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21112 Commits

Author SHA1 Message Date
Julian Kent
dd9c82eb20
systemcmds/gpio: Add nsh command to manipulate/read GPIO 
* Add basic GPIO test app for R/W on pins from nuttx shell
* Add gpio command to fmu-v3 and fmu-v4
* Sanitize gpio commands by pin configs, --force to override
 2020-05-23 11:47:40 -04:00
David Sidrane
0139acacfd adc:Restore ADC test's usefulness 2020-05-23 11:43:04 -04:00
Dusan Zivkovic
b7ebdab7fd mavlink_receiver: handle LANDING_TARGET message: publish irlock_report when landing target position invalid 2020-05-23 11:42:21 -04:00
Daniel Agar
951969ba00
drivers/imu/invensense: new ICM20948 driver on SPI with AK09916 mag 2020-05-22 00:09:30 -04:00
Silvan Fuhrer
504794eddc
VTOL: reject transition command in certain flight modes 2020-05-20 15:54:31 -04:00
PX4 BuildBot
a4c77056f6 Update submodule ecl to latest Wed May 20 16:46:07 UTC 2020 
- ecl in PX4/Firmware (73de85e258590461b6fe14668df8de1fc9c54cb7): 24f2e60b7e
    - ecl current upstream: 600240d95f
    - Changes: 24f2e60b7e...600240d95f

    600240d 2020-05-20 Daniel Agar - EKF: resetGpsAntYaw() fix double promotion
39c09b8 2020-05-19 kamilritz - add basic gps yaw fusion test
21f49c2 2020-05-16 Kamil Ritz - Use resetQuatStateYaw during gps yaw reset
7f21364 2020-05-20 Carl Olsson - EKF: use initial wind uncertainty with no airspeed sensor (#823)
bf78044 2020-05-20 kritz - EKF: fix initialization of local position validity 2 (#820)
716caa5 2020-05-19 kritz - Refactor position resets (#822)
37d9cef 2020-05-19 Mathieu Bresciani - ekf: disable xy accel bias learning before takeoff (#818)
9788c3b 2020-05-15 Mathieu Bresciani - ekf: split accel bias learning in independant xyz components (#817)
19bbea7 2020-05-14 Paul Riseborough - Fix GPS altitude not fused if GPS checks fail and GPS is primary height source (#813)
 2020-05-20 15:48:27 -04:00
Matthias Grob
27586db93e rc_update: remove obsolete RC filtering 2020-05-20 19:30:19 +02:00
Matthias Grob
17d4fd064f FlightTaskManualAltitude: add an optional stick tilt input filter 2020-05-20 19:30:19 +02:00
Matthias Grob
1a3c692e4e mc_att_control: add an optional stick tilt input filter 2020-05-20 19:30:19 +02:00
Beat Küng
6c16a29d26 mavlink: remove unneeded TIMESYNC stream from MAVLINK_MODE_EXTVISION 
set in MAVLINK_MODE_EXTVISIONMIN by fallthrough
 2020-05-20 09:12:50 +02:00
Beat Küng
107ab16e96 mavlink: reorder streams to optimize latency 
In particular this together with the previous commit reduces timesync
round-trip time spikes by more than 10ms, and makes it generally more
stable.

Other streams are reordered according to onboard priority.
 2020-05-20 09:12:50 +02:00
Beat Küng
fa8def903d mavlink: move ulog handling after stream updates 
reduces latency for the mavlink streams
 2020-05-20 09:12:50 +02:00
Beat Küng
d0ad308eda serial_test: fix build for linux 2020-05-20 09:12:50 +02:00
Julian Oes
f2e2ac5def gps: workaround spurious GCC 10.1 warning 
This is a workaround for a warning in GCC 10.1:
src/drivers/gps/devices/src/ubx.cpp:520:8: error: writing 4 bytes into a
region of size 0 [-Werror=stringop-overflow=]

Also see:
https://gcc.gnu.org/bugzilla/show_bug.cgi?id=91707
 2020-05-19 10:10:19 -04:00
Julian Oes
44be9d5568 controllib: fix implicit cast warn with clang 10 2020-05-19 09:58:43 -04:00
Michal Stasiak
4f82f028e7 airspeed_calibration: Fix FD leak 2020-05-19 13:48:43 +02:00
Julian Oes
793eb82153 navigator: allow mission items with same position 
This reverts the addition of a check against mission items that have the
same position. This breaks existing MAVSDK implementations where a
LOITER_TIME item is set right after a WAYPOINT with the same
coordinates. It is an interim hack to allow the vehicle to hold still
during a photo is captured.

This leaves the check in place for gates where we need to be able to
calculate the direction between gate and waypoint.
 2020-05-19 08:51:21 +02:00
Silvan Fuhrer
b5cc3c4ef5
mavlink_messages: send EAS instead of IAS (#14858) 
Send equivalent_airspeed_m_s instead of indicated_airspeed_m_s for HUD on groundstation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-05-18 10:34:39 +02:00
JacobCrabill
328477f0be UavcanNode: Add sensor_type to range_sensor pub. 2020-05-15 16:45:52 +01:00
Matthias Grob
03bafd5581 powerCheck: make 5V warning threshold 0.1V lower 
Because of warnings on every flight on setups without
any need for concern. Some even high quality supply voltage regulators
that are rated for 5V can with tolerances and load get lower than 4.9V.
 2020-05-13 11:37:20 -04:00
ealdaz
c96b5246ff Improved Hold behaviour 
Added local position as a valid source of position
 2020-05-13 13:08:41 +02:00
kritz
3897030c6f
Support odometry velocity in body and local frame (#14703) 
* Update submodule ECL

* increase lower bound on EVV param
 2020-05-13 12:43:02 +02:00
Daniel Agar
05886e053f mavlink_log_info: always print to console and merge with mavlink_and_console_log_info 2020-05-12 08:53:51 +02:00
PX4 BuildBot
b933557f56 Update submodule ecl to latest Tue May 12 00:39:54 UTC 2020 
- ecl in PX4/Firmware (286bf4f0b911fcc040788117ea79c432f6a95a83): 97b437233e
    - ecl current upstream: 03191847f9
    - Changes: 97b437233e...03191847f9

    0319184 2020-05-11 kritz - Fix ev_pos_obs_var(1) entry (#809)
440383f 2020-05-09 Kamil Ritz - Increase matrix library usage and remove white line
 2020-05-11 22:11:19 -04:00
Daniel Agar
b461066ac5 bmi055/bmi088: remove TIMER_REDUCTION, sample at Nyquist rate 2020-05-11 12:59:34 -04:00
Daniel Agar
19b2d7fe9a bmi088: fix accel schedule interval 2020-05-11 12:59:34 -04:00
Daniel Agar
08d65280f1 bmi055: fix accel schedule interval 2020-05-11 12:59:34 -04:00
Daniel Agar
56211864b8 bmi088: accel & gyro don't publish duplicated reads 2020-05-11 12:59:34 -04:00
Daniel Agar
e0fc404f91 bmi055: gyro don't publish duplicates 2020-05-11 12:59:34 -04:00
Daniel Agar
2bbdef205e sensors/vehicle_angular_velocity: don't remove bias twice 2020-05-10 15:30:37 -04:00
Daniel Agar
ec2cd3b1be
sensors: use sensor_gyro timestamp_sample for sensor_combined timestamp 
The timestamp actually used by ekf2 is the sensor_combined timestamp, so we should be setting it with the actual data sample timestamp, rather than the aggregated sensors topic publication metadata.

Later the sensor_combined message will be replaced with vehicle_imu that carries a separate publication timestamp and raw sample timestamp.
 2020-05-10 15:24:32 -04:00
PX4 BuildBot
49981627dd Update submodule ecl to latest Sun May 10 12:39:42 UTC 2020 
- ecl in PX4/Firmware (43bf631832ab836534f2197c286c1fd380872625): 12835b999e
    - ecl current upstream: 97b437233e
    - Changes: 12835b999e...97b437233e

    97b4372 2020-05-08 bresch - ekf: remove unused function
26d4fbc 2020-05-08 bresch - EKF: reduce scope of variable and remove redeclaration of member
edc8a88 2020-05-08 bresch - yaw_fusion: remove useless initialization
75c49b2 2020-05-08 bresch - ekf_helper: fuse double if
0e3bf28 2020-05-08 bresch - EKFGSF_yaw: cleanup initialization of member variables
 2020-05-10 11:51:31 -04:00
Daniel Agar
d53bb581c2 navigator: check _navigation_mode_array before run 2020-05-09 11:46:39 -04:00
Daniel Agar
da186877c9 gps: only use injected data if copy successful 2020-05-09 11:46:39 -04:00
Samuel Garcin
b12a655c5b
Notch filter Direct Form I implementation that support dynamic change of frequencies 
* New NotchFilter methods ahead of RPMFilter implementation.
 * Added Direct Form I implementation that support dynamic change of frequencies.
 * Added update method to update frequency on an existing filter.
 * Added setCoefficients method to easily and efficiently create clones of a filter.
 * LowSide, HighSide, Onnotch and array tests testing the applyDF1 method.
 2020-05-08 12:00:27 -04:00
Silvan Fuhrer
0c75385395
replace IAS with EAS in FW attitude controller (#14868) 
The EAS is the calibrated airspeed corrected with a scaling factor to account for sensor error/placement of pitot.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-05-08 10:46:24 +02:00
Daniel Agar
8d48e49ef9 cmake build lis2mdl with all magnetometers 2020-05-07 15:21:15 -04:00
Beat Küng
7c4b5a03f6 drivers: add lis2mdl mag driver 2020-05-07 15:21:15 -04:00
Daniel Agar
6d846143dc pwm_out: update pwm outputs up to twice as fast as actual pwm frequency 
- this is done to minimize real end-to-end latency
 - actual pulse width only updated for next period regardless of output module
 - add cycle interval perf counter
 2020-05-07 13:18:09 -04:00
Daniel Agar
aa380f351f uORB: SubscriptionInterval last update shift forward with interval 2020-05-07 13:18:09 -04:00
Daniel Agar
7cf8a7ca64 uORB top readd initial clear screen 2020-05-07 09:31:15 +02:00
Daniel Agar
a2d170d850 uORB: top output improvements 
- sleep slightly longer than 1s to capture 1 Hz topics
 - round msg rate calculation
 - add topic size to outpu
 - by default only print topics with subscribers
 - clear previous output (past cursor)
 2020-05-07 09:31:15 +02:00
Daniel Agar
41660c3550
commander: update EKF accel & gyro bias arming limits 
- these should have been rescaled when the ecl/EKF filter update period changed from 8 ms -> 10 ms
 2020-05-07 01:21:47 -04:00
PX4 BuildBot
fa64c3862d Update submodule matrix to latest Thu May 7 00:38:16 UTC 2020 
- matrix in PX4/Firmware (b14143229d5aa79e060c2bf65a2eb35f36b7a38c): d613055462
    - matrix current upstream: 2bee0d078c
    - Changes: d613055462...2bee0d078c

    2bee0d0 2020-05-06 Matthias Grob - Quaternion: refactor multiplication to matrix multiplication style
 2020-05-06 22:27:07 -04:00
Daniel Agar
7207301e56 simulator: temperature only updated with baro 2020-05-06 15:34:21 -04:00
Daniel Agar
9963bb6c40 parameters: lock shutdown earlier in param_save_default() 
- this ensures the parameter file is closed properly before shutdown
 2020-05-06 13:53:54 -04:00
Daniel Agar
10b289b43c commander: only report manual control lost if found once 2020-05-06 13:53:54 -04:00
Daniel Agar
7bb256f4b7 commander: skip continuous preflight check if calibrating 2020-05-06 13:53:54 -04:00
Daniel Agar
6705ac3e3b commander: reject PREFLIGHT_CALIBRATION and PREFLIGHT_STORAGE if armed or shutting down 2020-05-06 13:53:54 -04:00
Daniel Agar
04113b4d57 commander: changes when USB connected 
- skip avionics rail voltage check when USB connected
 - skip forced reboot on USB disconnect if circuit breaker set
 - avionics voltage preflight check don't silently fail if system_power unavailble
     - explicitly set supply check circuit breaker (CBRK_SUPPLY_CHK)
 2020-05-06 13:53:54 -04:00