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Author SHA1 Message Date
Daniel Agar 14f734ac15 mc_pos_control: use local position timestamp for dt 2020-08-10 10:51:52 -04:00
Daniel Agar c5eb084236 mc_rate_control: use angular velocity timestamp for dt 2020-08-10 10:51:52 -04:00
Daniel Agar 45ee16d236 mc_att_control: use attitude timestamp for dt 2020-08-10 10:51:52 -04:00
Daniel Agar 9992bd05db fw_att_control: pass time through from run 2020-08-10 10:51:52 -04:00
Daniel Agar 560c22e612 fw_pos_control_l1: pass time through from run 2020-08-10 10:51:52 -04:00
Katrin Moritz 258e5ca5c9 Rename of the DF Robot Rover Airframe 2020-08-10 09:46:36 -04:00
Daniel Agar 97fc1db768 vehicle_local_position: rename yaw -> heading and add reset logic 
- vehicle_global_position yaw removed (redundant)
 2020-08-10 11:42:03 +02:00
bresch 33fb9d0c62 Commander: update home position yaw in case of EKF yaw reset 
This makes sure the drone lands in the correct orientation
during RTL even if the initial yaw at takeoff was wrong.
 2020-08-10 11:42:03 +02:00
bresch 0ad3ddd864 Tko ramp: fix takeoff issue with large tko ramp time 
Because the velocity starts with a positive value (down) to ramp-up
slowly the motors, the position setpoint (integral) was going down into
the ground, canceling the input of the velocity controller during the
early takeoff phase.
Instead of a smooth ramp, the behavior was a delay followed by a quick
takeoff or a land detection.
Setting the current altitude setpoint with the current altitude during
this phase avoids the canceling effect and creates a takeoff purely
velocity-based.
 2020-08-10 10:39:56 +02:00
kamilritz 25c0455348 comply with Firmware style requirements 2020-08-10 10:13:40 +02:00
Paul Riseborough 6feb28c27d EKF: Convert EKF-GSF yaw estimator from matlab to sympy derived equations (#871) 
* EKF: Add sympy derivation of equations for EKF-GSF yaw estimator

* EKF: Convert EKF-GSF yaw estimator to use sympy generated equations

* EKF: Add status prints for GSF-EKF yaw estimator cvode gen

* EKF: Move generated code for GSF-EKF yaw estinmator to generated directory

* Make it run with python3

* Cleanup yaw estimator code generation

* Improve and simplify gsf measurement update code generation

* Use improved auto generated measurement update code

& remove obsolete updateInnovCovMatInv function

* Delete generated ekf_derivation for the moment

Co-authored-by: kamilritz <kritz@ethz.ch>
 2020-08-10 09:27:31 +02:00
Daniel Leonard Robinson fa4818e467 vehicles: add new vehicle type: Airship (#14862) 
Co-authored-by: Anton Erasmus <anton@flycloudline.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2020-08-10 08:52:51 +02:00
kamilritz 9d7d502c56 std::sin -> sin 2020-08-09 15:28:35 -04:00
kamilritz 4ab364f0fd Make conversion from float to double explicite 2020-08-09 15:28:35 -04:00
Daniel Agar 454433c2ef mpu9250: mag relax scheduling and checks 2020-08-09 14:24:49 -04:00
Daniel Agar fbc8e1b09e boards: mRo X2.1-777 fixes 
- ardupilot bootloader compatibility (first 3 sectors)
 - clock tree fixes
 - start mavlink
 - start mpu9250 magnetometer (only onboard mag)
 - fixes https://github.com/PX4/Firmware/issues/15466
 2020-08-09 14:24:49 -04:00
Daniel Agar e16c8fa345 boards: add new Holybro Pix32v5 2020-08-09 11:48:38 -04:00
Julian Kent 9ea3468091 Negative distances go in the opposite direction 2020-08-09 11:36:36 -04:00
kamilritz b7e49f20e4 Update change indication 2020-08-09 11:08:59 -04:00
kamilritz 497008811a Update matrix version 2020-08-09 11:08:59 -04:00
kritz f981cea2ae add possibility to iterate over SparseVector data at runtime (#143) 2020-08-09 09:44:49 +02:00
SungTae Moon 9707ac5316 implement gazebo simulation based on RTPS for multiple UAVs (#15463) 
- add t option for target
   - add iris_rtps model (PX4/sitl_gazebo#558)
 2020-08-08 13:19:19 +02:00
kamilritz e714a28c83 use size_t instead of int in sparseVector 2020-08-07 19:45:02 +02:00
kritz 18699416b0 SparseVector (#140) 
* Add SparseVector

temp

* Add gtest

* Some reworking of the sparse concept

* Change type of M from int to size_t

* Add const modifier

* Add needed declaration for accessing elements of _indices

* Add norm_squared, norm, longerThan

* Add test for all sparse vector functions

* Add missing const to slice's norm_squared, norm and longerThan

* Construction from Vector<M> and carray[N]

* try to fix ci

Co-authored-by: Julian Kent <julian@auterion.com>
 2020-08-07 18:44:48 +02:00
Daniel Agar 3002e74b4f mavlink: publish telemetry_status per instance with all HEARTBEATS from the same system 
- one telemetry_status publication per mavlink instance
 - each telemetry_status has an array of HEARTBEATS
 2020-08-07 12:23:52 -04:00
kamilritz d7568d55b4 extend firmware build checks 2020-08-07 11:42:13 +02:00
kamilritz 310b989c9a refactor start of gps into separate function 2020-08-07 10:02:47 +02:00
Thies Lennart Alff f950fe8a38 uuv_att_control: added bodyrate setpoint to the geometric controller 
* added bodyrate setpoint to the geometric controller
* started switching to new uORB API
 2020-08-06 10:40:44 -04:00
kamilritz 6ed5dbc2db Construct Vector from Slice<1,M> alias row() 2020-08-06 16:15:05 +02:00
Beat Küng 0f68121ae0 kopis 2 airframe: enable frsky telemetry 2020-08-06 00:08:23 -04:00
Beat Küng bc9be2d040 frsky_telemetry: add support for inverted single-wire S.Port on F7 2020-08-06 00:08:23 -04:00
Beat Küng b6052fbb11 nuttx: update submodule 2020-08-06 00:08:23 -04:00
Daniel Agar 3345bf39b8 cdev: remove unnecessary virtuals and increase opt level 
- poll, poll_notify, register_class_devname, unregister_class_devname aren't virtual
 - increase max optimization level on platforms that aren't flash constrained (MAX_CUSTOM_OPT_LEVEL)
 2020-08-05 19:07:32 -04:00
JacobCrabill b164174037 uavcan: stm32h7: Fix improper loopback handling 
Fixes #15305
 2020-08-05 12:42:27 -04:00
Daniel Agar f9c8d38e44 gitattributes eol=lf for nearly all file types 
- even windows notepad supports eol=lf these days, so I believe this is the right thing to do for sanity across cygwin, WSL, etc
 2020-08-05 11:32:26 -04:00
Daniel Agar de59d6c788 flight_tasks: pass previous setpoint as const reference 
- perform setpoint checks in place to simplify and avoid copy
 2020-08-05 10:50:15 -04:00
Beat Küng e28395a58b TRIG_MODE: update description to support 78 2020-08-05 09:02:58 +02:00
Hamish Willee 8c6bb697d8 Update json param field names 2020-08-05 07:35:01 +02:00
Igor Mišić f5283e0da1 spracing_h7extreme: OSD enabled with added internal SPI bus flag 2020-08-04 19:07:15 -04:00
Daniel Agar b6a17a6538 new IntrusiveSortedList container used for uORB, WorkQueues, and WorkItems 
- new intrusive linked list container (c++ template) that sorts on insertion
 - primarily for convenience inspecting things in the system like uORB or WorkQueues
 - uorb status or top sorted alphabetically 
 - work_queue status threads sorted by priority, then items sorted alphabetically within each
 2020-08-04 11:09:41 -04:00
Beat Küng dfc2160489 commander: update vehicle_status with at least 2Hz 
So we're sure it's logged.
 2020-08-04 10:53:20 -04:00
Beat Küng 5f8c6512b3 vehicle_status: add latest arming/disarming reason 
Makes it easier to debug.
 2020-08-04 10:53:20 -04:00
Daniel Agar 1f5d0cd2d0 Update submodule mavlink v2.0 to latest Tue Aug 4 12:39:39 UTC 2020 
- mavlink v2.0 in PX4/Firmware (b62b12460195df9f4cfe7d8424e79b2f47f9e599): https://github.com/mavlink/c_library_v2/commit/57be0ae2af8d020fe50d716e5ecfab7100d14816
    - mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/cdcea1c68565e435d18f88c12a4d5db20b070df1
    - Changes: https://github.com/mavlink/c_library_v2/compare/57be0ae2af8d020fe50d716e5ecfab7100d14816...cdcea1c68565e435d18f88c12a4d5db20b070df1
 2020-08-04 10:47:52 -04:00
PX4 BuildBot 201a3a19ff Update submodule ecl to latest Tue Aug 4 12:39:50 UTC 2020 
- ecl in PX4/Firmware (78d30efcf77284b21c130fd31061844ee561aa64): https://github.com/PX4/ecl/commit/77b11129fa567160a2ec442438ed513cb9de89e7
    - ecl current upstream: https://github.com/PX4/ecl/commit/7eb2b08eedb70817779bc7968cf34a4cf6f01fa0
    - Changes: https://github.com/PX4/ecl/compare/77b11129fa567160a2ec442438ed513cb9de89e7...7eb2b08eedb70817779bc7968cf34a4cf6f01fa0

    7eb2b08 2020-07-27 kamilritz - Yaw measurement jacobian to Vector4f
15d360f 2020-07-27 kamilritz - saved_mag_ef_cov to Squarematrix2f
7609bc6 2020-07-27 kamilritz - drag innov member variables to Vector2f
960b80e 2020-07-26 kamilritz - Do not update output filter a second time after reset to flow.
 2020-08-04 10:47:15 -04:00
Daniel Agar c40cf9a626 uORB: remove lost message count per DeviceNode 
- update 'uorb status' to print basic info for all advertised DeviceNodes
 - report vehicle_command gaps in commander, navigator, mavlink
 2020-08-04 10:34:11 -04:00
Beat Küng 4282b3dd47 TRIG_PINS: allow triggering on 78 while still using the lower 6 pins for pwm 2020-08-04 13:37:40 +02:00
Beat Küng ca189fefb7 v5x: use board-specific camera capture pin PI0 2020-08-04 13:37:40 +02:00
Beat Küng 316085c154 camera_capture: remove board-specific ifdef 2020-08-04 13:37:40 +02:00
Beat Küng 46208edfac fix camera_trigger: no need to check for '_pins[i] < num_gpios' 
_pins[i] >= num_gpios is a valid config.
 2020-08-04 13:37:40 +02:00
Beat Küng 002e671d3f fix pwm_out,dshot: set _num_outputs to 5 for mode_pwm5 2020-08-04 13:37:40 +02:00