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Author SHA1 Message Date
Daniel Agar 9aa7991654 geo_lookup: upgrade table size (2 bytes per element) and add testing 
- updated table to 2 bytes (int16) per element and scaled the inclination/declination/strength tables to use most of the range without being too awkward
 - tables have been extended to include the full latitude range
 - expanded the API slightly to offer declination/inclination in both degrees/radians and the magnetic strength in Gauss and Tesla
 - generated some simple testing that verifies interpolation between points
 2020-07-19 18:53:47 -04:00
PX4 BuildBot 650b601206 Update submodule matrix to latest Sun Jul 19 12:40:00 UTC 2020 
- matrix in PX4/Firmware (20d5e7acd6d7be141de802ad155592e7be4c9f77): https://github.com/PX4/Matrix/commit/9a30828a0a1d79e87fd09653bb9f936d7ca0ba17
    - matrix current upstream: https://github.com/PX4/Matrix/commit/0fd99c59f1740a7aa2ead03168705b4211bf29e8
    - Changes: https://github.com/PX4/Matrix/compare/9a30828a0a1d79e87fd09653bb9f936d7ca0ba17...0fd99c59f1740a7aa2ead03168705b4211bf29e8

    0fd99c5 2020-07-14 Matthias Grob - Switch operator() to return a const reference
8a59b46 2020-07-17 kamilritz - Quaternion: Use template type instead of single hardcoded type
 2020-07-19 12:25:55 -04:00
Daniel Agar 459abcd035 uORB: print individual bits of fields 
- applies to messages with names containing "flags" or "bits" and unsigned fixed width integer type (uint8, uint16, uint32)
 2020-07-19 12:25:15 -04:00
rolandash b8f3b97bad Enable PMW3901 on MindPX/MindRacer. (#15375) 
* enable pmw3901 on MindPX/MindRacer.

* remove useless line.
 2020-07-19 16:09:57 +01:00
PX4 BuildBot 11614f789d Update submodule sitl_gazebo to latest Sun Jul 19 12:39:36 UTC 2020 
- sitl_gazebo in PX4/Firmware (f4d7052bec): https://github.com/PX4/sitl_gazebo/commit/629e5f5c239d88421edab12b4a7e2e3c3ea7e8fc
    - sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/ce1eca2bd0bedf9305d09b622454fa21962d50ba
    - Changes: https://github.com/PX4/sitl_gazebo/compare/629e5f5c239d88421edab12b4a7e2e3c3ea7e8fc...ce1eca2bd0bedf9305d09b622454fa21962d50ba

    ce1eca2 2020-07-19 Daniel Leonard Robinson - New vehicle type: Airship (#490)
df186d2 2020-07-18 TSC21 - use 'EnableC++XX' and remove duplicated compiler sets
60e5d4e 2020-07-18 TSC21 - remove the check for the 'px4' binary (it's never found since it's built in parallel with sitl_gazebo)
a3b5c5e 2020-07-19 JaeyoungLim - Fix moment calculation (#545)
07820ee 2020-07-19 JaeyoungLim - Fix gimbal imu sensors intefering with each other (#549)
 2020-07-19 15:46:53 +01:00
PX4 BuildBot fb2ebc9379 Update submodule nuttx to latest Sun Jul 19 12:39:45 UTC 2020 
- nuttx in PX4/Firmware (2624730b02ea71fa2bbd28cc424d9bade5766356): https://github.com/PX4/NuttX/commit/61742342ec979867dbe4b85c89a6821656090ee2
    - nuttx current upstream: https://github.com/PX4/NuttX/commit/dc10293feb724d50f6a0a64a068b47cb8cdae631
    - Changes: https://github.com/PX4/NuttX/compare/61742342ec979867dbe4b85c89a6821656090ee2...dc10293feb724d50f6a0a64a068b47cb8cdae631

    dc10293feb 2020-05-25 Claudio Micheli - [BACKPORT] stm32l4: extend CAN ioctrl with NART/ABOM. Add RTR to CAN header
5735f765e2 2020-05-25 Claudio Micheli - [BACKPORT] stm32: extend CAN ioctrl with NART/ABOM. Add RTR to CAN header
4dc9ae05f5 2020-05-25 Claudio Micheli - [BACKPORT] stm32f7: Add the option to include RTR in CAN header
bdd9e786e1 2020-04-21 Beat Küng - [BACKPORT] stm32f7: add CANIOC_SET_NART and CANIOC_SET_ABOM ioctl's to can driver
 2020-07-19 06:47:11 -07:00
Nuno Marques f4d7052bec Update submodule mavlink v2.0 to latest Sat Jul 18 12:39:32 UTC 2020 
- mavlink v2.0 in PX4/Firmware (b54dea0ccd): https://github.com/mavlink/c_library_v2/commit/f608801c1bdfbc1ddf71a243444d27dd7b45f8c6
    - mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/f90ef7c95aeaf953f7b0f6766929fa56d37e6ec7
    - Changes: https://github.com/mavlink/c_library_v2/compare/f608801c1bdfbc1ddf71a243444d27dd7b45f8c6...f90ef7c95aeaf953f7b0f6766929fa56d37e6ec7
 2020-07-18 14:29:02 -04:00
Daniel Agar 3dd7d0c292 boards: fmu-v5 debug variant disable unnecessary modules to save flash 
- partially sync with fmu-v5 stackcheck build
 2020-07-18 13:41:26 -04:00
Daniel Agar b54dea0ccd wq:attitude_ctrl: small stack increase to silence warning 2020-07-17 19:51:48 -04:00
Daniel Agar 42493b3d59 logger: add full commander and safety logging by default 
- increase battery_status rate to be useful
 2020-07-17 17:27:15 -04:00
Daniel Agar 94a5a97dcc drivers/safety_button: only publish safety at 1 Hz or immeidately on change 2020-07-17 17:27:15 -04:00
Daniel Agar c6aafed9d0 px4io: only publish safety at 1 Hz or immeidately on change 2020-07-17 17:27:15 -04:00
Daniel Agar bdb4251fa4 fw_pos_control_l1: if using air data (baro) copy every cycle 
- vehicle_air_data won't necessary have an update every iteration and these adjusted throttle values aren't stored
 - this only would have worked in the past because the vast majority of systems were using the ms5611 barometer with a publication rate that's faster than the controller
 2020-07-17 17:14:45 -04:00
Daniel Agar e3d31a881e boards: NuttX disable posix message queues 2020-07-17 17:00:21 -04:00
Julian Oes 9723b26d72 workflows: OSX.sh is now called macos.sh 2020-07-17 14:58:31 -04:00
Julian Oes 7c49afa716 setup: only install homebrew if not already there 2020-07-17 14:58:31 -04:00
Julian Oes 7667298c86 setup: move the OSX.sh script to macos.sh 
It's called macOS for a while now, and no longer OSX.
 2020-07-17 14:58:31 -04:00
Julian Oes 6acf279085 setup: we no longer need Java 8 
However, Java 11 or 14 depending on the Ubuntu version are just fine.
 2020-07-17 14:58:31 -04:00
Julian Oes 000c0c5905 setup: mark Ubuntu 16.04 as unsupported 
Ubuntu was already unsupported, now that 20.04 is out, however, the
change was not reflected yet in this script.
 2020-07-17 14:58:31 -04:00
Julian Oes cece343cf7 setup: Java 14 is fine now 2020-07-17 14:58:31 -04:00
Julian Oes aed114465e setup: clean up macOS setup script 
- Spaces -> tabs.
- Remove "brew install python" because it's already a dependency of the
  px4-dev tap.
- Remove "brew install ccache" as we can also add it to the px4-dev tap.
- Don't try to update pip installation, it works fine as is.
- Install pip dependencies as user, no need for system-wide install.
 2020-07-17 14:58:31 -04:00
Daniel Agar ad14796b5f mavlink: GLOBAL_POSITION_INT send without lat/lon availability 
- the altitude and velocity portions of this message are still relevant
without GPS lat/lon
 2020-07-17 10:46:06 -04:00
Julian Oes 9d97148ce8 commander: fix takeoff and land CI test 
This fixes the takeoff and land CI test where we do a takeoff and land
without RC connected.

In my opinion it does not make sense to go into RC lost failsafe if
a datalink is still available.
Of course, this can be dangerous if someone has a companion computer
connected which gets detected as "data link" but actually has no
connection to the ground station.
 2020-07-17 10:30:13 -04:00
Daniel Agar e79ccd1333 Jenkins: hardware print vehicle_air_data 2020-07-17 09:42:19 -04:00
Daniel Agar 9a1ca00285 fw_pos_control_l1: replace sensor_baro with vehicle_air_data 
- controllers shouldn't be accessing raw sensor data directly
 2020-07-17 09:42:19 -04:00
Daniel Agar 1394b5d7bc sensor_baro add separate timestamp_sample field 
- the timestamp is uORB message publication metadata
 2020-07-17 09:42:19 -04:00
Daniel Agar 19059a80bd sensors: throttle vehicle_air_data publication (SENS_BARO_RATE) 
- don't bother running baro aggregator if SYS_HAS_BARO disabled
 2020-07-17 09:42:19 -04:00
kamilritz 3651ed37fb Do not update time_last_imu outside of setGpsData 2020-07-17 11:06:36 +02:00
bresch 67ae40e922 FlightTaskAuto: fix yaw reset issue during takeoff 
During takeoff, Navigator is sending a constant yaw value.
However, there is always a reset at 1.5m of the yaw estimate in EKF2
that is not handled by Navigator that produces a glitch in the rate
controller. Given that in FlightTask, the yaw
is already computed and properly corrected in case of an estimator reset
event, we just ignore the yaw value sent by navigator during takeoff.
 2020-07-17 10:51:01 +02:00
Matthias Grob 0fd99c59f1 Switch operator() to return a const reference 2020-07-17 10:43:34 +02:00
kamilritz 8a59b463f2 Quaternion: Use template type instead of single hardcoded type 2020-07-17 10:37:18 +02:00
Daniel Agar 8020d6407f load_mon: remove obsolete rate comment in description 2020-07-16 15:11:53 -04:00
Daniel Agar f0ceb44f6c Jenkins: hardware print cpuload 2020-07-16 15:11:53 -04:00
Daniel Agar 392eb123fc load_mon: split out header 2020-07-16 15:11:53 -04:00
Daniel Agar fd66d42906 load_mon updates 
- increase rate
 - cpu load calculation grab timestamp atomically
 - only check one task per cycle (but cycle at a higher rate)
 - decrease available FD threshold
 - minor cleanup
 2020-07-16 15:11:53 -04:00
Matthias Grob 413cf8b7c4 FlightTasks: Sticks methods naming refactor according to comments 2020-07-16 19:01:22 +02:00
Matthias Grob 0d56035a46 FlightTaskAutoMapper: clarify influence of sticks 2020-07-16 19:01:22 +02:00
Matthias Grob 079c5a11c2 FlightTaskAuto: allow rc assist to stop descend 
Before the autohority was only enough to slow down the descend but not
stop to zero vertical velocity.
 2020-07-16 19:01:22 +02:00
Matthias Grob 91c0f19121 FlightTaskAuto: use new Sticks class for assisted land speed 2020-07-16 19:01:22 +02:00
Matthias Grob 4366898f11 FlightTasks: make gear switch independent of sticks 2020-07-16 19:01:22 +02:00
kamilritz 89bfcc2167 Introduce checkAndFixCovarianceUpdate(KHP) function 2020-07-16 18:25:06 +02:00
kamilritz 5c4a3d4576 Make observation jacobian a Vector24f when possible 2020-07-16 18:25:06 +02:00
kamilritz b5e1397c0f Add const modifier 
const modifier


Add missing const modifier
 2020-07-16 18:25:06 +02:00
kamilritz e357376797 Bring declaration and initialization together 2020-07-16 18:25:06 +02:00
kamilritz 796afd5f98 Rename yaw_use_inhibit -> is_yaw_fusion_inhibited 
Temp
 2020-07-16 18:25:06 +02:00
kamilritz 4cb2d1c645 Remove duplicated code snippets 
by combining x and y ballistic coeff inverse a vector
 2020-07-16 18:25:06 +02:00
kamilritz b0ad9f0226 Replace componentwise with matrix operation 2020-07-16 18:25:06 +02:00
kamilritz b5765eb3b4 Move variable declaration to better place & 
remove airspeed_innov_var_temp variable. setting to global variable even when fusion is aborted is okay
 2020-07-16 18:25:06 +02:00
kamilritz 05855b7fc1 Update time of last fusion event really only if fused 
Except for the velpos fusion
 2020-07-16 18:25:06 +02:00
kamilritz efd96db49d Avoid setting 0 to 0 2020-07-16 18:25:06 +02:00