Daniel Agar
d37510a43d
update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields
2021-03-09 10:36:34 -05:00
Daniel Agar
a0b9b44ff6
boards: stm32h7 set CONFIG_SDMMC1 consistently
2021-03-09 09:37:05 -05:00
Daniel Agar
bd1c575ce8
lib/sensor_calibration: add simple offset and scale sanity checks
2021-03-09 09:27:21 -05:00
Peter van der Perk
c4ab2797eb
Added the notion of BaseSubscriber which allows to
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subsscription for services responses and request and helps the usage of fixed
port subscribers Furthermore move register autconfigure logic from Uavcan.cpp
to NodeManager
2021-03-09 14:35:50 +01:00
CUAVcaijie
9f9b01504d
Modify the way to clear Data
2021-03-09 11:00:03 +01:00
David Jablonski
063bb75891
simulator: fix lidar sensors
2021-03-08 21:27:39 -05:00
Matthias Grob
c96d9a79b8
mc_att_control_params: remove frequency unit from attitude gains
2021-03-08 11:14:01 -05:00
David Sidrane
c792879612
Nuttx: PX4 Contrib Ethernet Hardening
2021-03-08 10:37:08 -05:00
Daniel Agar
cbb2fa440b
sensors/vehicle_angular_velocity: only allocate dynamic notch perf counters if enabled (IMU_GYRO_DYN_NF)
2021-03-08 10:35:48 -05:00
Daniel Agar
68c171fd4f
land_detector: continue respecting hover thrust throughout descent
2021-03-08 11:33:36 +01:00
Jaeyoung-Lim
1fa08c3997
Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR
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Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR
2021-03-07 20:31:24 -05:00
Paul Riseborough
4465c4fbf6
ekf2: Publish and log EKF warning and information events (NEW msg estimator_event_flags)
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* msg: Add estinator information and warning events message (estimator_event_flags)
* ekf2: publish information and warning events
* logger: log estimator_event_flags
* update ecl submodule to latest
Co-authored-by: Daniel Agar <daniel@agar.ca>
2021-03-07 16:16:48 -05:00
Peter van der Perk
18a8d89fa4
PNP fixed allocation scheme
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Fixed register scheme
Incrased wq:uavcan stack since it overflowed when sending register response
2021-03-07 21:49:05 +01:00
Peter van der Perk
28c76663cd
UAVCANv1 Move PNP from UAVCAN.cpp to NodeManager.cpp
2021-03-07 21:49:05 +01:00
Kevin Dominic Merkel
d5e468a19e
change typhoon_h480 roll-/pitchrate P gain to reduce oscillations ( #17044 )
2021-03-07 18:18:00 +01:00
Daniel Agar
35488337d3
mc_pos_control: add OFFBOARD takeoff intent
2021-03-07 11:04:17 +01:00
Daniel Agar
22abe1619b
Update submodule mavlink v2.0 to latest Sat Mar 6 00:39:07 UTC 2021
2021-03-05 21:00:39 -05:00
PX4 BuildBot
1eff1aa83c
Update submodule sitl_gazebo to latest Sat Mar 6 00:39:04 UTC 2021
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- sitl_gazebo in PX4/Firmware (263b00b65fc89c7fd9383f0364760fceb15ea12a): bebb9a95f0c7524aa977bebb9a95f0...c7524aa977#715 )
2021-03-05 21:00:07 -05:00
Daniel Agar
263b00b65f
ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage
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- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
2021-03-05 18:25:14 -05:00
David Sidrane
12a4b0334f
px4_fmu-v6u:Use Auto LSE Drive setting
2021-03-05 15:40:09 -05:00
David Sidrane
2af106d888
px4_fmu-v6x:Use Auto LSE Drive setting
2021-03-05 15:40:09 -05:00
David Sidrane
d94ff14e6b
px4_fmu-v5x:Use Auto LSE Drive setting
2021-03-05 15:40:09 -05:00
David Sidrane
f44a299e3b
px4_fmu-v5:Use Auto LSE Drive setting
2021-03-05 15:40:09 -05:00
David Sidrane
c2a5b5ed88
holybro_durandal-v1:Use Auto LSE Drive setting
2021-03-05 15:40:09 -05:00
Ryan Johnston
9d0a8928bd
Update chip type
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Update chip type from NI to II.
2021-03-05 21:28:36 +01:00
Ryan Johnston
0958b30804
Fix i2c4 bus
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Fix i2c4 bus (and subsequent CI errors)
2021-03-05 21:28:11 +01:00
Ryan Johnston
2bf508061a
Update i2c bus
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Change internal bus 2 to external.
2021-03-05 21:28:11 +01:00
Ryan Johnston
17b48102f4
Update i2c mapping and i2c clock source
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i2c4 was mapped incorrectly and i2c4 clock source wasn't present.
2021-03-05 21:28:11 +01:00
bbworld
7525722b1a
Add support for specifying spawn location in Gazebo multi sim
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This commit adds support for specifying the spawn location of vehicles
in the Gazebo multi-vehicle simulator script (frame:number:x:y).
Behavior when x and y are not specified remains the same as before.
2021-03-05 21:26:54 +01:00
Ryan Johnston
daf744c678
MRO Control Zero F7 OEM Fixes ( #16977 )
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* Update i2c 4 pinmap on F7 OEM
Update i2c 4 pinmap
* Fix i2c Internal to External on F7 OEM
Fix i2c Internal to External on F7 OEM
* Add Can2 Silent Pin
Add Can2 Silent Pin
2021-03-05 21:26:15 +01:00
Nicolas MARTIN
66beffa2f3
Enable pre-arm checks in HIL modes
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by airframe parameters HIL mode will still disable:
- usb check
- power checks
- safety switch
2021-03-05 21:23:31 +01:00
CarlOlsson
b4b424bf7d
tecs: also fix the bug in update_vehicle_state_estimates()
2021-03-05 19:44:20 +01:00
CarlOlsson
0f461f7f60
TECS: Fix internal state init if dt is large
2021-03-05 19:44:20 +01:00
Matthias Grob
114e85d260
MultiCopterPositionControl: hotfix emergency failsafe
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that prevents the vehicle from crashing with invalid setpoints or
states.
This broke with #16869 when the scheduling of the position control module
and the setpoint generation got independent. The failsafe mechanism assumed
the setpoint is overwirtten by the possibly infeasible input on every loop
iteration which is not the case anymore. As a result the failsafe reset its
histeresis based on the failsafe setpoint from the last loop iteration.
Keeping the failsafe_setpoint separate solves this issue. Note that
these setpoints to the bare minimum to keep the vehicle safely in the air
and do not suffer from sideffects ignoring the EKF reset.
2021-03-05 11:29:36 -05:00
Daniel Agar
fddcb73802
sensors/vehicle_angular_velocity: dynamic notch filter support ESC RPM (untested)
2021-03-05 10:56:54 -05:00
Daniel Agar
573034aa8e
Jenkins hardware print ORB_ID(sensor_selection)
2021-03-05 10:56:54 -05:00
Daniel Agar
d5d5b7d82e
sensors/vehicle_angular_velocity: add perf counters
2021-03-05 10:56:54 -05:00
Daniel Agar
19de1e57e3
gyro_fft promote to modules and include on all boards
2021-03-05 10:56:54 -05:00
Daniel Agar
00b3b3678b
sensors/vehicle_angular_velocity: gyro dynamic notch filters updated from onboard FFT
2021-03-05 10:56:54 -05:00
David Sidrane
ed6269b9a5
STMx7 LSE backports
2021-03-05 10:10:19 -05:00
Daniel Agar
077afdf9aa
commander: extend reliant on opt flow to ALTCTL (degraded from POSCTL)
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If you're flying in manual position control mode and lose position the state machine will put you in altitude control mode. Extending the reliant on optical flow relaxed position validity thresholds allows you to potential get back into position control mode with flow alone.
2021-03-05 10:07:36 -05:00
Daniel Agar
d0c9a5fc93
OFFBOARD mode architecture overhaul ( #16739 )
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- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
2021-03-05 09:39:46 -05:00
David Jablonski
5233737a86
adjust some limits to prevent divide-by-zero
2021-03-05 10:42:19 +01:00
Gonçalo Atanásio
9f6c882d2a
boards: crazyflie v2.1 Default to EKF2 with no MAG
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Co-authored-by: TheLegendaryJedi <goncalo.atanasio@gmail.com>
2021-03-04 19:30:17 -05:00
Matthias Grob
5bbc66f3af
ManualControl: name, message, comment, const qualifier improvements
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addressing review from @bresch, @julianoes and @JonasVautherin
2021-03-04 10:41:21 +01:00
Matthias Grob
2f39651f77
ManualControl: use current sample for timeout check
2021-03-04 10:41:21 +01:00
Matthias Grob
a43a829fdf
Commander: gate manual control setpoint processing on new data
2021-03-04 10:41:21 +01:00
Matthias Grob
935423b563
ManualControl: start to distinguish rc arming methods
2021-03-04 10:41:21 +01:00
Matthias Grob
c16b48fd2c
Commander: Replace manual_control_setpoint use
2021-03-04 10:41:21 +01:00
Matthias Grob
49c240f49e
Commander: simplify rc arming disabling logic
2021-03-04 10:41:21 +01:00
