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2119 Commits

Author SHA1 Message Date
Julian Oes
a9c4f269bd simulator: use failure injection to block GPS 
This uses the new failure injection system using vehicle_commands
instead of specific parameters. For now it implements GPS only.
 2020-09-16 12:51:56 -04:00
Nicolas MARTIN
504730386a fix COM_ARM_AUTH comment 2020-09-15 22:12:55 -04:00
Daniel Agar
13db2ebb2b
accel/gyro/mag calibration set default priority uninitialized 
- this allows the default priority to be set differently for internal/external sensors
 - accel and gyro initialize default priority like mag in preparation for fully supporting external sensors
 - fixes #15652
 2020-09-13 21:02:53 -04:00
Daniel Agar
d70e183f5b commander: sensor calibration check parameter save success 2020-09-13 21:00:40 -04:00
Quentin PERROT
9116acc431 change message critical state for arm authorization 2020-09-09 08:59:21 +02:00
Matthias Grob
f70dda12a6 failureDetectorCheck: remove string manipulation 2020-09-08 11:42:30 +02:00
Matthias Grob
5eba25d2b5 Commander: remove duplicate flag changes 2020-09-08 11:42:30 +02:00
Matthias Grob
ab17b6bad4 failureDetectorCheck: revise messageing 2020-09-08 11:42:30 +02:00
Matthias Grob
981e05c633 FailureDetector: move esc topic check into esc status update 2020-09-08 11:42:30 +02:00
Matthias Grob
c180e09b9a FailureDetector: replace resetAttitudeStatus 2020-09-08 11:42:30 +02:00
Matthias Grob
390edb770d Commander: separate failure detector cases 
One case could lead to the action for the other!
 2020-09-08 11:42:30 +02:00
Matthias Grob
f47bb95b26 FailureDetector: remove obsolete bit switch checks 2020-09-08 11:42:30 +02:00
Matthias Grob
c9b81eaf08 FailureDetector: simplify updated/changed check 2020-09-08 11:42:30 +02:00
Matthias Grob
2bb5917188 FailureDetector: refactor naming, member order 2020-09-08 11:42:30 +02:00
Matthias Grob
25cdb383c6 Commander: simplify main failure detector condition 2020-09-08 11:42:30 +02:00
Daniel Agar
60d613ea04
sensors: sensor_preflight_imu -> sensors_status_imu and run continuously 
- inconsistency checks now run continuously instead of only preflight
 - keep inconsistencies for all sensors
 - add per sensor data validator state as overall health flag
 2020-09-06 22:06:13 -04:00
Daniel Agar
ca9b6bc137
commander: quick mag cal with fixed heading use MAV_CMD_FIXED_MAG_CAL_YAW message 
- use proper Mavlink MAV_CMD_FIXED_MAG_CAL_YAW command for initiating magnetometer quick cal
 - MAV_CMD_FIXED_MAG_CAL_YAW allows specifying the yaw and optionally latitude and longitude if the vehicle doesn't have GPS
 2020-09-06 19:25:11 -04:00
Daniel Agar
1ac31100cc
commander: HITL skip auto disarm if lockdown 
- auto disarm when locked down was added in #14766 to prevent user confusion in regular usage, but also breaks HITL where lockdown is enabled for safety
 - fixes #15686
 2020-09-06 18:38:05 -04:00
Daniel Agar
9ccc1db649 estimator_status split out estimator_states 2020-09-04 10:48:26 -04:00
Daniel Agar
6ff361479c
uORB: introduce SubscriptionMultiArray for working with multi-instances 2020-09-02 12:46:47 -04:00
Matthias Grob
5bc1df60a2 commander_params: remove some double spaces 2020-09-01 10:25:03 +02:00
Daniel Agar
9feea0e2fd commander: accel calibration fail early on bad rotations 2020-08-29 11:02:37 -04:00
Daniel Agar
08cfea0b6f commander: mag calibration auto rotation skip all duplicates 
- add simple rotation test with corresponding blacklist
 2020-08-28 18:29:09 -04:00
Hamish Willee
979243f38f
params: make parameter units more consistent (#15502) 2020-08-24 11:33:08 +02:00
Daniel Agar
1d2e424c4c commander: calibration replace sensor_combined with vehicle_acceleration 2020-08-23 17:38:27 -04:00
Daniel Agar
4dee5d6a1c commander: level calibration print changes 2020-08-21 10:12:13 -04:00
Daniel Agar
c76cdaf8a8 commander: mag calibration add simple offset only quick cal using GPS & attitude 2020-08-21 10:12:13 -04:00
Daniel Agar
f6ad9bdb64 commander: don't set RC lost during calibration 2020-08-21 10:12:13 -04:00
Daniel Agar
5242160a26 commander: accel calibration reduce status length 
- this keeps the string within a single Mavlink STATUSTEXT
 - fixes #14829
 2020-08-21 10:12:13 -04:00
Daniel Agar
d824706571 commander: mag calibration keep manually configured special rotations 
- ROTATION_PITCH_9_YAW_180 and ROTATION_ROLL_90_PITCH_68_YAW_293 are
kept if manually configured
 2020-08-21 10:12:13 -04:00
Daniel Agar
0bb6ad01bd commander: mag calibration rotation also compare other internal mags 2020-08-21 10:12:13 -04:00
Daniel Agar
07d727a4a8 commander: mag calibration auto rotation simplify applying calibration and rotation 2020-08-21 10:12:13 -04:00
Daniel Agar
1a6eb7859c commander: mag calibration auto rotation improvements 
- skip rotations that are identical or very close
 - compute mean squared error (MSE) to skip a sqrt
 2020-08-21 10:12:13 -04:00
Daniel Agar
bc6e4c8a92 commander: accel calibration use all queued data 
- print each calibration when finished
 2020-08-21 10:12:13 -04:00
Daniel Agar
f9aca05ede commander: gyro calibration use all queued data 
- print calibration status when finished
 2020-08-21 10:12:13 -04:00
Daniel Agar
f2c9865c9b sensor mag add minimal queue and calibration check all 
- mag calibration acceptance check sphere/ellipsoid fit status
 2020-08-21 10:12:13 -04:00
Daniel Agar
b2e8f6839f commander: mag calibration improve console and debug output 2020-08-21 10:12:13 -04:00
Daniel Agar
2bb04f2261 commander: increase COM_ARM_MAG_ANG 35 -> 45 degrees 
- in practice this is mostly useful for identifying incorrect rotations
which we mostly have in 45 degree increments
 - handling a vehicle on the ground can easily disturb one mag by more than 30 degrees, so this is often distracting noise
 2020-08-21 10:12:13 -04:00
Daniel Agar
e6fd5a43bc commander: magnetometer calibration automatically set the rotation of external magnetometers relative to the first internal 
- see #15120 for more detail
 2020-08-21 10:12:13 -04:00
Daniel Agar
27f23ac290 move initial sensor priority to parameters and purge ORB_PRIORITY 
- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
 2020-08-21 10:12:13 -04:00
Daniel Agar
971b1e4b4d sensors: move mag aggregation to new VehicleMagnetometer WorkItem 
- purge all reminaing magnetometer IOCTL usage
 - mag calibration add off diagonal (soft iron) scale factors
 2020-08-21 10:12:13 -04:00
Daniel Agar
ad148af2fd commander: mag_calibration move to Magnetometer calibration helper 2020-08-21 10:12:13 -04:00
Daniel Agar
d92ddffa5d commander: add simple accelerometer quick calibration 2020-08-21 10:12:13 -04:00
Daniel Agar
e3e8c55e82 accel & gyro calibration helpers 2020-08-21 10:12:13 -04:00
Julian Kent
7958586f35 Only use roll/pitch not centered for RC override, and increase override threshold 2020-08-20 11:50:16 -04:00
Daniel Agar
f19a20dc43 commander: preflight power check ignore module count if USB connected 
- this check isn't relevent during bench testing
 2020-08-12 11:48:38 -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
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
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