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24620 Commits
Author SHA1 Message Date
Thomas Stastny dc7f29e2ec welford mean: protect against negative variances 2022-10-05 10:29:03 -04:00
Thomas Stastny fbef296890 welford mean: convert to matrix only template 2022-10-05 10:29:03 -04:00
Daniel Agar 6ce38b8296 vehicle_imu: only reset raw accel/gyro Welford mean periodically 
- vehicle_imu_status can publish immediately on any measured sample
rate change or sensor error increment, but the windowed mean/variance
shouldn't necessarily reset that often
 2022-10-05 10:29:03 -04:00
Julian Oes e3d730ea37 ms5611: ignore reading 0 
This prevents publishing a negative pressure which leads to a NAN
altitude estimate further down the line.
 2022-10-04 09:42:16 -04:00
bresch 1ea4fe9b7b Mag: fix estimated bias save to calibration 
Clear the calibration at the end only otherwise everything gets erased
at the end of the first iteration of the outer loop
 2022-09-28 10:03:35 -04:00
Julian Oes 2e7df77bff uavcan: fix RTCM corrections publication 
Before this fix, this function would stall and somehow never return.
 2022-09-27 22:01:48 -04:00
Julian Oes 241abb933a libuavcan: update submodule 
This fixes a Python 3.10 issue for me.
 2022-09-27 21:55:08 -04:00
alexklimaj 61d2b13e43 Add BMP390 to BMP388 driver 2022-09-20 20:34:23 -04:00
Daniel Agar a5a9b1011a [DO NOT MERGE] px4_i2c_device_external hacks 2022-09-20 18:54:28 -04:00
Alex Klimaj af0d53cdc9 boards: V1.13.0 ARKV6X Backport (#20253) 2022-09-20 18:53:48 -04:00
RomanBapst 79367ed417 standard: fixed pusher assist in hover 
- in hover mode the pusher assist is already set in update_mc_state()

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-09-15 13:07:27 -04:00
Daniel Agar 26f912eb8a icm42670p run at full speed 2022-09-06 16:23:14 +12:00
Daniel Agar e7d18960a5 drivers/imu/invensense/icm42670p: cleanup and small fixes 2022-09-06 16:23:14 +12:00
Daniel Agar 8a54b21e7d adis16470: fix accel and gyro scaling 2022-08-17 11:40:30 -04:00
bresch b30c2c22b3 ekf2: do not run rng kinematic consistency check for fixed-wings 
As they are always moving horizontally, the check doesn't make sense
for fixed-wings.
Also don't run the check while on ground to prevent getting a failed
check during pre-takeoff manipulation.
 2022-07-12 13:54:30 -04:00
Daniel Agar cc7e709597 uavcan: GNSS optionally publish RTCMStream or MovingBaselineData 2022-07-12 13:54:21 -04:00
Daniel Agar 416610afc3 differential_pressure/sdp3x: sdp3x_main fix 'keep running' regression 2022-07-12 13:54:11 -04:00
David Sidrane 55706108b6 uc_stm32h7_can:Correct initalization of the mumber of interfaces 
H7 Only supports 2 not 3 CAN interfaces.

   CanInitHelper passes in in the run time configuration of
   the number of interfaces. The code was ignoring these!
 2022-07-01 15:32:53 -04:00
Alex Klimaj f9980e0721 uavcannode: Fix dronecan baro units 2022-06-17 14:44:32 -04:00
Daniel Agar 6823cbc414 sensors/vehicle_angular_velocity: add IMU_GYRO_RATEMAX constraints 2022-06-07 16:23:01 -04:00
Daniel Agar beaebe4d0b sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX 2022-06-07 16:22:54 -04:00
Julian Oes 4ae97c505f commander: lockdown is not termination 
We use lockdown to prevent outputs like motors and servos from being
active in HITL simulation. This means that we can't treat the lockdown
flag as a flight_terminated, otherwise we can't arm in HITL at all.
 2022-05-24 09:42:38 -04:00
Daniel Agar b8ce2a6039 icm42688p: only check configured registers periodically (as intended) 2022-05-23 14:58:37 -04:00
bresch 1f399e5b33 ekf2: use explicit flags instead of bitmask position 
This prevents bitmask mismatch when a new flag is inserted
 2022-05-23 14:57:17 -04:00
Serhat Aksun d67cddae7d sensors/vehicle_magnetometer: fix multi_mode check 
Signed-off-by: Serhat Aksun <serhat.aksun@maxwell-innovations.com>
 2022-05-23 10:10:22 -04:00
Nicolas MARTIN 39d1c79f48 HITL: undefined time_remaining_s should be NAN 2022-05-20 09:40:28 -04:00
Nico van Duijn ad410a2512 Commander: ignore MAV_CMD_REQUEST_MSG 
This commit adds the MAV_CMD_REQUEST_MESSAGE to the list of vehicle
commands which are ignored without generating a warning sound.
 2022-05-20 09:40:22 -04:00
Beat Küng afb2538da3 output drivers: init SmartLock after exit_and_cleanup 
This fixes an invalid memory access when exiting the module:
exit_and_cleanup destroys the object, but lock_guard is destructed after
and accesses the lock.
 2022-05-12 08:17:15 -04:00
alexklimaj af58c412c3 Fix uavcan battery causing immediate RTL time remaining low 2022-05-11 21:49:13 -04:00
Daniel Agar d5226b28ce drivers/rc_input: ensure RC inversion is disabled initially and latch RC_INPUT_PROTO conservatively 
- this allows jumping straight to a non-SBUS RC protocol
 - increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases.
 - only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds
 2022-05-11 14:31:51 -04:00
Beat Küng b091ea9fd9 log_writer_file: fix corner case when mission log is enabled 
Normally _should_run for mission is only ever true if _should_run for the
normal log is. There are exceptions though:
- the log buffer fails to allocate
- there was a write failure (e.g. due to SD card removal)
In that situation, the writer would not wait anymore but busy-loop.
 2022-05-11 10:07:46 -04:00
Beat Küng 9e91ca8294 log_writer_file: protect access to _should_run, use px4::atomicbool for _exit_thread 2022-05-11 10:07:46 -04:00
Igor Mišić 8302f076e7 uavcan: use timer 6 by default on stm32f7 2022-05-10 12:43:26 -04:00
Thomas Stastny de26ffa6e0 fw pos ctrl: turn back to takeoff point with npfg 2022-05-06 13:08:07 -04:00
Thomas Stastny f60d38db65 fw pos ctrl: add missing guidance control interval setting to control_manual_position() 2022-05-06 13:08:07 -04:00
Thomas Stastny 5e3c8d2fa0 fw pos ctrl: fix state switching logic for takeoff and landing 2022-05-06 13:08:07 -04:00
Matthias Grob 90998837ec Commander: ensure diconnected battery is cleared from bit field 2022-05-06 10:46:40 -04:00
Beat Küng 8cff9a1e04 commander: fix incorrect return in set_link_loss_nav_state() 
If both local position and altitude were not valid, then both RC loss and
datalink loss would not trigger any failsafe at all, independently from
the configured action.
 2022-05-06 10:15:30 -04:00
bresch f8ff34f82d ekf2: optimize KHP computation 
Calculating K(HP) takes less operations than (KH)P because K and H are
vectors.

Without considering the sparsity optimization:
- KH (24*24 operations) is then a 24x24 matrix an it takes
24^3 operations to multiply it with P. Total: 14400 op

- HP (24*(24+24-1) operations) is a row vector
and it takes 24 operations to left-multiply it by K. Total:1152 op
 2022-05-06 10:15:26 -04:00
Beat Küng e69d9ec48f dshot: avoid using pwm failsafe params when dynamic mixing is enabled 2022-05-02 11:43:51 +02:00
Beat Küng f033e164fe fix dshot: remove setAllFailsafeValues 
Fixes a regression from c1e5e666f0,
where with static mixers the dshot outputs would go to max instead of 0
in a failsafe case.
 2022-04-28 13:29:40 -04:00
Daniel Agarandchris1seto 41191765ad drivers/rc_input: RC_INPUT_PROTO parameter minimal implementation (#19539) 
Co-authored-by: chris1seto <chris12892@gmail.com>

Co-authored-by: chris1seto <chris12892@gmail.com>
 2022-04-28 13:27:15 -04:00
Daniel Agar f390f52058 drivers/differential_pressure: remove lib/drivers/airspeed dependency and cleanup 
- split ms4525_airspeed into separate ms4515 and ms4525 drivers
 2022-04-26 08:39:19 -04:00
Daniel Agar d1d15a6f6d differential pressure remove filters from drivers and average in sensors/airspeed 2022-04-26 08:39:19 -04:00
Daniel Agar 258f558fea apply differential pressure calibration (SENS_DPRES_OFF) centrally 
- remove drv_airspeed.h and ioctls
 2022-04-26 08:39:19 -04:00
JaeyoungLim c6ab4c466e Separate takeoff and landing to individual fixed wing states for FW pos control (#19495) 2022-04-26 10:24:36 +02:00
Daniel Agar 3d7a6b4021 mc_pos_control: silence invalid setpoint warning when disarmed 2022-04-26 01:37:37 -04:00
Daniel Agar 3d590af115 mc_att_control: only apply quat reset if estimate is newer than setpoint 2022-04-25 21:25:29 -04:00
Daniel Agar 23c89429ac systemcmds/param: set-default should mark parameter active to avoid race conditions 2022-04-25 21:24:18 -04:00
bresch e32a484906 [AUTO COMMIT] update change indication 2022-04-25 12:58:18 -04:00