor airspeed sim 
This commit adds the airspeed sensor sim to simulate airspeed sensors
 2023-02-13 13:00:39 -05:00
Matthias Grob 6f4d903f45 Battery: address two comments from #2242 
- use a constant instead of magic number
- fix code comment typo
 2023-02-13 13:27:08 +01:00
Hamish Willee edb6c635d5 EKF2_MAG_TYPE - fix typos (#20808) 2023-02-10 14:39:57 +01:00
Konrad b9f9f25b48 parameter_translation: Add parameter translation for renamed L1 parameters 2023-02-09 17:51:55 +01:00
Konrad 92277ebb96 FixedwingPositionControl: Explicitly set wind to zero when it is not valid. 2023-02-09 17:51:55 +01:00
Konrad de4b139540 FwPosControl: Update behavior of navigating to a waypoint when the previous waypoint is not valid. Go along the line of the current aircraft position to the desired waypoint. 2023-02-09 17:51:55 +01:00