daf668e687
Fixed wing land detector: Fix RTL logic with a temporary altitude limit workaround
2017-03-07 15:48:23 +08:00
e63ee9d8bd
fw_att wheel controller enable param (default off)
2017-03-05 11:41:14 +08:00
ca05e64a9f
replay: update & add some comments
2017-03-04 22:47:54 +08:00
eaa9e6a019
ekf2: set att.timestamp to now in replay mode before ekf is initialized
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logger will always log this topic, and a 0 timestamp will look worse in
FlightPlot. This will show a period of 0 attitude instead before ekf
is initialized.
2017-03-04 22:47:54 +08:00
01541bb10d
logger: switch from ekf2_replay to ekf2_timestamps topic, enable by default
2017-03-04 22:47:54 +08:00
1d48d7e053
ekf2 replay: add statistics output when replay finished
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The error counter is an indicator that the logger missed samples or dropped
due to a too small write buffer.
2017-03-04 22:47:54 +08:00
2a11a2bc0b
ekf2 replay: switch from ekf2_replay to ekf2_timestamps topic
2017-03-04 22:47:54 +08:00
aabdc4125b
ekf2: publish ekf2_timestamps topic
2017-03-04 22:47:54 +08:00
473192aa81
replay: some API refactoring & extensions
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in preparation to the updated ekf2 replay
2017-03-04 22:47:54 +08:00
ba89839f65
replay: make sure ReplayEkf2::handleTopicUpdate is protected, not private
2017-03-04 22:47:54 +08:00
63203625bc
replay: add ekf2 replay method (can be selected with 'export replay_mode=ekf2')
2017-03-04 22:47:54 +08:00
e251c64c5f
refactor replay: add some overrideable methods
2017-03-04 22:47:54 +08:00
df8c1a1489
logger: log ekf2_replay topic if EKF2_REC_RPL is set
2017-03-04 22:47:54 +08:00
9d54f62d37
replay: check if topic timestamp is smaller than logging start
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This could happen and then the sleep duration would wrap and be huge.
2017-03-04 22:47:54 +08:00
1d5f51e6a4
replay: don't add subscription if formats don't match
2017-03-04 22:47:54 +08:00
4eea89bb42
refactor replay: move topic publication into separate method
2017-03-04 22:47:54 +08:00
45ffb190e3
logger: add -p <topic> option to poll on a topic instead of running at fixed rate
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this will be needed for fast replay. In addition, this option disables
the orb interval.
It can be removed again once we have time simulation.
2017-03-04 22:47:54 +08:00
2220c3a60d
ekf2: use sensors timestamp for published topics when in replay mode
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when doing fast replay, hrt_absolute_time() will not match the replayed time
thus we just use the same timestamp as the input sensors.
2017-03-04 22:47:54 +08:00
018846fadf
ekf2_replay.msg: use timestamp instead of time_ref, remove unused time_usec_vel
2017-03-04 22:47:54 +08:00
aa56822f9d
ekf2_replay: fix double/float conversion compile warning
2017-03-04 22:47:54 +08:00
99beb03f83
ekf2_replay: switch to new vision topics
2017-03-04 22:47:54 +08:00
eb8bce4825
sdlog2: fix PARAM name truncation
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if a parameter name was 16 characters long (which is valid), the last
character got truncated due to 0-terminated string.
This raises the param name to 64 chars, which is quite wasteful, but there
is no other length in between.
2017-03-04 18:27:25 +08:00
54c8e3b26b
commander: fix excessive orb_advertise calls for vehicle_status_flags
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vehicle_status_flags_pub passed to publish_status_flags() was always null,
thus orb_advertise() was called each time.
Note that it did not produce a memory leak.
2017-03-04 17:44:47 +08:00
2bbe04c3d6
mavlink_receiver: don't publish sensor_combined for MAVLINK_MSG_ID_HIL_SENSOR
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In hil mode, sensors is responsible for publishing this topic.
2017-03-04 05:59:10 +08:00
881f2d2d36
sensors: add 'sensors start -hil' parameter
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This does the following if given:
- don't initialize the sensors (the sensor drivers are not started)
- publish sensor_combined even in hil mode
- do not apply or publish thermal corrections
2017-03-04 05:59:10 +08:00
3f6783fce7
mc_att_control: make sure to update the polling fd when the selected gyro changes
2017-03-04 05:59:10 +08:00
ec33607912
mc_att_control_main: make sure to initialize at least one gyro sensor
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in HIL mode, gyros are published after mc_att_control started.
2017-03-04 05:59:10 +08:00
f5ae90a7cb
mavlink_main: add POSITION_TARGET_LOCAL_NED to mavlink stream
2017-03-03 07:23:02 +01:00
9ef87f1311
VTOL QuadChute Maximum roll and pitch angles ( #6665 )
2017-03-02 10:34:04 -05:00
e892a51afb
mc_pos_control: delta_t needs to be positive
2017-03-01 11:46:23 +01:00
2b90224075
land_detector: added parameter for manual position stick takeoff threshold
2017-02-28 13:05:33 +01:00
9c2dd48814
landdetector: m/s to m
2017-02-27 22:54:19 +01:00
7f54f891c1
land_detector: set max height to 100
2017-02-27 22:54:19 +01:00
6939583650
mc_pos_control: _run_altitude if close to max altitude
2017-02-27 22:54:19 +01:00
3d4e7819a0
landdetector: delete function update_alt_max
2017-02-27 22:54:19 +01:00
1774e01c00
rtl: keep rtl altitude below max altitude
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land_detector: delete unused class enum
2017-02-27 22:54:19 +01:00
b887654d69
mc_pos_control: fix limit_altitude function
2017-02-27 22:54:19 +01:00
ca84cc7439
mc_pos_control: delete max altitude, which is not set by landdetector
2017-02-27 22:54:19 +01:00
a1982e0392
land_detector: battery level status to adjust maximum altitude possible
2017-02-27 22:54:19 +01:00
c8690fd072
mc_pos_control: limit altitude
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mc_pos_control: delete spaces
mc_pos_control: cleanup and threshold for velocity control to altitude control when close to max altitude
2017-02-27 22:54:19 +01:00
5c524e15f8
Battery params: Enforce system reboot
2017-02-27 16:37:08 +01:00
3961c46d68
UAVCAN: Incorporate manual loackdown
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This flag is triggered when the manual kill switch is activated. The motors
did not stop when the kill switch was engaged before adding this check.
2017-02-27 12:48:30 +01:00
16530e15db
Commander: Differentiate between emergency battery level and critical battery level
2017-02-27 09:03:20 +01:00
029c6de4a9
Battery estimator: Warn on dangerously low levels.
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We need to differentiate between a level where the user should act and where we are about to fall out of the sky (emergency). This helps performing more suitable failsafe actions.
2017-02-27 09:03:20 +01:00
7710b64d27
Navigator: Re-initialize RTL every time it gets re-enabled
2017-02-26 13:26:52 +01:00
6ce5807240
mavlink: Send message to control onboard camera as broadcast
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The target was it self.
2017-02-25 19:03:45 +01:00
fe4ea6dd63
VTOL mc_pos reset internal state during FW mode
2017-02-25 17:57:05 +01:00
1b2973f602
VTOL fw_att don't reset integrators during transition
2017-02-25 17:57:05 +01:00
8fd27fddcd
mc_pos_control: moved responsibility of the x,y stick deadzone to a mathematical function
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to prevent a setpoint step when moving the stick over the border of the deadzone
and to enable very small inputs even from a control stick that needs a big deadzone
2017-02-25 11:05:53 +01:00
ad3d0391ab
Navigator: Only update params as they change
2017-02-25 11:04:52 +01:00
Lorenz Meier