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2911 Commits

Author SHA1 Message Date
Daniel Agar
dd6b7fa98f sensors: switch status PX4_INFO -> PX4_INFO_RAW 2022-01-18 15:00:18 -05:00
Daniel Agar
ece09064c4 parameters: perform verification pass twice 
- on NuttX with MTD storage this is to ensure we are verifying what's
actually stored on ramtron or eeprom, not just what's cached by bchlib
 2022-01-18 09:47:28 -05:00
Daniel Agar
2fb82789fe lib/wind_estimator: pass q_att as const reference 2022-01-17 16:59:28 -05:00
Silvan Fuhrer
0ce44cebb7 WindEstimator: use vehicle heading instead of ground course for initialisation 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-01-14 17:42:01 -05:00
Thomas Stastny
082e320191 integrate optional NPFG library for wind-aware fixed-wing guidance 2022-01-14 22:05:53 +01:00
Beat Küng
9ca58f5e97 actuator outputs: always add reverse range param 
and remove the possibility to set min > max to reverse.

Initially the idea was to add the checkbox on the UI side, to avoid adding
another param, but I don't think I'll go through the extra effort on the
QGC side.
 2022-01-14 12:18:29 -05:00
Claudio Micheli
d122513197 extend support for Battery status message 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2022-01-13 08:40:34 +01:00
Daniel Agar
bb1177d504 sensor_calibration: refactor and centralize calibration slot logic 
- centralize logic for selecting a preferred calibration slot
   - automatically use existing calibration slot if it exists, otherwise
find first available slot, with a preference for a requested index
 - existing commander calibration methods rewrite all calibration slots
to match current sensor ordering
 2022-01-12 16:16:26 -05:00
Julian Oes
860b23dd17 tunes: add tune to power off 
This is used by the ATL Mantis EDU to help the user realize when the
drone is powered off.
 2022-01-10 23:04:10 -05:00
Daniel Agar
cc1fee525a lib/sensor_calibration: handle calibration slot change on parameter update 2022-01-10 17:16:50 -05:00
Daniel Agar
ab547bb982 sensors/vehicle_angular_velocity: RPM notch don't fully disable if first harmonic frequency drops below minimum frequency 
- keep higher frequency harmonics enabled per ESC
 - cleanup timestamp handling (timeouts, etc)
 2022-01-10 14:51:29 -05:00
Daniel Agar
b58922a5d7 sensors/vehicle_angular_velocity: notch filters automatically reset on sufficient parameter change 2022-01-10 14:51:29 -05:00
Daniel Agar
7d632254be NotchFilter push initialization/reset into filter 
- this simplifies the reset by allowing a notch filter to reset as
needed
 - improves cascade initialization, on reset each filter will reset
properly from the previous
 2022-01-10 14:51:29 -05:00
Daniel Agar
e731fcdbc0
sensors (accel/gyro/mag) determine if external with device id 2022-01-10 10:31:07 -05:00
Daniel Agar
78b3d22471 lib/mixer_module: consume output_limit library 2022-01-10 11:59:55 +01:00
Daniel Agar
aec97e0020 sensors: minor IMU bias saving updates 
- sensors/vehicle_imu: reset learned cal on any calibration change
during parameter update
 - sensors/vehicle_imu: cleanup logic estimated bias -> calibration offset
saving
   - don't invalidate saved calibration (the point is to keep the last valid)
   - remove old debug code, etc
 - sensors/vehicle_imu: notify parameter changes if accel or gyro
calibration has changed
 - lib/sensor_calibration: add calibrated() and calibration_index()
getters, keep Accelerometer/Gyroscope/Magnetometer in sync
 2022-01-07 09:40:51 -05:00
PX4 BuildBot
a89f21d566 Update world_magnetic_model to latest Tue Jan 4 11:14:11 UTC 2022 2022-01-04 09:12:45 -05:00
Daniel Agar
673d4544d1 parameters: verify param backup after export 2022-01-02 10:46:34 -05:00
Daniel Agar
8e26b33009 tinybson: file write error add more detail 2022-01-02 10:46:34 -05:00
Daniel Agar
80ef6e19df tinybson: explicitly append int32 or int64 2022-01-02 10:46:34 -05:00
Daniel Agar
9cbb5c9920 parameters: fix export shutdown locking 
- in NuttX bchlib keeps a sector sized buffer that might not be written
out to RAMTRON until the file is closed
 2022-01-02 10:46:34 -05:00
Daniel Agar
1b6700592b parameters: require valid BSON document size 2021-12-30 16:36:23 -05:00
Daniel Agar
236794235a parameters: export empty BSON document even if there are no parameters to save 
- otherwise a 'param reset_all' won't be saved until a parameter is changed
 2021-12-27 09:17:00 -05:00
Daniel Agar
33d7b42040 parameters: import quietly retry if there's no data (as a precuation) 2021-12-27 09:17:00 -05:00
Daniel Agar
20d3e6f4e1 parameters: add simple BSON verification pass after export 2021-12-27 09:17:00 -05:00
Beat Küng
28c4d0b7df mixer_module: add unit tests 2021-12-24 20:06:13 -05:00
Beat Küng
4c80adfaf1 control_allocator: implement trim + slew rate limits configuration 2021-12-24 20:06:13 -05:00
Beat Küng
d1abdd0f8d output drivers: add option to generate a separate output range reversing param 
Makes it a bit easier to configure. Reversing by setting MIN > MAX is still
supported.
 2021-12-24 20:06:13 -05:00
Beat Küng
1901edf13c actuator_motors.msg: add reversible flags & implement in mixer_module 2021-12-24 20:06:13 -05:00
Beat Küng
20d96f3bd9 metadata: fix BOARD_WITH_IO detection 
Wasn't correctly updated during a rebase.
 2021-12-24 20:06:13 -05:00
Daniel Agar
3f3836afa8 parameters: simplify import mark_unsaved and don't fail bson decode unnecessarily 2021-12-24 14:32:40 -05:00
Daniel Agar
d1cd4904dc parameters: param_value_is_default avoid locking if value unchanged 2021-12-24 14:32:40 -05:00
Daniel Agar
c0b8f2952c parameters: param_get_default_value avoid locking if value is static default 2021-12-24 14:32:40 -05:00
Daniel Agar
27a113ecab parameters: param_get avoid locking if value is static default 2021-12-24 14:32:40 -05:00
Daniel Agar
cd8ce4d01e parameters: remove obsolete perf_end 2021-12-24 14:32:40 -05:00
Daniel Agar
38731662c6 parameters use bitset for mark_unsaved 2021-12-24 14:32:40 -05:00
Daniel Agar
00eae055ac lib/sensor_calibration: don't save uninitialized priority parameter immediately 2021-12-23 17:49:11 -05:00
Daniel Agar
e694fa906b tinybson: add more error output on node name overflow 2021-12-23 17:45:50 -05:00
Beat Küng
f6ced71d26 pps_capture: make it configurable via output functions 2021-12-17 07:56:08 +01:00
Daniel Agar
ecc2ca7f98 mathlib: int16_t negate explicitly handle both INT16_MIN and INT16_MAX 
- technically negating INT16_MAX doesn't need special handling, but
this ensures any simple saturation logic downstream works by default
 2021-12-15 12:45:58 -05:00
Daniel Agar
d59d16a6cd drivers/accelerometer: adjust int16_t clipping threshold slightly 
- consider data clipped/saturated if it's INT16_MIN/INT16_MAX or within 1
 - this accommodates rotated data (|INT16_MIN| = INT16_MAX + 1) and sensors that may re-use the lowest bit for other purposes (sync indicator, etc)
 2021-12-15 12:45:58 -05:00
Silvan Fuhrer
e9b9176ce2 param translation: fix for FW_GPSF_LT and FW_GPSF_R 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-14 08:27:04 +01:00
Jukka Laitinen
ce6147f570 uORB: Remove transfer of memory allocation ownership to CDev 
- Allocate and free the node name in uORBDeviceNode.
- Add protected build support by de-allocating the name with kmm_free, when
  running in kernel side. strdup allocates from the kernel heap in NuttX kernel
  space.
- Remove the CDev::unregister_driver_and_memory(), it is no longer used

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-12-13 22:52:36 -05:00
Jukka Laitinen
25c10eb124 cdev: build & link fixes for NuttX protected build 
- Always link to nuttx_fs for register/unregister_driver calls

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-12-13 22:52:36 -05:00
bresch
67a893ac6d WelfordMean: remove unnecessary case for first sample 
setting the mean to the sample value and then adding 0 is the same as
setting the mean to zero and then add the sample value divided by 1
 2021-12-13 11:42:48 -05:00
bresch
5468841aa5 WelfordMean: add unit test 2021-12-13 11:42:48 -05:00
Beat Küng
80300c36b4 parameter units: add 'A' (Ampere) 2021-12-10 09:03:08 -05:00
Thomas Debrunner
ade4a1930c trajectory-planning: Added option for PositionSmoothing library with single target waypoint that disables L1 guidance 2021-12-09 20:51:39 -05:00
Matthias Grob
495f1c9165 battery: don't initialize _source without constructor 2021-12-07 21:06:51 +01:00
Matthias Grob
68e2940f58 math: support max of three values additional to min and use it everywhere 2021-12-07 21:06:51 +01:00