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Author SHA1 Message Date
Matthias Grob
5489005e0b Commander: call battery_status_check on update instead of early return 2021-11-24 14:10:24 +01:00
Beat Küng
5bec3004c3 omnibus/f4sd: disable RGBLED to reduce flash 2021-11-24 11:41:33 +01:00
Jukka Laitinen
5dbbddb13f EKF2: Use _distance_sensor_subs vector directly 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen
b66270f8a8 Inline uORBDeviceNode::copy for performance improvement 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen
3f884c5d24 Inline deviceNodeExists and getDeviceNode in uORB DeviceMaster 
This gives a small performance improvement

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen
d9498ade32 EKF2: Allocate distance sensor subscriptions as member variables 
Just create the subscriptions and keep them, instead of
re-creating them continuously

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen
bb307cd462 Fix comparing orb_metadata in uORB::DeviceNode::publish 
Don't compare pointers to metadata, but the metadata contents.

In protected/kernel build there are two sets of metadata, on on kernel
side and another in user side. Thus the comparison of pointers would just
always fail. Compare orb_id instead

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen
0b9505453d Clean up interfaces towards uORB 
Proxy all calls to the DeviceNode through Manager;
- This hides the DeviceNode from publishers and subscribers
- Manager can be made an interface class between user and kernel spaces in protected build
- This doesn't increase code size or harm the performance on flat build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Beat Küng
99d3b2a4e4 omnibus/f4sd: disable modules to reduce flash 2021-11-23 12:40:22 -05:00
Beat Küng
db2a1e5fee px4/fmu-v2: disable modules to reduce flash 2021-11-23 12:40:22 -05:00
Beat Küng
950767f1af holybro/kakutefy: disable modules to reduce flash 2021-11-23 12:40:22 -05:00
Beat Küng
4c03def6e9 boards: add CONTROL_ALLOCATOR + ACTUATOR_TEST 2021-11-23 12:40:22 -05:00
Beat Küng
312d84ca23 metadata: run json schema validation for actuators + parameter metadata 2021-11-23 12:40:22 -05:00
Beat Küng
2809dd8944 control_allocator: remove min/max/scale params 2021-11-23 12:40:22 -05:00
Beat Küng
b29d9db7f1 control_allocator: limit status publication rate to 200Hz 
Reduces CPU load by ~3.5% on F4 @2khz.
And compute getAllocatedControl as needed (~1.5% CPU reduction)
 2021-11-23 12:40:22 -05:00
Beat Küng
93a54ee63d metadata: fix generic param metadata generation 
Adds the module.yaml params that was previously split into a separate file.
 2021-11-23 12:40:22 -05:00
Beat Küng
bcba3dfe52 control_allocator,angular_velocity_controller: run on rate_ctrl wq 2021-11-23 12:40:22 -05:00
Beat Küng
a0e43bca96 msg: remove unused vehicle_actuator_setpoint topic 2021-11-23 12:40:22 -05:00
Beat Küng
52a2ef34fd mixer_module: add THR_MDL_FAC for SYS_CTRL_ALLOC=1 2021-11-23 12:40:22 -05:00
Beat Küng
357a16aca6 pwm_out_sim: split module.yaml into HIL+SIM files 2021-11-23 12:40:22 -05:00
Beat Küng
b94c5db55d component_information: add actuators json generation & CI deployment 2021-11-23 12:40:22 -05:00
Beat Küng
70b1b19902 uavcan: add configuration parameter to actuator metadata 2021-11-23 12:40:22 -05:00
Beat Küng
19b89e1d35 output_functions: add notes to camera trigger + capture & exclude from testing 2021-11-23 12:40:22 -05:00
Beat Küng
4346ac4a37 control_allocator: add mixer metadata 2021-11-23 12:40:22 -05:00
Beat Küng
282d35bbf0 esc_calibration: handle SYS_CTRL_ALLOC==1 2021-11-23 12:40:22 -05:00
Beat Küng
490a2cd7ae dshot: handle VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng
21699935e8 vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng
6fdcc43ea8 mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg 2021-11-23 12:40:22 -05:00
Beat Küng
36296794c8 module config: add generate_actuators_metadata.py script 2021-11-23 12:40:22 -05:00
Beat Küng
36d9635518 output_functions.yaml: allow single-instance entry with 'start' but no 'count' 
for other additional data
 2021-11-23 12:40:22 -05:00
Beat Küng
5d6e785a4b mixer_module: remove unneeded test_motor_s force init 2021-11-23 12:40:22 -05:00
Beat Küng
f99c2617ad control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults 2021-11-23 12:40:22 -05:00
Beat Küng
dbc889a2ae rc.mc_apps: remove 'param set MPC_USE_HTE 0' for control allocation 
this is working now
 2021-11-23 12:40:22 -05:00
Beat Küng
2ff6baa250 actuator params: use module_name as prefix to channel label 2021-11-23 12:40:22 -05:00
Beat Küng
6537f480b1 module.yaml: make long param description optional 
Some params are very simple and don't need more.
 2021-11-23 12:40:22 -05:00
Daniel Agar
1b7f4b6003 Jenkins HIL test loading all airframes 2021-11-23 12:38:41 -05:00
Matthias Grob
0153c870d2 Commander: make sure yaw airmode is not possible while arm gesture is enabled 
It's unsafe to arm with the gesture when yaw airmode is enabled
because e.g. in Stabilized mode that results in a high yawrate setpoint
that the drone tries to follow even with zero thrust
because of the airmode.

It was handled before by checking the arm switch parameter because that
used to disable the stick arm gesture.
See 24dc316973a049e50d3e6760eddbf7250cb55d2e
 2021-11-23 16:03:46 +01:00
Matthias Grob
572890f8c0 ManualControl: add parameter to disable arm/disarm stick gesture 2021-11-23 16:03:46 +01:00
Matthias Grob
468022abba ManualControl: correct arm hysteresis parameter name 2021-11-23 16:03:46 +01:00
Matthias Grob
c84b1c6566 ManualControl: ignore unassigned mode slots 
They were resulting in a message
"Switching to Unkown is currently not available".
 2021-11-23 16:03:46 +01:00
Jaeyoung-Lim
af7fa63480 Remove kconfig-frontends installation from setup.sh 2021-11-23 15:17:00 +01:00
Silvan Fuhrer
e596607e2e minor comments update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-23 14:48:51 +01:00
Daniel Agar
7ff72304b4
sensors/vehicle_imu: improve disabled sensor handling 
- remove regular callback scheduling when sensor is disabled, register if re-enabled
 2021-11-22 21:10:35 -05:00
Daniel Agar
3140bf167c
NuttX submodule update with work_usrthread.c fixes 2021-11-22 17:41:49 -05:00
Daniel Agar
1c6b1f7554 pwm_out: parameter failure error messages 2021-11-22 11:27:45 -05:00
Daniel Agar
c95dbfd7ac boards: px4_fmu-v5_debug disable debug fs errors 2021-11-22 11:27:45 -05:00
Daniel Agar
c2cbf74351 vscode: cmake variants add px4_fmu-v5_debug for convenient debugging 2021-11-22 11:27:45 -05:00
Daniel Agar
577d926639 commander: improve angular velocity validity and message 2021-11-22 11:27:45 -05:00
Daniel Agar
f058cbd0e0 boards: px4_fmu-v5_debug disable CONFIG_DEBUG_I2C 2021-11-22 11:27:45 -05:00
Daniel Agar
25846f48c4 boards: px4_fmu-v2/v3 use SPI bus power off rather than full reset 2021-11-22 11:27:45 -05:00