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Author SHA1 Message Date
Daniel Agar 328c5cb1cf mavlink: properly cleanup instance on exit 2021-06-09 10:58:34 -04:00
Daniel Agar 251f1a069b ekf2: update message lost error messages to perf counters 
- only allocate these perf counters if data source is present
 2021-06-08 20:12:17 -04:00
Daniel Agar 47b9016f5e I2CSPIDriverBase: print rotation and i2c address if set 2021-06-08 09:27:21 +02:00
Daniel Agar 578c003c13 ekf2: selector handle uninitalized test ratios 
- choose the best instance regardless of tilt or yaw alignment
 2021-06-07 08:56:37 -04:00
Daniel Agar 4f850c7cd0 sensors: preserve all valid calibration parameters even if sensor currently missing 
- mark calibration slots active for first N sensors found
 - calibration procedure don't bother resetting unused slots
 2021-06-07 08:50:32 -04:00
Daniel Agar 2ccd86102b ekf2: add command line option to manually select instance 2021-06-07 08:47:17 -04:00
Daniel Agar 4f8f1a5f7e mavlink: streams HEARTBEAT fix code style 2021-06-04 20:43:25 -04:00
Daniel Agar d31a45a62d github actions SITL test run standard_vtol with address sanitizer 2021-06-04 13:27:42 -04:00
Daniel Agar 470c3cfa6e mavlink: streams HEARTBEAT fix vehicle_control_mode copy 2021-06-04 15:19:34 +02:00
Daniel Agar db1657fa84 sensors/vehicle_magnetometer: apply current compensation regardless of arming state 
- simplify update on mag compensation type change
 2021-06-03 10:08:19 -04:00
Daniel Agar 284375efc3 px4io: only update PWM MAX/MIN/DIS/FAIL/REV once 
- Updating PWM params on param change was interfering with VTOL
parameter settings (e.g. PWM_MIN is set by VTOL at init, and
was then overwritten here after an arbitrary param change).
 2021-06-03 00:52:05 -04:00
Daniel Agar c6d5bd868e boards: px4_fmu-v6x_default disable LPE to save flash 2021-06-02 09:12:24 -04:00
Daniel Agar 5f775b508f boards: enable CONFIG_OTG_ID_GPIO_DISABLE on all F7/H7 2021-06-01 15:19:15 -04:00
Daniel Agar d430e13401 sensors: wait for real sample rate to initialize LowPassFilter2p 2021-06-01 08:58:10 -04:00
Daniel Agar 438b0abc7a mathlib: Biquad filters use internal fields for parameter update 2021-06-01 08:58:10 -04:00
Daniel Agar 9661eddef8 mathlib: LowPassFilter2p initialize b0 to 1 for safety 2021-06-01 08:58:10 -04:00
Daniel Agar e52c0ceca5 Update submodule mavlink v2.0 to latest Tue Jun 1 00:39:07 UTC 2021 2021-05-31 21:11:01 -04:00
Daniel Agar 806b462935 px4_work_queue: increase UART stack 2021-05-31 14:49:40 -04:00
Daniel Agar 5831494164 boards: px4_fmu-v2_default disable gyro_calibration module to save flash 
- this doesn't impact regular gyro calibration
 2021-05-31 12:11:53 -04:00
Daniel Agar 90e106ede3 boards: cuav_x7pro_test disable LPE to save flash 2021-05-31 10:26:45 -04:00
Daniel Agar 5493d96d17 mathlib: merge LowPassFilter2p, LowPassFilter2pArray, and LowPassFilter2pVector3f 
- fix reset for direct form 2
 - push NAN checks out to filter users
 2021-05-31 10:26:45 -04:00
Daniel Agar 2a792ca201 gyro_fft: add simple SNR requirement and reduce number of peaks 2021-05-31 10:26:45 -04:00
Daniel Agar 3269ee8df1 sensors/vehicle_angular_velocity: accumualted notch filtering and reset improvements 
- apply sensor scaling immediately to keep things simple (FIFO vs regular)
 - inline filter helpers (minor performance improvement)
 - dynamic notch filtering
    - reorder by axis (applied per axis)
    - don't remove notch filters immediately if ESC or FFT data times out
    - constrain notch filter frequency and bandwidth to safe range (minimum bandwidth for flaot precision, Nyquist, etc)
 - add safe constraint on dt
 2021-05-31 10:26:45 -04:00
Daniel Agar 561cfca4f9 fake_imu: add fake ESC status for testing dynamic notch filters 2021-05-31 10:26:45 -04:00
Daniel Agar f25a70a674 mathlib: Notchfilter updates 
- merge NotchFilterArray into regular NotchFilter (apply vs applyArray)
 - only use direct form 1 to prevent reset confusion
 - safe default field initialization
 - update VehicleAngularVelocity usage
 2021-05-31 10:26:45 -04:00
Daniel Agar 055b5404c3 sensors/vehicle_imu: switch to WelfordMean library and other improvements 
- use WelfordMean library to determine sensor sample rate average
 - if gyro samples exceeds queue depth, instead round to nearest even integer to ease scheduling
 - force update if publication latency is falling behind
 - remove redundant sample interval perf counters
 - status print accel & gyro interval standard deviation
 2021-05-31 10:05:10 -04:00
Daniel Agar 3340fca332 sensors/vehicle_imu: move accel & gyro updates to separate methods 2021-05-31 10:05:10 -04:00
Daniel Agar a5979e16be sensors/vehicle_imu: move publish to separate method 2021-05-31 10:05:10 -04:00
Daniel Agar 0b9e4a5902 sensors/vehicle_imu: Integrator simplify and make header only 2021-05-31 10:05:10 -04:00
Daniel Agar 51f738e54c boards: bootloader.cmake trivial whitespace cleanup 2021-05-28 23:56:20 -04:00
Daniel Agar ad534561d3 commander: only play safety change tunes if initialized 2021-05-27 10:13:49 +02:00
Daniel Agar af71b2e3ab commander: fix COM_DISARM_PRFLT parameter description typos 2021-05-26 21:48:41 -04:00
Daniel Agar b264577daa sensors/vehicle_acceleration: require valid sample rate before running 
- this fixes a minor edge case when you only have a single accelerometer and haven't made any parameter changes, the sensor sample rate (used for filtering) might not have been updated from default
 2021-05-24 21:39:42 -04:00
Daniel Agar 22838f491a ekf2: replace mag missed error message with perf count 
- this error is primarily useful when significant gaps in magnetometer are present, otherwise the occasional gaps at startup, etc are distracting in regular usage
 2021-05-24 20:52:07 -04:00
Daniel Agar 0fc98b2793 move IMU_GYRO_FFT_EN parameter to developer category 
- these need more work and testing before we should encourage wider usage
 2021-05-24 18:59:32 -04:00
Daniel Agar e18b1c0355 mpu9250: tolerate missing/mismatching FIFO samples if I2C slave mag active 
- when the mpu9250 mag is active it disrupts IMU sampling
 - this change modifies the simple mpu9250 FIFO integrity checks (comparing duplicate accel samples) to tolerate these samples that don't match if the mag is active
 - fixes #17615
 2021-05-24 11:22:13 -04:00
Daniel Agar 6549017993 navigator: GeofenceBreachAvoidance remove duplicate type alias 2021-05-23 17:51:08 -04:00
Daniel Agar 8327335fa4 Update submodule mavlink v2.0 to latest Sat May 22 00:38:27 UTC 2021 2021-05-22 13:35:50 -04:00
Daniel Agar 61e972ba35 px_uploader.py remove special pyserial checks that fail on some platforms 2021-05-21 08:56:12 +02:00
Daniel Agar 9969edfabc mavlink: STATUSTEXT stream use perf count for missed messages 
- don't send stale messages
 - process all queued messages until tx buffer is full
 2021-05-20 10:39:11 -04:00
Daniel Agar 10f33cdd35 boards: px4_fmu-v6x_default re-enable top and free up flash 2021-05-18 16:22:02 -04:00
Daniel Agar e498023d0f ist8308: improve configuration 
- disable noise suppression filter
 - select more appropriate dynamic range
 - carefully set and clear all ODR, DR, and OSRCNTL bits
 - retry in probe multiple times
 2021-05-18 13:20:21 -04:00
Daniel Agar 820a442fe3 drivers/imu/analog_devices/adis16448: minor fixes and compatibility with older model 
- increase SPI stall time slightly
 - tolerate mag self test failure (could be due to local magnetic field)
 - register configuration compatible with older ADIS16448AMLZ
 - don't publish duplicate accel/gyro
 - only allocate CRC perf counter if using CRC
 2021-05-18 12:44:37 -04:00
Daniel Agar db3c89b1e3 Update submodule mavlink v2.0 to latest Tue May 18 00:50:40 UTC 2021 2021-05-17 21:53:36 -04:00
Daniel Agar c3884b5bc1 fake_imu (formally fake_gyro) updates for testing gyro filtering 
- fake_imu now publishes sine sweeps over 10 seconds
 - accel is also published so that fake IMU can be selected when the only option
 2021-05-17 20:26:25 -04:00
Daniel Agar 39c90c8fc9 Update submodule GPSDrivers to latest Mon May 17 12:38:15 UTC 2021 2021-05-17 19:25:45 -04:00
Daniel Agar 87b861d0f0 IMU_GYRO_CUTOFF and IMU_DGYRO_CUTOFF increase default slightly 2021-05-17 17:37:52 +02:00
Daniel Agar 3a3cc33d69 drivers/optical_flow/paw3902: require >= 10 valid consecutive readings before deciding mode changes 
- improve mode change requirements comments
 - reduce verified read/write retries (these are mostly wasting time)
 2021-05-16 20:29:06 -04:00
Daniel Agar 904f827df0 Jenkins: increase timeout and build history 2021-05-16 15:59:56 -04:00
Daniel Agar ecf2cd3afb CAN node STM32F7 support and Freefly RTK GPS CAN node 2021-05-16 13:10:02 -04:00
Daniel Agar ad0482155e ROMFS: reduce LOGGER_BUF default to 8 kB on older boards 2021-05-12 17:06:33 +02:00
Daniel Agar c49c8932de commander: mag_calibration fail immediately if no mags available 2021-05-08 13:03:42 +02:00
Daniel Agar dfb4ec56b1 Makefile: clean and distclean updates 
- update clean to recurse all build directories and use build system clean
 - git clean is used to remove submodule generated build artifacts that
are left in the source tree
 - distclean now discards all build directories and any gitignored
filess that were generated in source directories (but not top level)
 2021-05-08 12:29:16 +02:00
Daniel Agar f15eefcc95 ekf2: selector increase status rate before potential instance change 2021-05-07 22:38:47 -04:00
Daniel Agar 9419f9c5e8 Update submodule mavlink v2.0 to latest Thu May 6 12:39:02 UTC 2021 2021-05-06 13:52:43 -04:00
Daniel Agar 177ee4cbca drivers/optical_flow/paw3902: properly discard samples after mode change 
- respect mode 2 shutter requirements from datasheet (should not operate with Shutter < 0x01F4 in Mode 2)
 - sensor reset is handled by mode change
 2021-05-05 21:48:01 -04:00
Daniel Agar b1ebd16c61 ekf2: improve selector reset handling 
- handle reset count rollover (uint8_t)
 - compute full reset delta if primary estimator instance has changed or if we missed a reset
 2021-05-05 21:45:13 -04:00
Daniel Agar c1d3be4258 Makefile: keep git clean for submodules to resolve incomplete dependency problems 2021-05-04 21:22:56 -04:00
Daniel Agar 68a9e981b1 boards: px4_fmu-v5_optimized disable temperature_compensation to save flash 2021-05-04 21:20:32 -04:00
Daniel Agar f5b6656a6c cmake: set MAX_CUSTOM_OPT_LEVEL to -O3 if Release 2021-05-04 21:20:32 -04:00
Daniel Agar 3b7ce61901 px4_work_queue: increase wq:rate_ctrl stack slightly 2021-05-04 17:40:56 -04:00
Daniel Agar 3ec40a5956 collision_prevention: fix CP_GO_NO_DATA parameter type 2021-05-04 16:41:32 -04:00
Daniel Agar 3348869ae1 Makefile: git clean properly preserve project files (.project, .cproject, etc) 2021-05-04 09:49:50 -04:00
Daniel Agar e78a4287f9 parameters: attempt import multiple times 2021-05-02 13:48:16 -04:00
Daniel Agar 3b24abaa1b Makefile: clean use git clean to delete all gitignore files recursively 2021-05-02 13:47:54 -04:00
Daniel Agar feebb24106 logger: skip multi-EKF logging if CONSTRAINED_MEMORY 2021-05-02 13:47:28 -04:00
Daniel Agar b4e0a8396e Tools/process_sensor_caldata.py - median filter sensor data 
- this makes it a bit easier to see what's going on now that the raw sensor data (sensor_accel, sensor_gyro) is completely unfiltered
 2021-05-02 13:42:09 -04:00
Daniel Agar 5ec5a12f5e Tools/setup: update ubuntu.sh with current NuttX dependencies 2021-05-02 13:10:47 -04:00
Daniel Agar 6e2343a485 Jenkins: fix new px4io/px4-dev-nuttx-focal container tag 2021-05-02 12:34:48 -04:00
Daniel Agar 92dc1a71a6 github actions delete MAVROS avoidance tests 
- these aren't currently running properly on github actions, but continue to use build resources
 2021-05-02 11:44:06 -04:00
Daniel Agar 165420598e Update submodule mavlink v2.0 to latest Sat May 1 00:38:27 UTC 2021 2021-05-01 19:17:28 -04:00
Daniel Agar 186bc2bda4 Update submodule GPSDrivers to latest Sat May 1 00:38:31 UTC 2021 2021-05-01 10:31:09 -04:00
Daniel Agar 64688b04d8 boards: mro pixracerpro set BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT instead of RC_SERIAL_SINGLEWIRE 2021-04-29 21:06:39 -04:00
Daniel Agar c266c3e43a parameters: remove unnecessary param_get_system_default_value() locking 2021-04-26 09:49:15 +02:00
Daniel Agar 6e9e503ee6 sensors/vehicle_imu: accel clipping warning minor improvements 
- no warning if accel is disabled
 - threshold increased 100 -> 1000 (only warn if severe ongoing clipping)
 - more generic warning message (vehicle isn't necessarily in air flying)
 2021-04-25 17:03:43 -04:00
Daniel Agar 8478d1ea37 sensors/vehicle_angular_velocity: properly handle filter reset on FIFO data scale changes 
For the sake of efficiency (at 8 kHz) all filtering is performed on the raw data before the calibration and rotation is applied to only the final output. As a result we have to be a bit more careful when switching between sensors or in cases where the gyro scale factor changes (eg icm42688p 20 bit data rescaled to fit in int16 output).
 2021-04-25 14:20:32 -04:00
Daniel Agar ed0fa99198 icm42688p: limit to 8 kHZ for now 2021-04-24 20:23:19 -04:00
Daniel Agar 59b70a881d commander: temporarily increase worker thread stack substantially 2021-04-23 22:13:12 -04:00
Daniel Agar c71a228f15 Tools/setup: macos use pip as python3 module 2021-04-23 16:47:49 -04:00
Daniel Agar f9d8c613b0 px4_work_queue: increase nav_and_controllers stack 2021-04-21 07:34:13 +02:00
Daniel Agar 38bc46fd1a re-add RC_MAP_RATT_SW (unused) and mark active for QGC 2021-04-16 13:07:02 -04:00
Daniel Agar 2492fb35e4 rc_update: require consecutive valid input_rc before publishing 2021-04-15 16:40:54 -04:00
Daniel Agar 5c4582ccce rc: dsm allow full range 2021-04-15 18:27:33 +02:00
Daniel Agar 58b40fbbb9 boards: move testing to dedicated test variants 2021-04-14 09:21:31 +02:00
Daniel Agar 047fb13922 IMU_GYRO_RATEMAX: enforce reasonable constraint and update metadata 2021-04-13 20:26:57 -04:00
Daniel Agar 2d15c96b9b ekf2: Multi-EKF let new instance schedule itself immediately on successful init 
- this is to minimize missed sensor data (and unnecessary error output) between EKF2 construction and once it actually starts running
 2021-04-13 14:24:46 -04:00
Daniel Agar 6a4c589c62 examples/work_item: add ModuleParams and more uORB::Subscription example usage 2021-04-13 14:23:36 -04:00
Daniel Agar aa22407d87 drivers/pwm_out: only print rates if changed 2021-04-13 09:55:21 +02:00
Daniel Agar a07bccc046 boards: modalai simplify defaults with new parameter defaults mechanism (AUTOCNF replacement) 2021-04-12 21:27:53 -04:00
Daniel Agar f44f497e3f parameters: better handle export failures and retry 2021-04-12 21:26:50 -04:00
Daniel Agar edc445a1b2 parameters: tinybson fill total document length for bson compatibility 2021-04-12 21:26:50 -04:00
Daniel Agar f0f16b9cc5 mavlink: streams fix SCALED_IMU size reporting 2021-04-12 13:02:10 -04:00
Daniel Agar 39c96a8884 gps add device_id 2021-04-08 08:27:07 +02:00
Daniel Agar 31b9efdaeb sensors/vehicle_imu: increase threshold for clipping warning 2021-04-06 15:42:26 -04:00
Daniel Agar f33fee99c1 ROMFS: init.d-posix/airframes migrate EKF2_GPS_MASK -> SENS_GPS_MASK 2021-04-06 13:48:40 -04:00
Daniel Agar e05a4badf8 ROMFS: rcS start uavcan earlier 
- starting this earlier is a minor improvement for things like lights and buzzers on UAVCAN or parameter sync over mavlink
 2021-04-06 09:48:11 -04:00
Daniel Agar 4189eb11f5 simulator: GPS populate all sensor_gps fields (alt_ellipsoid, etc) 2021-04-06 09:44:18 -04:00
Daniel Agar 015849b402 mathlib: LowPassFilter2p and NotchFilter add magnitude response getter 2021-04-05 22:47:30 -04:00
Daniel Agar f9460107d0 cleanup PWM param naming inconsistencies 2021-04-05 22:41:06 -04:00
Daniel Agar 436a6fce38 Update submodule mavlink v2.0 to latest Tue Apr 6 00:39:07 UTC 2021 2021-04-05 22:28:10 -04:00