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df19610e69be332b535d1fcf4b25e1878c04eb73
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11004 Commits

Author SHA1 Message Date
Martina df19610e69 mc_pos_control: add execution of position waypoint coming from the 
obstacle avoidance
 2018-07-12 16:36:11 -04:00
Martina 5d6771753d mc_pos_control: add execution of velocity waypoint coming from the 
obstacle avoidance module
 2018-07-12 16:36:11 -04:00
Martina f511d3a399 mc_pos_control: add method to constrain velocity setpoint 2018-07-12 16:36:11 -04:00
Martina 14444af38c mc_pos_control: subscribe to trajectory_waypoint message 2018-07-12 16:36:11 -04:00
Martina f3ce7be1e3 mavlink_messages: stream TRAJECTORY mavlink message with data from 
uORB trajectory_waypoint as input path to a obstacle avoidance node
 2018-07-12 16:36:11 -04:00
Martina 5ef26dd862 mavlink_receiver: decode mavlink message TRAJECTORY in uORB msgs 
trajectory_waypoint or trajectory_bezier depending on the mav trajectory
representation type
 2018-07-12 16:36:11 -04:00
Beat Küng e1a7472738 MavlinkOrbSubscription::update: improve performance & fix corner case 
- reorders operations, such that the most expensive one (orb_copy) is done
  only when really needed.
- corner case: when the topic was not advertised yet, orb_stat() would fail
  and then update() was called, which succeeds for the first advertisement.
  In that case the timestamp was incorrectly set to 0 and true was
  returned.
  The next call would again return true, because the timestamp was updated,
  but the topic data was still the same.

Reduces CPU load by ~2% on a Pixracer.
 2018-07-12 21:31:38 +02:00
Beat Küng 060b130128 mavlink: add optional disable_sharing flag to add_orb_subscription 
This is a more generic solution for 532a97041, and also enables it for
vehicle_command_ack's.

In addition it avoids using a timestamp for subscription update checking,
because it does not work well together with orb queuing.
 2018-07-12 21:31:38 +02:00
Thomas Stastny 8a7919bcb6 fw att+pos ctrl: use enum for flaps configs 2018-07-11 08:08:13 +02:00
Thomas Stastny 0c3399433d fw att+pos ctrl: add takeoff flaps setting 2018-07-11 08:08:13 +02:00
Daniel Agar 850b1ad6a7 EKF2 split output predictor and publish attitude immediately (#9832) 
* EKF2 split output predictor and publish attitude immediately

* ecl: incorporate magic number tidy up
 2018-07-09 08:11:24 +10:00
Oleg Kalachev 532a970410 mavlink: fix transmitting vehicle commands 2018-07-05 22:38:02 +02:00
Daniel Agar 9fa882119d fw_pos_ctrl_l1 remove unnecessary orb rate limits 2018-07-05 12:16:44 -04:00
alessandro 51ee9eaaf4 typo 2018-07-05 14:17:55 +02:00
Alessandro Simovic 11933ac239 rc_loss_alarm: removed unused var 2018-07-05 14:17:55 +02:00
Alessandro Simovic 155089c800 Addressed review comments from #9769 2018-07-05 14:17:55 +02:00
Alessandro Simovic df257c6555 Added parameters for enabling/disabling specific event tasks 2018-07-05 14:17:55 +02:00
Alessandro Simovic 1982957bef Added/moved namespaces in events module 2018-07-05 14:17:55 +02:00
Alessandro Simovic c684275018 moved rc_loss_alarm into the event module 2018-07-05 14:17:55 +02:00
Alessandro Simovic 9a4b26cd32 rc_loss_alarm: addressing review comments (#9769) 2018-07-05 14:17:55 +02:00
Alessandro Simovic 701d87912e rc_loss_alarm: replaced hard with soft tabs 2018-07-05 14:17:55 +02:00
Alessandro Simovic 6fa80d2034 rc_loss_alarm: require RC be seen at least once 2018-07-05 14:17:55 +02:00
Alessandro Simovic 96a0594078 rc_loss_alarm: formatting 2018-07-05 14:17:55 +02:00
Alessandro Simovic 0f2c710237 rc_loss_alarm: hiding all but default constructor 2018-07-05 14:17:55 +02:00
Alessandro Simovic d2b9197587 rc_loss_alarm: sorting function definitions 2018-07-05 14:17:55 +02:00
Alessandro Simovic c8ff5f09d4 rc_loss_alarm: Added some custom commands 2018-07-05 14:17:55 +02:00
Alessandro Simovic c0db004294 rc_loss_alarm: Added basic functionality 2018-07-05 14:17:55 +02:00
Daniel Agar 278e4cef84 uORB fix ORB_COMMUNICATOR defined sections 
- keep portions of internal add/remove helpers
 2018-07-05 07:03:27 +00:00
Roman 9d1fa8cee2 esc_calibration: adjust timeout when waiting for user to connect battery 
to 20 seconds

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-07-03 07:05:38 +00:00
Roman 5d87eed41c esc_calibration: use hrt_elapsed_time instead of manually calculating the diff 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-07-03 07:05:38 +00:00
Roman 73577df994 esc_calibration: use batter status connected flag instead of checking voltage 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-07-03 07:05:38 +00:00
Roman beb8c3e152 esc_calibration: use predefined literals 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-07-03 07:05:38 +00:00
Roman 8b629454de esc_calibration: increase safety and initialise all data 
- do not do calibration if not very sure that battery is not connected
- initialise all structs and variables

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-07-03 07:05:38 +00:00
Hamish Willee 7402d8223b Fix up references to pixhawk.org 2018-07-02 13:11:15 +02:00
Daniel Agar fb3e3b1cad uORB::DeviceNode initialize _publisher 2018-07-01 16:30:31 -04:00
Daniel Agar 8599495082 uORB add ORB_COMMUNICATOR define to enable remote uORB 2018-07-01 16:03:03 +00:00
Philipp Oettershagen 6579b7254a Change TECS max sink rate minimum value, because very fragile aircraft might not be able to sustain higher max sink rates 2018-07-01 10:42:27 -04:00
Philipp Oettershagen a76c4c55d4 Decrease default flare altitude. The previous value was way too high for any small aircraft. It was also unsafe because after the flar, pitch is currently controlled open-loop, which means that stall can potentially happen during the flare 2018-07-01 10:42:27 -04:00
Philipp Oettershagen 8f09a20478 Update TECS integrator gain parameter description to represent the changes in https://github.com/PX4/ecl/commit/ccfba4997147658d8340f7efa351c19299120704 2018-07-01 10:42:27 -04:00
Daniel Agar 9ce83f2208 fix all sign-compare warnings 2018-07-01 09:36:55 +00:00
Daniel Agar cf74166801 double promotion warning fix or ignore per module 2018-07-01 09:36:55 +00:00
Daniel Agar 3ba97297d5 tests simple timing microbenchmark 2018-07-01 09:25:22 +00:00
Daniel Agar 02d4405a62 c++11 default destructors 2018-06-30 19:55:08 -04:00
acfloria 17df184953 Fix sending first High Latency message 2018-06-29 16:49:30 +00:00
acfloria ca1f7a4a19 Reenable the MissionManager for the Iridium mavlink instance 
The MissionManager handles the MAVLINK_MSG_ID_MISSION_SET_CURRENT command which should also be supported for SatCom.
 2018-06-29 16:49:30 +00:00
Paul Riseborough a04468ba9f ekf2: Fix EKF preflight check fail false positives 
Uses a relaxed yaw innovation check threshold for fixed wing vehicle that can recover from larger yaw errors after takeoff.
Replaces the peak hold with decay filtering applied to the magnetic yaw innovations with a conventional lowpass filter. This prevents mag heading innovation transients caused by preflight handling from failing the check, but catches persistent errors. Sign swapping of innovations due to angle wrapping is not a problem due to the way that innovations are calculated inside the EKF, so a simple LPF sufficient.
 2018-06-29 16:36:38 +00:00
Julian Oes 6ff9fd2209 calibration: remove warning message 
The calibration warning was only used in the ESC calibration and in all
cases it actually meant that the calibration failed. In order to keep
the API as small as possible, I've deprecated the warning string and
converted the warning messages to failed messages.
 2018-06-29 16:07:32 +00:00
Florian Achermann 02116c0a80 mavlink: Indicate if the instance did not start correctly (#9744) 2018-06-29 10:11:27 -04:00
Thomas Stastny 8551d2eb9d mission feasibility: add small tolerance to fw landing slope alt 2018-06-29 12:10:53 +00:00
Mark Sauder d3c169b1e0 Fix whitespaces in PreflightCheck.cpp, tilt_quad.aux.mix, and tilt_quad.main.mix 2018-06-28 20:20:32 -04:00