d27573b797
ekf2: don't store vehicle_land_detected_s
2020-10-29 10:22:57 -04:00
7757aeda94
ekf2: don't store sensor_selection_s copy
2020-10-29 10:22:57 -04:00
db5235b074
ekf2: avoid storing message copies
2020-10-29 10:22:57 -04:00
3f9f2c6fdf
ekf2: multi ekf supports up to 4 IMUs
2020-10-28 20:50:58 -04:00
cf082d7f1c
Github actions: SITL tests upgrade MAVSDK v0.30.1 -> v0.33.1
2020-10-28 20:26:47 -04:00
b5e00cd424
NuttX upgrade branches to px4_firmware_nuttx-10.0.0+
2020-10-28 17:25:08 -04:00
ff87bc0fda
fmu-v6x:Bootloader init NULL console
2020-10-28 14:25:25 -04:00
39b1d827d2
cubeorange:Bootloader init NULL console
2020-10-28 14:25:25 -04:00
1fa1f8c2c5
durandal-v1:Bootloader init NULL console
2020-10-28 14:25:25 -04:00
962b90fd75
cuav:Bootloader init NULL console
2020-10-28 14:25:25 -04:00
8797823333
px4_init:Split out console init to create null device to be used in non PX4 platform bsp (bootloadres)
2020-10-28 14:25:25 -04:00
021bc284c1
nxp:imxrt ADC track Rev02 of ref manual change made in upstream
2020-10-28 14:25:25 -04:00
233949a377
NuttX upgrade to 10.0.0+ defconfig changes
2020-10-28 14:25:25 -04:00
850e068aa3
Nuttx 10.0.0+
2020-10-28 14:25:25 -04:00
2c874f1cd9
ekf2 selector fix SITL lockstep
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- ekf2 selector don't register lockstep until first attitude publication
- sensors module register lockstep component
- enable multi-EKF2 in SITL
2020-10-28 09:42:41 -04:00
b1dc1b1ecd
msg: rtps: add IDs for missing estimator_* msgs
2020-10-28 11:58:35 +01:00
82988b1912
airframes: added BlueROV2 (heavy configuration) airframe ( #16004 )
2020-10-28 11:07:31 +01:00
5b7d1a0496
msg: rtps: add missing ID for orb_test_medium_wrap_around
2020-10-28 10:18:22 +01:00
69986affbf
commander: calibration restore sleep after CAL_QGC_DONE_MSG/CAL_QGC_FAILED_MSG
2020-10-27 18:54:16 -04:00
171bd6d784
positionControl: add check on sign before sqrtf
2020-10-27 18:52:23 -04:00
05f1efd1a4
load_mon: get mem_usage by reading /proc/meminfo on Linux
2020-10-27 18:49:25 -04:00
91da194bd7
sensors/vehicle_gps_position: only register callbacks once topic published
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- this avoids creating unnecessary uORB device nodes for GPS instances that might never exist
2020-10-27 18:40:57 -04:00
df2f26ebdf
rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned
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- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
- helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
2020-10-27 12:33:39 -04:00
d5e68bc05a
mathlib: NotchFilter delete unused update method
2020-10-27 12:30:59 -04:00
050c9dcd3d
HTE: fix variance prediction ( #16016 )
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In the predition step, the process variance was erroneously
multiplied by dt instead of dt^2. The default values are adjusted
accordingly to keep the same tuning for the default loop rate of 50Hz
2020-10-27 16:56:32 +01:00
f36f8928e3
distance_sensor/vl53l1x: fix code style
2020-10-27 11:43:11 -04:00
2e98c64853
drivers/distance_sensor: new driver for ST VL53L1x
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Co-authored-by: Alexey Matveev <>
2020-10-27 11:26:53 -04:00
0f411d6820
Multi-EKF support (ekf2)
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- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com >
2020-10-27 10:56:11 -04:00
d85e24d3ca
EKF: Ekf class is final
2020-10-27 08:53:58 -04:00
961b545da0
cmake: respect MAX_CUSTOM_OPT_LEVEL if set
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- ignored for Debug and Coverage builds
2020-10-27 08:53:58 -04:00
5ea8824439
EKF: inline simple getters
2020-10-27 08:53:58 -04:00
d5245a22d3
logger: limit default estimator_optical_flow_vel logging
2020-10-26 14:10:25 -04:00
109ed18a3a
Flow: adjust default optical flow delay based on pmw3901
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This is the correct value for the most common optical flow sensor
2020-10-26 14:10:25 -04:00
142724748a
pmw3901: Adjust scale factor to match gyro data
2020-10-26 14:10:25 -04:00
09cc3120e2
OpticalFlow: add optical flow velocity logging
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This is important to align the flow with the IMU data and verify that
the compensation is properly done
2020-10-26 14:10:25 -04:00
6e99ebd928
EKF: add fault status bit for bad vertical accel data
2020-10-26 17:37:15 +01:00
d936b85d71
EKF: add fault status bit for clipping
2020-10-26 17:37:15 +01:00
8e710294b3
FlightTaskManualAltitudeSmoothVel: fix parameter inheritance chain
2020-10-26 15:55:21 +01:00
7ba93d5452
FlightTasks: fix reActivate not calling the parent overrided method
2020-10-26 15:55:21 +01:00
dd3ffc4192
Optical flow: compute velociy from corrected flow data for logging ( #920 )
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This is really useful when debugging optical flow data
2020-10-26 13:27:52 +01:00
eac9a6b68b
Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH
2020-10-26 13:01:13 +01:00
90c366f369
uORB::Publication*: template parameter automatically obtains the queue size according to the type
2020-10-26 13:01:13 +01:00
9126282c03
CI: update containers, sync with px4/Firmware
2020-10-26 11:07:13 +01:00
e80a683981
CI: update change indicator of yaw emergency estimator
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This was incorrectly uptated in 1a7c68ea72
2020-10-26 11:07:13 +01:00
948bed6b5c
fix ekf2 saved mag bias comments (mGauss -> Gauss)
2020-10-26 00:43:20 -04:00
8435742dd5
logger: double actuator_controls_0 and vehicle_attitude_setpoint default log rate
2020-10-26 00:36:02 -04:00
6d2f592c16
logger: add vehicle_constraints to default set
2020-10-26 00:36:02 -04:00
53b5e2d863
Update submodule sitl_gazebo to latest Sun Oct 25 20:37:27 EDT 2020
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- sitl_gazebo in PX4/Firmware (945c17bc3fhttps://github.com/PX4/sitl_gazebo/commit/4f03afc7def0b958e7567a35093bacf93dcc824f
- sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/2451437c19ed9fcdf8a79990313e768c98aa15b6
- Changes: https://github.com/PX4/sitl_gazebo/compare/4f03afc7def0b958e7567a35093bacf93dcc824f...2451437c19ed9fcdf8a79990313e768c98aa15b6
2451437 2020-10-24 Igor Campos - fix #638 - geotagging plugin not working: subscribed to wrong topic
9f832e5 2020-10-09 JaeyoungLim - Add groundtruth plugin
dcae3ed 2020-09-29 JaeyoungLim - Switch tiltrotor to jinja templates
928169c 2020-09-28 JaeyoungLim - Move where the gps joint is being defined
60897b7 2020-08-24 JaeyoungLim - Fix tiltrotor model
9f82ad4 2020-10-22 JaeyoungLim - Move rover models to jinja templates (#629 )
00d6f2f 2020-10-21 Thies Lennart Alff - Adding Model of BlueROV2 (heavy configuration) (#637 )
b15784d 2020-10-19 Vojtech Spurny - gazebo_gps_plugin fix and enhancement (#635 )
2020-10-25 23:54:33 -04:00
614a0ac2a2
experimental/gyro_fft: improve peak detection, add start parameter
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- add new parameter `IMU_GYRO_FFT_EN` to start
- add 75% overlap in buffer to increase FFT update rate
- space out FFT calls (no more than 1 per cycle)
- increase `IMU_GYRO_FFT_MIN` default
- decrease main stack usage
2020-10-25 23:48:21 -04:00
945c17bc3f
move subsystem_info entirely into commander and remove from uORB
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* HealthFlags: define bitfield using 1<<X
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2020-10-25 10:08:15 -04:00
Daniel Agar