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Author SHA1 Message Date
bresch d0f92bfbd5 ekf2_test: create helper functions for auto-generated code diff 2022-10-12 09:55:35 -04:00
bresch 5f54f6fcda ekf2: migrate sideslip fusion to SymForce 
- split fusion into update (compute innov and innov_var) and actual fusion to the state vector
- use estimator_aid_source_1d struct to group the data
 2022-10-12 09:55:35 -04:00
Beat Küng c09be0f0ac airframes: add r1 again 
This was dropped in f454dcef6b
 2022-10-12 07:35:35 +02:00
Beat Küng 9b7a8d4568 vehicle_status_flags: add group 'Other' 2022-10-11 22:31:20 -04:00
Beat Küng f7819f5dba commander: reorder update calls 
Moves the arming checks before the command handling.
This reduces the chance of race conditions. However it does not prevent
them! The SDK will need to check when offboard is ready to run/arm to fix
this.
Specifically this is for sitl offboard tests, where offboard_control_mode
is updated and immediately after a mode switch into offboard is commanded.
 2022-10-11 22:31:20 -04:00
Beat Küng 38d3739b6d refactor commander: rename rc_signal_lost -> manual_control_signal_lost, data_link_lost -> gcs_connection_lost 2022-10-11 22:31:20 -04:00
Beat Küng e2d8ca73a5 commander: add unit tests for failsafe state machine 2022-10-11 22:31:20 -04:00
Beat Küng 3d1da597dd commander: run arming checks on _offboard_control_mode_sub update 2022-10-11 22:31:20 -04:00
Beat Küng 6ee2252b8c events: handle events being generated before a mavlink module started 
- do not print dropped events warnings
- make sure current sequence is still sent with reset flag
 2022-10-11 22:31:20 -04:00
Beat Küng 3fcdf40a47 events: use PRIx32 to print uint32 2022-10-11 22:31:20 -04:00
Beat Küng acaa50a448 geofence: add and report reason for violation 2022-10-11 22:31:20 -04:00
mcsauder ebc88afe46 Apply Google Style to Commander Private methods, rename geofence message geofence_violation to primary_geofence_breached. 2022-10-11 22:31:20 -04:00
Beat Küng 693af897b3 commander: check if battery was already disconnected on arming 
If so, don't report.
Happens e.g. with USB powered pixhawk.
 2022-10-11 22:31:20 -04:00
Beat Küng 24142bc014 commander: RcCalibrationChecks: avoid param access on each cycle 
reduces cpu usage a bit
 2022-10-11 22:31:20 -04:00
Beat Küng c72c580a0b commander: run arming checks @ 10Hz 
Required for things like RC loss.
 2022-10-11 22:31:20 -04:00
Beat Küng 6fda555cba commander: move ownership of vehicle_status_flags_s to HealthAndArmingChecks 2022-10-11 22:31:20 -04:00
Beat Küng cf2eb69d25 px4events/srcparser: ensure message is a string literal 2022-10-11 22:31:20 -04:00
Beat Küng 500a896a56 commander: print reason for mode rejection & report for GCS switches as well 2022-10-11 22:31:20 -04:00
Beat Küng e4bb219d10 vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status 2022-10-11 22:31:20 -04:00
Beat Küng ae6377dfa0 mission_result: remove unused fields 2022-10-11 22:31:20 -04:00
Beat Küng 455b885f86 commander: use new failsafe state machine and add user intention class 2022-10-11 22:31:20 -04:00
Beat Küng a04230faa1 commander: add failsafe state machine with webassembly simulation 
to run the simulation:
install sdk: https://emscripten.org/docs/getting_started/downloads.html
make run_failsafe_web_server
open http://0.0.0.0:8000/

Co-authored-by: Konrad <konrad@auterion.com>
 2022-10-11 22:31:20 -04:00
Beat Küng 82911e48be fix commander: check estimator type & avoid timestamp wrap-around 
Before it was possible that the publication timestamp was never than 'now',
leading to wrap-around.
 2022-10-11 22:31:20 -04:00
Beat Küng 27f8298bb9 fix commander: add local position requirement to NAVIGATION_STATE_AUTO_LAND 2022-10-11 22:31:20 -04:00
Beat Küng 57c7b5e843 flight_mode_manager: reduce error verbosity & remove mode switching 
While disarmed, commander allows to be in any mode now.
 2022-10-11 22:31:20 -04:00
Beat Küng 31dfdea12e commander: remove state_machine_helper tests 2022-10-11 22:31:20 -04:00
Beat Küng e9387cac1d mavlink: move get_px4_custom_mode to px4_custom_mode.h 2022-10-11 22:31:20 -04:00
Silvan Fuhrer 9159f020cb mavlink local_position_ned: always publish on update, not just when xy and v_xy valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-10-11 00:47:32 -04:00
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
fkaiser 30150f723a Tools/px_uploader.py: use monotonic clock if available (#20352) 
Signed-off-by: fkaiser <fabian.kaiser@wingtra.com>
 2022-10-06 09:49:05 -04:00
alexklimaj 064f3f86bc Increase mag calibration max_var_allowed 2022-10-06 08:44:36 -04:00
Hamish Willee 022aa13aa1 mpu9250_i2c - also needs docs update 2022-10-05 20:26:25 -04:00
Hamish Willee 6d612b1ba4 MPU9250 driver doc incorrect 2022-10-05 20:26:25 -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
benjinne 29b031c862 Tools/setup/ubuntu.sh update comment to include 22.04 2022-10-05 13:41:47 -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
Beat Küng f79dad1e63 fix ROMFS: run camera trigger, capture and PPS before pwm_out 
As they might need to reserve the pwm pins.
 2022-10-05 09:13:35 -04:00
Matthias Grob 46e6e83e14 Commander: allow disarmin not-landed boat like rover 
This is a hotfix and a boat should never even detect a takeoff
in normal operation.
 2022-10-05 09:07:18 -04:00
Beat Küng dafead6f20 logger: add compressed events metadata file if it exists in the ROMFS 
Allows to decode events not (yet) on main.
The file is currently ~15KB.
 2022-10-05 07:44:55 +02:00
Beat Küng 02035d94aa metadata: sort json output 
ensures the files don't change arbitrarily
 2022-10-05 07:44:55 +02:00
modaltb 06a0aedbdb modalai_esc: directly using deadband param value instead of converting it to RPM 2022-10-04 20:14:59 -04:00
Thomas Debrunner 0af87ec745 mavlink: initial OPEN_DRONE_ID_BASIC_ID/OPEN_DRONE_ID_LOCATION support 2022-10-04 14:40:59 -04:00
Matthias Grob b179427b4c Remove opinionated non-default MPC_TKO_SPEED from airframes 2022-10-04 11:36:57 -04:00
pandafeng1999 e4b4df4e5d drivers/distance_sensor/gy_us42: add the specified i2c address 2022-10-04 11:35:45 -04:00
Matthias Grob f96507bb22 vtol_takeoff: fix comment typo 2022-10-04 10:01:04 -04:00
Peter van der Perk c807d6079d FMUK66-V3 Enable DMA on SPI 2022-10-04 09:46:04 -04:00
Peter van der Perk 0cf2ecedb9 FMUK66 Disable Telnet to save RAM 2022-10-04 09:46:04 -04:00