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16349 Commits
Author SHA1 Message Date
RomanBapst 18074dec5a simulator: fix conversion from hPa to Pa 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-29 17:41:54 +03:00
Daniel Agar 84e796c385 drives/gps: add new sensor_gnsss_relative msg 
- for ublox this corresponds to NAV_RELPOSNED
 2022-03-29 07:59:41 +02:00
Matthias Grob c7f114a26a FlightTaskOrbit: increase radius limit 2022-03-28 17:57:56 +02:00
Matthias Grob d0794c1189 FlightTaskOrbit: don't start Orbit if radius is not in range 2022-03-28 17:57:56 +02:00
Daniel Agar 0595efbd9b sensors/vehicle_magnetometer: publish sensors_status_mag and other minor updates to stay in sync with air data 2022-03-26 16:08:41 -04:00
Daniel Agar 0c31f63896 sensors: add baro calibration and cleanup 
- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting
 2022-03-26 16:08:41 -04:00
Daniel Agar 3d08e031d2 rc_update: improve manual_switches simple protections 
- require back to back matching switch decode to match within 1 second
 - clear any previous manual switches if RC is unstable
 2022-03-25 10:56:24 -04:00
Daniel Agar 875a2cc423 commander: remove loop counters and update UI LED control to use monotonic time 2022-03-24 22:43:26 -04:00
Daniel Agar 879622547c commander: only process one vehicle_command/action_request per cycle 
- things like arming requests can be dependent on current nav state
that might requested by a previous command, but the state machine
transition will only happen after command processing
 2022-03-24 22:43:26 -04:00
Daniel Agar e528eb5dc4 commander: fix status flags usage (condition_global_position_valid->global_position_valid) 
- broken due to the merge timing of https://github.com/PX4/PX4-Autopilot/pull/19378 and https://github.com/PX4/PX4-Autopilot/pull/19351
 2022-03-24 09:40:15 -04:00
Jaeyoung-Lim 106044be38 Initialize global local projection for rovers 
This commit initializes the global and local projection for rovers
 2022-03-24 08:57:53 -04:00
Jonas PeroliniJonasMatthias Grob
 		e31304d7d5 Quadchute param update (#19351) 
New parameter for actions after a quadchute (COM_QC_ACT)

Co-authored-by: Jonas <jonas.perolini@rigi.tech>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-03-24 10:27:32 +01:00
Daniel Agar 6135bb384b cleanup module callback registration failed errors 2022-03-23 20:44:50 -04:00
Daniel Agar f4c3084c26 init adjustments to ensure used topics are advertised early (primarily for logging) 
- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
 2022-03-23 16:51:16 -04:00
Matthias Grob e6ed595651 Commander: make last_fail_time_us parameter a reference instead of pointer 2022-03-23 15:04:48 -04:00
Matthias Grob eee4aaee4f Commander: remove dynamic position velocity probation period 2022-03-23 15:04:48 -04:00
Thies Lennart Alff f1ec6ea026 make mavlink atttitude setpoints non-exlusive for offboard setpoints 2022-03-23 11:06:40 -04:00
Silvan Fuhrer a7ddaf08c4 vehicle_status_flags.msg: remove condition_ prefix to reduce message size 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-23 10:37:51 -04:00
Jaeyoung-Lim 194a281fae Project local coordinates for all fw landing states 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim cb81c6ac8c Address review comments 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim 71bfb9c0de Convert NPFG to local coordinates 2022-03-23 13:34:13 +01:00
Jaeyoung Lim 28d34bf095 Convert L1 controller to local coordinates 2022-03-23 13:34:13 +01:00
Matthias Grob 897506267d Sticks: name getThrottle() explicitly about range 2022-03-23 11:54:05 +01:00
Junwoo Hwang 0e5c305163 Stick Verbose Functinos : Make get functions for roll, pitch, yaw and throttle const to specify that it's not changing Sticks' internal variables 2022-03-23 11:54:05 +01:00
Junwoo Hwang f78465428c Stick Verbose Functions : Edit other FlightTasks using checkAndUpdateStickInputs() functions and correct Throttle returned value inverse issue 2022-03-23 11:54:05 +01:00
Junwoo Hwang 8266a4df98 Sticks : Add utility functions to get pitch, roll, throttle and yaw values intuitively and rename ambiguously named function checkAndSetStickInputs() 2022-03-23 11:54:05 +01:00
Matthias Grob 18629bb535 FlightTaskOrbit: fix tangential yaw stick input for rotation direction changes 2022-03-23 10:51:45 +01:00
Matthias Grob e03585ca06 FlightTaskOrbit: remap stick input when vehicle faces tangential 2022-03-23 10:51:45 +01:00
Matthias Grob db1fb6acf7 Commander: no battery time based RTL when already landed 2022-03-23 10:49:38 +01:00
Matthias Grob 69f6092031 mavlink_receiver: remove unused land detection publication 2022-03-23 10:49:38 +01:00
Matthias Grob c1b9b8a1c0 MulticopterLandDetector: correct comment with outdated time constant reference 2022-03-23 10:49:38 +01:00
Matthias Grob b85c4ec475 Commander: rename land detection subscription for consistency 2022-03-23 10:49:38 +01:00
RomanBapst 60231bbcb6 navigator: don't reset cruise speed and throttle during a transition as part 
of the VTOL takeoff navigation state

- the reset causes the loiter circle to be reset to home

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-22 15:14:02 +01:00
Daniel Mesham 06a9be74fa microdds: add xrce client 2022-03-22 09:01:05 +01:00
Konrad e080fab8f6 Set up landing gear logic for tiltrotor and tailsitter VTOL. Gear is set down when in hover mode, esle gear is set up. 2022-03-21 09:30:04 +01:00
Konrad d7de67844f Set up landing gear logic for standard VTOL. Gear is set down when in hover mode, else gear is set up. 2022-03-21 09:30:04 +01:00
Daniel Agar 475bd42ab8 sensors: add 2nd static notch and migrate existing parameters 
- new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW
 - existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become
IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW
 2022-03-19 14:38:04 -04:00
Daniel Agar afeab9587e gyro_fft: peak detection exclude side FFT buckets 
- when estimating the peak frequency the magnitude of side buckets will
be factored in, so it doesn't make sense to potentially treat them as
separatey detected peaks
 2022-03-19 14:37:36 -04:00
benjinne 620f25503c Add geofence predict param (#17795) 2022-03-18 11:44:13 +01:00
Daniel Agar 36e6527013 ROMFS: MAV_TYPE cleanup 
- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary
 - cleanup MAV_TYPE param metadata and commander helper to only include
what's currently used in PX4
 2022-03-17 09:28:10 -04:00
Jukka Laitinen 3d35929f3e Put gyro_fft in kernel by default in protected build 
It is a performance issue to run it on user side

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
Jukka Laitinen d167f91eb8 logger/watchdog: Disable watchdog for NuttX protected/kernel builds 
It accesses kernel internal structures directly; this needs to be
worked out with some proper userspace-kernel interface

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-17 08:01:51 +01:00
bresch f3f09c1344 PreFlightCheck: add data timeout detection for mag, baro accel and gyro 2022-03-16 11:46:01 +01:00
bresch 75aa11c955 PreFlightCheck: refactor sensors preflight checks 2022-03-16 11:46:01 +01:00
bresch b1c1163ee4 PreFlightCheck: remove unused device_id argument 2022-03-16 11:46:01 +01:00
bresch 5f1b577b6d PreFlightCheck: mark sensor required if used by an EKF2 instance 2022-03-16 11:46:01 +01:00
stmoon 6d0b11ca99 add custom target for uorb_sources_microcdr_gen 2022-03-15 17:59:22 -04:00
KonradRudin 5f43be9d60 preflight checks: add check for distance sensor (via parameter) 2022-03-15 10:44:27 +01:00
Daniel Agar 7ef38112d2 ekf2: return saved mag bias variance when not in 3d magnetometer fusion 
- the estimated mag bias was requiring > 30 seconds of continuous 3d
mag fusion to be reported stable (and saved back to mag cal), this
restores the original intent requiring 30 seconds of accumulated valid
3d mag fusion
 2022-03-14 21:03:41 -04:00
Daniel Agar 5717434e93 ekf2: initialize GPS drift metrics to NAN rather than 0 2022-03-14 10:09:24 -04:00