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Commit Graph

14825 Commits

Author SHA1 Message Date
Lorenz Meier
d69c53827f HRT sim: Remove outputs that smash simulator stack 2017-08-01 20:25:38 +02:00
Lorenz Meier
1c0dd8ba49 Simulator: Add scaling API to adjust for slow simulators 
The simulation engine had the ability to pause already and properly handled load spikes, however, it was not hardened against constant drift. This addition enables it to run at a constant slower-than-realtime rate successfully.
 2017-08-01 19:50:35 +02:00
Lorenz Meier
cf7d4fc1a7 GPS sim: Adjust delay closer to what real u-blox devices do 2017-08-01 19:50:35 +02:00
Lorenz Meier
afb40a761d Simulator: Compensate scale error, not just message drops. This makes the whole simulation a lot more stable 2017-08-01 19:50:35 +02:00
Dennis Mannhart
a95f02b4a1 land-detector description fix 2017-08-01 19:31:34 +02:00
Dennis Mannhart
f26972704e style fix 2017-08-01 19:31:34 +02:00
Dennis Mannhart
e6f7af2dcf landdetector + mc_pos_control cherry-pick fix 2017-08-01 19:31:34 +02:00
Dennis Mannhart
69ecfef8a4 landdetector: consider 8 second maybe_landed case only if no rotation present 2017-08-01 19:31:34 +02:00
Dennis Mannhart
ec04577e3a mc_pos_control: consider landing if not auto takeoff and valid 2017-08-01 19:31:34 +02:00
Dennis Mannhart
4692ccf287 mc_pos_control: ignore maybe_landed and ground_contact for takeoff setpoint 2017-08-01 19:31:34 +02:00
Dennis Mannhart
03d86054a4 landdetector: decrease land detection to 0.3 2017-08-01 19:31:34 +02:00
Dennis Mannhart
10c41e2624 land xy max: set it back to 1.5 2017-08-01 19:31:34 +02:00
Dennis Mannhart
50ef2d0e52 landdetector: adjust time to 3 stage detection 2017-08-01 19:31:34 +02:00
Dennis Mannhart
9baf41bef1 landdetector: check horizontal movement as criteria to enter ground contact 2017-08-01 19:31:34 +02:00
Dennis Mannhart
bc46f13d90 landdetector: use control mode, add minimum speed to detect hit-ground 2017-08-01 19:31:34 +02:00
Dennis Mannhart
549d8da6ee landdetector: hit ground logic 2017-08-01 19:31:34 +02:00
Dennis Mannhart
363ed43d38 mc_pos_control: remove additional land-ground contact logic 2017-08-01 19:31:34 +02:00
Dennis Mannhart
2405abd859 mc landdetector description 2017-08-01 19:31:34 +02:00
Dennis Mannhart
4e204e00cb landdetector: maybe_landed for rover 2017-08-01 19:31:34 +02:00
Dennis Mannhart
8f7ebc1f3a mc landdetector: simplify return 2017-08-01 19:31:34 +02:00
Dennis Mannhart
8a76bd07d0 mc_pos_control: change if to else if 2017-08-01 19:31:34 +02:00
Dennis Mannhart
f75dd37326 landdetector: delete or for ground_contact detection 2017-08-01 19:31:34 +02:00
Dennis Mannhart
2890af7305 mc_pos_control: set thrust to zero once maybe_landed is reached 2017-08-01 19:31:34 +02:00
Dennis Mannhart
411ceaa6b3 multicopter landdetector: delete PX4_INFO 2017-08-01 19:31:34 +02:00
Dennis Mannhart
97b5cc77b8 landdetector: reduce maybe_landed trigger time to 1s 2017-08-01 19:31:34 +02:00
Dennis Mannhart
f8e9f380d0 landdetector: add additional landdetection state 2017-08-01 19:31:34 +02:00
Lorenz Meier
ef233d29f0 VMount: use correct doube interface 2017-08-01 12:46:59 +02:00
Lorenz Meier
91c982758e GEO: Fix double promotion warning 2017-08-01 12:46:59 +02:00
Lorenz Meier
340432e2cf legacy EKF: Use correct constants 2017-08-01 12:46:59 +02:00
Lorenz Meier
576ad4b521 Sensors update: use correct constants 2017-08-01 12:46:59 +02:00
Lorenz Meier
f4eaea99c5 Temp cal: Use correct constants 2017-08-01 12:46:59 +02:00
Lorenz Meier
ae737d8df0 Camera trigger: use double per interface spec 2017-08-01 12:46:59 +02:00
Paul Riseborough
08059caf89 EKF: Enable compensation for static pressure positional error (#7264) 
* msg: add reporting of multi rotor drag fusion

* ekf2: add reporting of multi rotor drag fusion

* ekf2: Add parameters required to tune multi-rotor wind estimation

* ekf2: Add correction for static pressure position error

* ekf2: Use correct air density for position error corrections

* ekf2: fix parameter documentation error

* ekf2: Add separate forward and reverse position error correction factors

* ekf2: Fix formatting and parameter descriptions

* ekf2: Improve comments
 2017-08-01 07:29:08 +10:00
ChristophTobler
02ea10ed99 range finder: reject if min/max value 2017-07-31 17:33:02 +02:00
Daniel Agar
d5a890041b commander RTL failsafe should be sticky 2017-07-30 01:51:27 +02:00
Beat Küng
b1215a6ddd px4_shutdown_request: make sure we release the lock in every case 
board_shutdown should not return, but just in case
 2017-07-29 23:10:47 +02:00
Beat Küng
b89deaf8e3 tap-v1/tap_pwr.c: make sure to invoke the button notification on registering the cb 2017-07-29 23:10:47 +02:00
Beat Küng
c5a1d1928d px4_shutdown_unlock: check that counter is > 0 2017-07-29 23:10:47 +02:00
Beat Küng
007b6dd8d7 commander: make sure the power_button_state topic is advertised on startup 
Otherwise the publication from IRQ context won't work
 2017-07-29 23:10:47 +02:00
Beat Küng
8923664f30 param: seek to the beginning of the file before re-trying a failed export attempt 2017-07-29 23:10:47 +02:00
Beat Küng
9d924bea3f reboot command: add lock/unlock commands to test the shutdown lock 
If needed it could be used in scripts as well.
 2017-07-29 23:10:47 +02:00
Beat Küng
dcb5f80180 shutdown: increase the max timeout to 5s 
To make sure slow param writes will finish before we hit the timeout. I've
seen param write durations of around 2s.
 2017-07-29 23:10:47 +02:00
Beat Küng
931ef189b5 param: grab the shutdown lock while writing params to the file 2017-07-29 23:10:47 +02:00
Beat Küng
898a8dcd57 shutdown: add px4_shutdown_{lock,unlock} API methods 
Prevents the system from shutting down.
 2017-07-29 23:10:47 +02:00
Beat Küng
2815c62acf fix power button shutdown: use an orb topic instead of a work queue call 
px4_shutdown_request() was called from the power button IRQ callback, which
invoked a work queue callback. But on NuttX, the work queue uses a
semaphore, and thus it cannot be called from IRQ context.
This patch switches to publishing an uORB msg instead, which is handled in
the commander main thread.

To increase failure resistance, we could subscribe to the same topic in
another module for redundancy, in case commander runs wild.
 2017-07-29 23:10:47 +02:00
Lorenz Meier
61b0a81bf9 HITL startup: Further simplification of boot logic in commander 2017-07-29 23:06:50 +02:00
Lorenz Meier
5838556742 HITL handling: Enforce the use of the activation parameter for HITL configuration 2017-07-29 23:06:50 +02:00
Lorenz Meier
8878be5741 MC land speed: Ensure that the difference between land speed and land detection is high enough 2017-07-29 22:25:09 +02:00
Lorenz Meier
dc4faa81de MAVLink: Only initialize where required 2017-07-29 16:12:41 +02:00
Lorenz Meier
6b17db35b0 MAVLink: Fix vibration message timestamp 2017-07-29 16:12:41 +02:00