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Author SHA1 Message Date
Beat Küng
d83da4ded4 fix SubscriptionMultiArray: end() iterator needs to point past the end 
And ensure not to dereference.
 2020-11-02 09:00:04 +01:00
Daniel Agar
a1ef4d1469 ekf2: only advertise immediately in multi-EKF mode 2020-11-01 15:48:35 -05:00
PX4 BuildBot
1dd3283fbb Update submodule ecl to latest Sat Oct 31 20:37:40 EDT 2020 
- ecl in PX4/Firmware (6bb56ae2b3debb76669a04adb7c64bac74bb87f4): https://github/commit/d85e24d3ca767b48bdbb1594b564d30df5777769
    - ecl current upstream: https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd
    - Changes: https://github/compare/d85e24d3ca767b48bdbb1594b564d30df5777769...48a8992caf7a95e09a5e17235133894c072b96bd

    48a8992 2020-10-30 Daniel Agar - EKF: move small simple getters to header
defb35d 2020-10-29 Daniel Agar - EKF: pass imuSample by const reference
 2020-10-31 21:11:44 -04:00
PX4 BuildBot
4df3931bd1 Update submodule sitl_gazebo to latest Thu Oct 29 20:40:02 EDT 2020 
- sitl_gazebo in PX4/Firmware (6b9dde59d6f66f5973dd2659f4a71a1e6307f70e): 2451437c19
    - sitl_gazebo current upstream: 06e801fe8b
    - Changes: 2451437c19...06e801fe8b

    06e801f 2020-10-29 Nuno Marques - add missing generated models to git ignore (#644)
eafc98b 2020-10-28 JaeyoungLim - Move boat model to jinja templates (#641)
 2020-10-29 22:00:05 -04:00
Daniel Agar
6b9dde59d6 update ecl to latest 
- fmu-v5 debug and stackcheck builds now need to be CONSTRAINED_FLASH to fit
 - delete unused holybro_durandal-v1_stackcheck build (also CONSTRAINED_FLASH)
 2020-10-29 18:56:52 -04:00
Daniel Agar
81aa8a914f boards: px4_fmu-v2 disable ver command line to save flash 2020-10-29 18:56:52 -04:00
Daniel Agar
d5894bea5c cmake: NuttX debug skip SVD print if not found 2020-10-29 15:07:47 -04:00
Daniel Agar
216a0eb3a0 cmake: NuttX redirect libapps build stdout to log file 2020-10-29 15:07:47 -04:00
Daniel Agar
b13422dd80 gitmodules update URLs to renamed PX4 repositories 2020-10-29 15:06:59 -04:00
Daniel Agar
ecb462f325 ekf2: EKF2.cpp using matrix Eulerf, Quatf, Vector3f 2020-10-29 10:22:57 -04:00
Daniel Agar
d1af095c0b ekf2: don't store vehicle_status_s 2020-10-29 10:22:57 -04:00
Daniel Agar
d27573b797 ekf2: don't store vehicle_land_detected_s 2020-10-29 10:22:57 -04:00
Daniel Agar
7757aeda94 ekf2: don't store sensor_selection_s copy 2020-10-29 10:22:57 -04:00
Daniel Agar
db5235b074 ekf2: avoid storing message copies 2020-10-29 10:22:57 -04:00
Daniel Agar
3f9f2c6fdf ekf2: multi ekf supports up to 4 IMUs 2020-10-28 20:50:58 -04:00
Daniel Agar
cf082d7f1c
Github actions: SITL tests upgrade MAVSDK v0.30.1 -> v0.33.1 2020-10-28 20:26:47 -04:00
Daniel Agar
b5e00cd424 NuttX upgrade branches to px4_firmware_nuttx-10.0.0+ 2020-10-28 17:25:08 -04:00
David Sidrane
ff87bc0fda fmu-v6x:Bootloader init NULL console 2020-10-28 14:25:25 -04:00
David Sidrane
39b1d827d2 cubeorange:Bootloader init NULL console 2020-10-28 14:25:25 -04:00
David Sidrane
1fa1f8c2c5 durandal-v1:Bootloader init NULL console 2020-10-28 14:25:25 -04:00
David Sidrane
962b90fd75 cuav:Bootloader init NULL console 2020-10-28 14:25:25 -04:00
David Sidrane
8797823333 px4_init:Split out console init to create null device to be used in non PX4 platform bsp (bootloadres) 2020-10-28 14:25:25 -04:00
David Sidrane
021bc284c1 nxp:imxrt ADC track Rev02 of ref manual change made in upstream 2020-10-28 14:25:25 -04:00
Daniel Agar
233949a377 NuttX upgrade to 10.0.0+ defconfig changes 2020-10-28 14:25:25 -04:00
David Sidrane
850e068aa3 Nuttx 10.0.0+ 2020-10-28 14:25:25 -04:00
Daniel Agar
2c874f1cd9 ekf2 selector fix SITL lockstep 
- ekf2 selector don't register lockstep until first attitude publication
 - sensors module register lockstep component
 - enable multi-EKF2 in SITL
 2020-10-28 09:42:41 -04:00
TSC21
b1dc1b1ecd msg: rtps: add IDs for missing estimator_* msgs 2020-10-28 11:58:35 +01:00
Thies Lennart Alff
82988b1912
airframes: added BlueROV2 (heavy configuration) airframe (#16004) 2020-10-28 11:07:31 +01:00
TSC21
5b7d1a0496 msg: rtps: add missing ID for orb_test_medium_wrap_around 2020-10-28 10:18:22 +01:00
Daniel Agar
69986affbf commander: calibration restore sleep after CAL_QGC_DONE_MSG/CAL_QGC_FAILED_MSG 2020-10-27 18:54:16 -04:00
Nicolas Martin
171bd6d784 positionControl: add check on sign before sqrtf 2020-10-27 18:52:23 -04:00
SalimTerryLi
05f1efd1a4
load_mon: get mem_usage by reading /proc/meminfo on Linux 2020-10-27 18:49:25 -04:00
Daniel Agar
91da194bd7 sensors/vehicle_gps_position: only register callbacks once topic published 
- this avoids creating unnecessary uORB device nodes for GPS instances that might never exist
 2020-10-27 18:40:57 -04:00
Daniel Agar
df2f26ebdf
rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned 
- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
 - helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
 2020-10-27 12:33:39 -04:00
Daniel Agar
d5e68bc05a mathlib: NotchFilter delete unused update method 2020-10-27 12:30:59 -04:00
Mathieu Bresciani
050c9dcd3d
HTE: fix variance prediction (#16016) 
In the predition step, the process variance was erroneously
multiplied by dt instead of dt^2. The default values are adjusted
accordingly to keep the same tuning for the default loop rate of 50Hz
 2020-10-27 16:56:32 +01:00
Daniel Agar
f36f8928e3
distance_sensor/vl53l1x: fix code style 2020-10-27 11:43:11 -04:00
Alexey
2e98c64853
drivers/distance_sensor: new driver for ST VL53L1x 
Co-authored-by: Alexey Matveev <>
 2020-10-27 11:26:53 -04:00
Daniel Agar
0f411d6820
Multi-EKF support (ekf2) 
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
    - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
 - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
 - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
 - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
 - ekf2 single instance mode is still fully supported and the default

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2020-10-27 10:56:11 -04:00
Daniel Agar
d5245a22d3 logger: limit default estimator_optical_flow_vel logging 2020-10-26 14:10:25 -04:00
bresch
109ed18a3a Flow: adjust default optical flow delay based on pmw3901 
This is the correct value for the most common optical flow sensor
 2020-10-26 14:10:25 -04:00
bresch
142724748a pmw3901: Adjust scale factor to match gyro data 2020-10-26 14:10:25 -04:00
bresch
09cc3120e2 OpticalFlow: add optical flow velocity logging 
This is important to align the flow with the IMU data and verify that
the compensation is properly done
 2020-10-26 14:10:25 -04:00
Matthias Grob
8e710294b3 FlightTaskManualAltitudeSmoothVel: fix parameter inheritance chain 2020-10-26 15:55:21 +01:00
Matthias Grob
7ba93d5452 FlightTasks: fix reActivate not calling the parent overrided method 2020-10-26 15:55:21 +01:00
FengShun
eac9a6b68b Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH 2020-10-26 13:01:13 +01:00
FengShun
90c366f369 uORB::Publication*: template parameter automatically obtains the queue size according to the type 2020-10-26 13:01:13 +01:00
Nicolas Martin
948bed6b5c fix ekf2 saved mag bias comments (mGauss -> Gauss) 2020-10-26 00:43:20 -04:00
Daniel Agar
8435742dd5 logger: double actuator_controls_0 and vehicle_attitude_setpoint default log rate 2020-10-26 00:36:02 -04:00
Daniel Agar
6d2f592c16 logger: add vehicle_constraints to default set 2020-10-26 00:36:02 -04:00