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Author SHA1 Message Date
Daniel Agar ce609144b0 simulation/gz_bridge: fix implicit floating-point conversions 2022-10-09 14:11:19 -04:00
Daniel Agar 9010029e0d lib/drivers/device: Device.hpp fully init devid 
- constructor use available setters
 2022-10-09 13:49:39 -04:00
Daniel Agar f3964513c7 sensors: fix accel/gyro/mag calibration offset units 2022-10-09 13:02:38 -04:00
Daniel Agar ee4821ed0a commander: relax COM_ARM_MAG_ANG default to minimize false positives 
- this check is mainly intended for catching blatant setup problems like a magnetometer that's mounted 90 or 180 degrees off
 2022-10-09 12:41:06 -04:00
Daniel Agar 8cc39096cb load_mon: NuttX cpuload use system times for calculation 
- this is to minimize the impact of any load_mon scheduling jitter in the sampled load percentage
 2022-10-05 14:21:38 -04:00
Daniel Agar 5f0a539633 gps_blending: fix blending init to best instance 
- output GPS publication defaults to best input instance
 - blended states are explicitly cleared and then populated with
weighted blend
 2022-10-05 10:26:48 -04:00
Daniel Agar 41cda14126 ekf2: add symforce code generation helper target 2022-10-03 10:59:42 -04:00
Daniel Agar c9441bb48a boards: px4_fmu-v2/v3 allow optional mpu9250 probe to fail without error 2022-10-02 21:40:18 -04:00
Daniel Agar 2bd1ac005f .gitmodules update branches master -> main 2022-10-01 12:22:22 -04:00
Daniel Agar a27aeb30bf mc_pos_control: fix trajectory setpoint copy 
- trajectory_setpoint and vehicle_local_position_setpoint used to be
the same data type
 - we got extremely lucky here that this didn't cause any issues due to
all the fields still aligning
 2022-09-29 14:17:00 -04:00
Daniel Agar d4e5876d4c vehicle_imu: only reset raw accel/gyro Welford mean periodically 
- vehicle_imu_status can publish immediately on any measured sample
rate change or sensor error increment, but the windowed mean/variance
shouldn't necessarily reset that often
 2022-09-29 14:14:16 -04:00
Daniel Agar 1f7080a710 ekf2: extend sensor bias stability requirement 
- for accel/gyro/mag estimated bias only consider them stable (valid
for calibration updates) if the value isn't changing (10% of limit) over
the validity period
 2022-09-28 10:40:52 -04:00
Daniel Agar 16f8adb4b3 hysteresis: avoid subtracting unsigned integers 
- avoid potential errors with timestamp passed in from different sources
 2022-09-28 09:51:16 -04:00
Daniel Agar 7bc79b491f sensors/vehicle_magnetometer: more granular in flight mag cal reset on parameter changes 
- if mag calibration parameters change only reset any inflight mag cal
for the corresponding magnetometer
 2022-09-26 12:42:32 -04:00
Daniel Agar 462d0af384 uORB: fix static orb_exists call for protected build 
- unify ORBSet to maximum code coverage
 2022-09-26 12:38:58 -04:00
Daniel Agar 57bdac2b26 cmake: px4_parse_function_args re-enable failure on unparsed (invalid) arguments 2022-09-24 13:48:51 -04:00
Daniel Agar ca0465aeca Tools/generate_board_targets_json.py: properly exclude VOXL2 for now 2022-09-24 11:27:31 -04:00
Daniel Agar e58275e6f5 platforms/posix: restore none SITL helper target for replay 2022-09-23 19:20:01 -04:00
Daniel Agar b7fab39165 icm20948_i2c_passthrough: PX4_ERR is reset/configure fails and check temperature for validity 2022-09-23 19:16:10 -04:00
Daniel Agar eb2a714aa5 ak09916: PX4_ERR if reset/configure is failing after 5s 2022-09-23 19:16:10 -04:00
Daniel Agar 16b4149492 Tools/generate_board_targets_json.py exclude VOXL2 for now (dev environment not yet available to github) 2022-09-23 16:40:56 -04:00
Daniel Agar 38d332a553 ekf2: inhibit accel bias dynamically when fake position/height fusion active 
- inhibit accel bias learning dynamically depending on the angle between an accelerometer and the vertical axis when fake position fusion is active
 2022-09-22 20:32:20 -04:00
Daniel Agar 1806f0d2b4 boards: delete broken flywoo_gn-f405_rtps 2022-09-22 17:44:24 -04:00
Daniel Agar ed16354413 boards: px4_fmu-v6x_default remove gyro_fft to save flash (will be restored later) 2022-09-22 11:36:16 -04:00
Daniel Agar 54c97db8b2 ekf2: fix covariance comment typo 2022-09-21 15:29:07 -04:00
Daniel Agar a96187cb18 drivers/optical_flow: paw3902/paa3905 refactor into simple state machine for reset/configure/read 2022-09-20 18:59:00 -04:00
Daniel Agar a47895e809 [DO NOT MERGE] px4_i2c_device_external hacks 2022-09-20 10:31:26 +12:00
Daniel Agar 0a5c9d4951 position_setpoint delete unused landing_gear 2022-09-19 11:16:45 -04:00
Daniel Agar 11dd924bd4 position_setpoint delete unused SETPOINT_TYPE_FOLLOW_TARGET 2022-09-19 11:16:45 -04:00
Daniel Agar 87815d8869 simulator_ignition_bridge: add simple esc_status publication 
- ideally we'd get this from the actual joint velocity, but this is
good enough to start
 2022-09-19 09:49:12 -04:00
Daniel Agar 3440f543f1 simulator_ignition_bridge: wait for first clock set before returning successfully 2022-09-16 21:37:09 -04:00
Daniel Agar 98036f93c5 msp_osd: fix module documentation 2022-09-16 18:54:14 -04:00
Daniel Agar 07c34f7446 boards: px4_fmu-v6x update bootloader 2022-09-16 12:11:25 -04:00
Daniel Agar eaa9eae472 simulator_ignition_bridge: fix double promotions 2022-09-16 11:36:35 -04:00
Daniel Agar 085ec0e8ef flight_mode_manager: StickAccelerationXY minimize setpoint oscillations around 0 2022-09-16 07:54:12 +02:00
Daniel Agar ff196a7363 crsf_rc: trivial compile fixes for updated vehicle_gps_position and removed NAVIGATION_STATE_AUTO_LANDENGFAIL 2022-09-15 21:01:53 -04:00
Daniel Agar 97f239d3ab boards/flywoo/gn-f405: fix code style 2022-09-15 20:06:01 -04:00
Daniel Agar 05850e2fc0 mavlink: eliminate timestamped_list dynamic allocation 2022-09-15 19:27:39 -04:00
Daniel Agar 5fcdffc8c0 drivers/device/nuttx/I2C: only issue I2C_RESET() if retrying, and only before the next retry 2022-09-15 18:42:30 -04:00
Daniel Agar 54b5d4c5b8 drivers/rc_input: don't allow starting on the px4io serial port 2022-09-14 21:23:30 -04:00
Daniel Agar b8fb5dfa51 merge px4_sitl_ign into px4_sitl_default (#20188) 
- for convenience merge px4_sitl_ign into px4_sitl_default, but allow simulator_ignition_bridge to quietly skip inclusion if ignition-transport isn't available
 - simulator_ignition_bridge only try setting the system clock in
lockstep builds
 - this simplifies usage and CI system dependencies
 2022-09-10 16:18:02 -04:00
Daniel Agar 8f25acd428 sih remove gps and use standalone sensor_gps_sim 2022-09-09 18:00:50 -04:00
Daniel Agar bfe0d71a21 sih remove baro and use standalone sensor_baro_sim 2022-09-09 18:00:50 -04:00
Daniel Agar c5336abba2 sih remove mag and use standalone sensor_mag_sim 2022-09-09 18:00:50 -04:00
Daniel Agar 99a20646e2 simulator sih add local position ground truth and cleanup 2022-09-09 18:00:50 -04:00
Daniel Agar 355f184f06 boards/px4/fmu-v3: allow optional ms5607 startup to fail quietly (no error) 2022-09-09 17:32:18 -04:00
Daniel Agar 3f3a5f19f0 parameters: open export files O_TRUNC to discard previous data 
- rcS parameter backup try to directly restore param (FRAM) from backup (in case SD card is removed before successful export)
 - rcS parameter backup logging rearrange to capture more logging output (param_import_fail.txt)
 - posix rcS try to keep param backup and restore roughly in sync with NuttX rcS
 - tinybson fix debug printf format
 - param_export_internal ensure file descriptor positioned at 0 (precaution)
 2022-09-09 16:20:16 -04:00
Daniel Agar 9d1aeb6aa7 platforms/posix: cleanup macos legacy 2022-09-09 13:05:06 -04:00
Daniel Agar b45daac0e8 commander: fix angular velocity validity 
- vehicle_angular_velocity timestamp can be newer than saved now
 2022-09-09 09:14:09 -04:00
Daniel Agar 15fece7e14 delete SYS_CTRL_ALLOC 2022-09-09 09:14:09 -04:00
Daniel Agar 13f9eabd70 delete unused actuator_controls_3 2022-09-09 09:14:09 -04:00
Daniel Agar 55be169e18 delete remaining PWM_MAIN/PWM_AUX/PWM_EXTRA parameters 2022-09-09 09:14:09 -04:00
Daniel Agar 4ec9e2f216 uavcan: delete unused ESC idle and soft_stop 2022-09-09 09:14:09 -04:00
Daniel Agar bdec17a9d4 drivers/pwm_out_sim: add perf counters (sync with drivers/pwm_out) 2022-09-09 09:14:09 -04:00
Daniel Agar baa05b2631 drivers/pwm_out: remove custom module boilerplate (dual output bank handling) 2022-09-09 09:14:09 -04:00
Daniel Agar ce337a3d80 delete unused PWM IOCTLs 2022-09-09 09:14:09 -04:00
Daniel Agar bcdd2203d3 delete systemcmds/motor_test and msg/test_motor.msg 2022-09-09 09:14:09 -04:00
Daniel Agar 72efe84b80 delete MOT_ORDERING 2022-09-09 09:14:09 -04:00
Daniel Agar a7bbcd5b04 delete lib/mixer and mixer_module static mixing 2022-09-09 09:14:09 -04:00
Daniel Agar 0019ffbea6 delete drv_mixer.h 2022-09-09 09:14:09 -04:00
Daniel Agar d3312f955f delete systemcmds/pwm 2022-09-09 09:14:09 -04:00
Daniel Agar 5dd1e5a018 delete systemcmds/mixer 2022-09-09 09:14:09 -04:00
Daniel Agar cac9c51ac8 ROMFS: purge old mixing system 
- SYS_USE_IO is now off by default (enabled by default per board)
 2022-09-09 09:14:09 -04:00
Daniel Agar d996af4647 ekf2: pass gpsSample around where required 
- this minimizes potential misuse accessing _gps_sample_delayed and
makes the dependency clear
 2022-09-05 10:27:19 -04:00
Daniel Agar 7bbdc220f5 ekf2: initialiseFilter() simplify mag heading init and resetQuatStateYaw 
- most of resetQuatStateYaw doesn't apply to initial heading init, so
removing the special case keeps it simple
 2022-09-02 08:46:10 -04:00
Daniel Agar 5dfd2f39ef boards/cubepilot/cubeorange: initialize all I2C pins immediately 2022-09-01 20:46:09 -04:00
Daniel Agar e93a3a2a3a ak09916: enable retries and reset perf count 2022-09-01 20:45:20 -04:00
Daniel Agar f66b5ce204 simulation: ignition bridge allow IMU or pose callbacks to update system time if newer than clock 
* requires HRT lockstep changes to eliminate offset (PR #20146)
 2022-09-01 20:42:21 -04:00
Daniel Agar c52f2143d2 posix lockstep remove HRT offset and use full sim time 2022-09-01 20:40:37 -04:00
Daniel Agar 3da0293369 simulator_ignition_bridge: init error handling 2022-09-01 18:54:59 -04:00
Daniel Agar 5cb44a521c ekf2: estimator interface handle sample time with signed integers 
- this prevents unsigned integer overflow if the timestamp is smaller
than the configured delay (mostly a simulation edge case)
 2022-09-01 09:47:29 -04:00
Daniel Agar 1948c5057a ekf2: handle all time on delayed horizon (except for newest sample checks) 
- a growing number of samples come into the backend with the time
already delayed (sensor's interrupt setting timestamp sample)
 - if the incoming timestamp is already delayed then the new data checks
(relative to latest IMU) can be slightly wrong
 - handle almost all timestamps and checks on delayed time horizon,
except for explicit checks of new samples
 - isRecent() and isTimedOut() helpers use delayed time
 - add new isNewestSampleRecent() used for checking the incoming
timestamp of the incoming (adjusted) data
 2022-08-31 08:52:30 -04:00
Daniel Agar 9b0b0d1168 ekf2: update test change indication csv 2022-08-25 15:55:45 -04:00
Daniel Agar 2786239ca6 Jenkinsfile: HIL remove delete airframe from test 2022-08-25 09:48:49 -04:00
Daniel Agar 4040e4cdf2 simulation organization and cleanup 
- new modules/simulation directory to collect all simulators and related modules
 - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc
 - simulation module renamed to simulator_mavlink
 - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator)
 - ignition_simulator renamed to simulator_ignition_bridge
 - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules
 - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world)
 - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
 2022-08-25 09:10:03 -04:00
Daniel Agar b58f70726f ekf2: scale delta angle and delta velocity bias to particular IMU sample 2022-08-23 21:06:13 -04:00
Daniel AgarandJaeyoung-Lim cfc579542e new Ignition Gazebo simulation interface architecture (#20057) 
- much simpler direct interface using Ignition Transport 
 - in tree models and worlds
 - control allocation output configuration, no more magic actuator mapping to mavlink and back
 - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible)

Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
 2022-08-22 10:58:19 -04:00
Daniel AgarandKabir Mohammed 1c72f86761 Update src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp 
Co-authored-by: Kabir Mohammed  <kabir@corvus-robotics.com>
 2022-08-16 08:40:43 -04:00
Daniel Agar 49d87f1907 adis16470: fix accel and gyro scaling 2022-08-16 08:40:43 -04:00
Daniel Agar 7f2fea1cca mpu9250: try all I2C addresses if not manually specified 2022-08-09 13:06:40 -04:00
Daniel Agar 7c809f034d replay: ReplayEkf2 disable parameter auto save 
- not needed and silences a startup error
 2022-08-08 21:27:47 -04:00
Daniel Agar 34dee09b74 ekf2: replay fixes, don't use HRT for timeout checks 
- this interferes with current ekf2 replay where the latest IMU sample
is effectively the current timestamp
 2022-08-08 21:27:47 -04:00
Daniel Agar 1c49a4349f ekf2: force skip multi-EKF config if replay is enabled 2022-08-08 21:27:47 -04:00
Daniel Agar 66b55d9d0a ekf2: fix yaw estimator velocity accuracy 
- additionally require GPS speed accuracy is within EKF2_REQ_SACC
 2022-08-08 21:27:01 -04:00
Daniel Agar 0bce1ef573 drivers/imu: new TDK IIM-42652 IMU support 2022-08-08 13:51:39 -04:00
Daniel Agar bce4237963 move ekf2 Matrix helper utilities to mathlib 2022-08-05 09:58:07 -04:00
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 41d9c3dd2a ekf2: add AUX velocity aid src status 
- also includes velocity and position helpers for using estimator aid
   source status messages that will later be used for GPS, EV, etc
 2022-07-29 12:02:31 -04:00
Daniel Agar a397c09e59 ekf2: use estimator_aid_src for all yaw sources (mag, gnss, ev) 2022-07-29 11:20:48 -04:00
Daniel Agar 9ed861e0a3 lib/mixer_module: split functions into separate headers 
- this arguably improves visibility/discoverability
 2022-07-28 08:08:58 +02:00
Daniel Agar 38c02ea29a wind_estimator: cmake add symforce generation helper target (wind_estimator_generate_airspeed_fusion) 2022-07-27 08:19:40 -04:00
Daniel Agar 32c6ec061e sensors: add kconfig options to skip angular velocity and acceleration 2022-07-21 11:27:09 -04:00
Daniel Agar 70e95812e7 ekf2: reset mag_lpf (by zeroing _mag_counter) when resetting mag bias (or changing mags) 
- so that there's new filtered data avaiable for reset
 2022-07-21 09:24:28 -04:00
Daniel Agar ecdade3638 ekf2: mag in air reset fall back to regular resetMagHeading() if realignYawGPS() fails 2022-07-21 09:24:28 -04:00
Daniel Agar 05133aed27 ekf2: clear test ratios, flags, etc when stopping mag fusion 2022-07-21 09:24:28 -04:00
Daniel Agar 65a587e56a ekf2: mag fusion don't update all states if mag_fault or mag_field_disturbed 2022-07-21 09:24:28 -04:00
Daniel Agar a41a0e7e80 ekf2: resetMagHeading() split out simple init case 2022-07-21 09:24:28 -04:00
Daniel Agar 9efadad06a ekf2: move checkMagFieldStrength() to magFieldStrengthDisturbed() const method 2022-07-21 09:24:28 -04:00
Daniel Agar a7f573e150 ekf2: delete isStrongMagneticDisturbance() 2022-07-21 09:24:28 -04:00
Daniel Agar e6e27e694e ekf2: delete isYawResetAuthorized() 2022-07-21 09:24:28 -04:00