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Author SHA1 Message Date
Matthias Grob
79e8152f05 Matrix: convert dual test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
62571b6984 Matrix: convert copy to test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
35b035e880 Matrix: convert attitude test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
c33bf5b705 Matrix: convert assignment test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob
fa35635486 Matrix: change naming of sparse vector test 2022-03-17 13:02:22 +01:00
Jukka Laitinen
3d35929f3e Put gyro_fft in kernel by default in protected build 
It is a performance issue to run it on user side

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
4658a627d7 Separate i2c and spi board bus configuration into and own library for protected build target 
This info is needed on both kernel and user sides, and is just data.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
543c7bd0c5 uORB: Build uorb systemcmd always in kernel side in memory protected build 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
d167f91eb8 logger/watchdog: Disable watchdog for NuttX protected/kernel builds 
It accesses kernel internal structures directly; this needs to be
worked out with some proper userspace-kernel interface

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
56c6120e83 Use IOCTL for board_read_VBUS_state in NuttX protected builds 
Direct gpio read is not possible from user side applications, so use boardctl
interface instead.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
0cf3079401 px4_fmuv5: Implement BOARD_*_LOCKOUT_STATE in protected/kernel builds 
In memory protected builds these perform nuttx boardctl ioctl calls to kerenel

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
356328056a Add px4_fmu-v5_protected target 
Add a target for nuttx protected build development

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
005095d199 Add gran allocator also to user side in protected build 
This is needed for DMA capable memory for fat also in the user side;
the file system doesn't seem to work reliably without.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
49b089f149 Add a simple way to launch kernel side modules 
Add launch_kmod command to start/execute px4 modules in kenel space
in NuttX protected build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
c43c71f4af platforms/nuttx/src/px4/common/board_ctrl: Add handlers for vbus & shutdown lockout 
Add kernel side ioctls and handlers for vbus state and managing shutdown lockout

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
4a74d266be Initialize cxx static variables also in kernel side 
For protected/kernel builds the cxx static initializations
needs to be done also in kernel side, since px4 creates
c++ objects in kernel

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen
c1a7b8df1d Add a px4 userspace initialization in protected build 
The px4_userspace_init function is called from userspace
entrypoint before starting NSH

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
bresch
f3f09c1344 PreFlightCheck: add data timeout detection for mag, baro accel and gyro 2022-03-16 11:46:01 +01:00
bresch
75aa11c955 PreFlightCheck: refactor sensors preflight checks 2022-03-16 11:46:01 +01:00
bresch
b1c1163ee4 PreFlightCheck: remove unused device_id argument 2022-03-16 11:46:01 +01:00
bresch
5f1b577b6d PreFlightCheck: mark sensor required if used by an EKF2 instance 2022-03-16 11:46:01 +01:00
stmoon
6d0b11ca99 add custom target for uorb_sources_microcdr_gen 2022-03-15 17:59:22 -04:00
wangwwno1
746c16400a Typo Fix: ChangeWorkQeue 
Fix the typo of 'WorkItem::ChangeWorkQeue' to 'WorkItem::ChangeWorkQueue'
 2022-03-15 13:31:52 -04:00
Daniel Agar
4746a19c0c
boards: px4_fmu-v5_stackcheck disable UUV modules to save flash 2022-03-15 12:10:03 -04:00
Daniel Agar
233c7fd293
goertek/spl06: parameters.c add copyright header and fix formatting 2022-03-15 10:14:46 -04:00
Ncerzzk
cb23179c50
Add Goertek SPL06 barometer driver (#19229) 
Signed-off-by: ncer <huangzzk@bupt.edu.cn>
 2022-03-15 10:13:03 -04:00
Konrad
963f6a91d9 exclude Mixer for Tailsitter with x motor configuration and elevons for fmu-v2 and omnibus to avoid flash size issues 2022-03-15 10:44:27 +01:00
KonradRudin
5f43be9d60 preflight checks: add check for distance sensor (via parameter) 2022-03-15 10:44:27 +01:00
Jukka Laitinen
0d31aadcc3 src/lib/paramters: Add a new interface library for protected build user side 
Implement an interface for protected build to access parameters.

The implementation only does IOCTL calls to the kernel, where the parameters
live.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-15 07:52:26 +01:00
Jukka Laitinen
41a7ae3db2 src/lib/parameters: Refactor common functions to an own file 
Put all functions which are commont to flat build and protected kernel and
userspace to an own source file

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-15 07:52:26 +01:00
Daniel Agar
7ef38112d2 ekf2: return saved mag bias variance when not in 3d magnetometer fusion 
- the estimated mag bias was requiring > 30 seconds of continuous 3d
mag fusion to be reported stable (and saved back to mag cal), this
restores the original intent requiring 30 seconds of accumulated valid
3d mag fusion
 2022-03-14 21:03:41 -04:00
Daniel Agar
5717434e93 ekf2: initialize GPS drift metrics to NAN rather than 0 2022-03-14 10:09:24 -04:00
alessandro
62d1058cc2 log irlock_report and landing_target_pose messages 
Need to log both, because on some systems the
information will come in directly as a 
landing_target_pose message, and on others
it's coming in as irlock_report and then filtered
in PX4 to produce the landing_target_pose message.
 2022-03-14 10:13:08 +01:00
Matthias Grob
f1e44c6e2a PreFlightCheck: only allow modes suitable for takeoff 2022-03-14 09:03:39 +01:00
Daniel Agar
a430f0ccae
ekf2: add simple zero velocity update when vehicle at rest (#19149) 
- further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates
 2022-03-12 12:56:31 -05:00
Daniel Agar
3d54d25867
sensor calibration delete temperature (CAL_ACCx_TEMP, CAL_GYROx_TEMP, CAL_MAGx_TEMP) 
- this was an experiment to casually monitor sensor offsets relative to temperature, but now that all calibration offsets can be adjusted post-flight the stored temperature can be misleading
 - deleting to save a little bit of flash (and storing the temperature wasn't useful)
 2022-03-12 11:38:49 -05:00
wangwwno1
aa64789792
sensors/vehicle_imu: Fix Integration Rate greater than Gyro Rate (#19318) 2022-03-12 11:29:23 -05:00
RomanBapst
58a4c38519 rtl: don't fly mission landing if we trigger rtl in hover 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-11 15:23:31 +03:00
bresch
58bd3d0c60 cmake: use elif -> elseif 2022-03-11 11:59:20 +01:00
JunwooHWANG
04f8453f4a
Reduce Beeepr Default volume : 40 -> 20, since it's too loud for TAP_ESC devices from Yuneec (#19311) 2022-03-11 10:27:57 +01:00
Silvan Fuhrer
f4c300af25 FlightTaskAuto: Nudging: only set yawrate_sp if WV is disabled or stick out of dead-zone 
Otherwise the setpoint from weather vane is constantly overwritten by it,
even if the yaw stick is not moved.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-11 09:18:31 +01:00
Alex Klimaj
71850eeda6
mavlink: Add flow control parameters (#19254) 2022-03-10 08:22:00 -08:00
Daniel Agar
b66dd5ffa6 adis16470: fix gyro scaling 2022-03-09 23:00:54 -05:00
Roman Bapst
69560bd4f4
Compensate VTOL transition time for air density (#19293) 
* vtol: compensate front transition minimum time and front transiton openloop time
for air density

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-09 08:41:30 -05:00
alessandro
0617fd2b6f fmu-v6x: increase UART5 buffer size 
The same fix had to be done for the fmu-v5x:
PX4/PX4-Autopilot#14932
 2022-03-09 08:39:34 -05:00
bresch
182980526f commander: allow rearming grace period for arming switch only 2022-03-09 08:42:21 +01:00
wangwwno1
cd5a1e510a
ekf2: typo Fix: pub.advertised() -> pub.advertise() (#19302) 2022-03-09 08:39:08 +01:00
Jacob Dahl
3e21efb721
ina228: fix sign error on CURRENT reading (#19296) 2022-03-08 19:47:11 -05:00
Daniel Agar
b7e0f17c6a ekf2: minor position/velocity reset cleanup 
- try to use avoid resetVelocity() call where possible
 - reset timeouts centrally
 2022-03-08 11:16:35 -05:00
Daniel Agar
c10ea97967 ekf2: fusion helpers return success/fail and set pos/vel update timestamps centrally (if healthy) 2022-03-08 11:16:35 -05:00