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1787 Commits

Author SHA1 Message Date
bresch
c5706f6283 FlightTaskAuto - Recover position control after local position reset (#11636) 
* FlightTaskAuto - Explicitly check is _triplet_target is finite to decide if the target has to be updated or not. If the _target is NAN, always try to update it to get a valid setpoint.
 2019-03-15 00:42:24 -04:00
Paul Riseborough
f8ae8ba502 ekf2: Use ecl library with recent bug fixes and enhancements. 
Bug Fixes:

https://github.com/PX4/ecl/pull/586 - EKF: fix covariance and output filter buffer initialization
https://github.com/PX4/ecl/pull/590 - EKF: Fix innovation in fuseDeclination()

Enhancements:

https://github.com/PX4/ecl/pull/543 - ekf_helper: add more useful methods to interface with the covariances
https://github.com/PX4/ecl/pull/588 - Add unit tests for DataValidator

Note:

https://github.com/PX4/ecl/pull/543  has required a change to how the state variances are accessed .
 2019-03-14 19:25:36 +11:00
baumanta
d42b9205f9 Rename parameter MPC_OBS_AVOID to COM_OBS_AVOID and change the location to commander. 2019-03-12 11:24:33 +01:00
Matthias Grob
f794ee0c8a FlightTaskManualAltitude: add slow upwards start 
when still close to ground
 2019-03-11 20:09:45 +01:00
Matthias Grob
63a6ab34f7 FlightTaskManualAltitude: slow down when landing manually 2019-03-11 20:09:45 +01:00
BazookaJoe1900
8947cb5841 FlightTaskAuto: removed non used _getMaxCruiseSpeed 2019-03-10 11:17:21 -04:00
Daniel Agar
beca16fa37
ekf2 update setGpsData usage 2019-03-05 23:28:26 -05:00
Beat Küng
2f72e93d6f fix mixer multicopter: do not clip for max/min throttle 
Except for the lower end with disabled airmode.

Otherwise the rate controller would disable the integrals, which can lead
to severe tracking loss in acro.
It is noticeable when flying in FPV, e.g. simply when throttling straight
up.

Relevant part in the rate controller:
https://github.com/PX4/Firmware/blob/master/src/modules/mc_att_control/mc_att_control_main.cpp#L702
 2019-03-01 07:42:18 +01:00
bresch
f229444722 ManualSmoothVel - Split position lock condition and flag action 2019-02-25 21:41:04 +01:00
bresch
8f584a1496 smooth takeoff - Support smooth takeoff triggered by jerk setpoint 2019-02-25 08:07:33 +01:00
Daniel Agar
0d170a0eaf FlightTasks VelocitySmoothing initialize member 
- fixes Coverity CID 328485
 2019-02-24 17:10:15 -05:00
Daniel Agar
7eca2769a7 FlightTasks AutoLineSmoothVel initialize member 
- fixes Coverity CID 328492
 2019-02-24 17:10:15 -05:00
Daniel Agar
b2739d946c FlightTasks ManualPositionSmoothVel initialize member 
- fixes Coverity CID 332544
 2019-02-24 17:10:15 -05:00
mcsauder
31f23c1e76 Rename tune_control_s strength to volume to match Nuttx and Linux standard nomenclature for audio (loudness) control. 2019-02-19 10:07:53 +01:00
mcsauder
a6d186dfed Rename Tunes::get_next_tune() to Tunes::get_next_note(). 2019-02-19 08:00:11 +01:00
bresch
70ddb8049a Traj Smoothing - make format 2019-02-13 20:56:57 +01:00
bresch
4cace1bbe9 Manual vel smooth - use speed_up and speed_down constraints to limit velocity target of the trajectory generator 2019-02-13 20:56:57 +01:00
bresch
b7c2464cce Manual vel smooth - Use MPC_JERK_MAX only 2019-02-13 20:56:57 +01:00
bresch
1730cd3a69 Velocity Smoothing - Various improvements, cleanup and corner cases fixes 2019-02-13 20:56:57 +01:00
bresch
f1262cbe84 Manual Traj - Avoid velocity jumps due to a modification of the constraints 2019-02-13 20:56:57 +01:00
bresch
57eef6b170 Manual Trajectory - Add Z position lock logic and log complete trajectory 2019-02-13 20:56:57 +01:00
Daniel Agar
fb7c0376a0
systemlib hysteresis improve field packing and cleanup 2019-02-11 11:57:05 -05:00
Mark Sauder
352be14bbe Alphabetizing/standardizing orders in tunes.cpp and tunes.h files 
- Remove a constructor overload by adding default values, and disambiguate a few variables by adding verbosity to naming.
 2019-02-10 20:31:12 -05:00
PX4 Build Bot
795e13ca59 Update submodule ecl to latest Sat Feb 9 00:38:44 UTC 2019 
- ecl in PX4/Firmware (65377def832e82bd667ff6e0d00155c95b51b12e): 54ab8191e3
    - ecl current upstream: 1378ec1797
    - Changes: 54ab8191e3...1378ec1797

    1378ec1 2019-02-07 Daniel Agar - EKF mag_fusion avoid unnecessary double promotion
 2019-02-08 21:05:20 -05:00
Daniel Agar
2217faf812
mathlib Limits constexpr helpers don't use references (#11411) 
- fixes #11408
 - cleanup Limits.hpp
 2019-02-08 14:10:09 -05:00
PX4 Build Bot
4c4ee67954 Update submodule ecl to latest Thu Feb 7 00:38:05 UTC 2019 
- ecl in PX4/Firmware (9580dea9c2ab12d9fd6eaa1a3232c7c80639bef4): dd58e69549
    - ecl current upstream: 54ab8191e3
    - Changes: dd58e69549...54ab8191e3

    54ab819 2019-02-06 Carl Olsson - EKF: add method to get the terrain variance
c5554ca 2019-02-03 Daniel Agar - EKF tests update SWIG usage and use latest containers
 2019-02-06 20:15:02 -05:00
Hamish Willee
87993e7335 Indicate version in which SYS_COMPANION deprecated (#11327) 2019-02-05 10:16:28 -05:00
PX4 Build Bot
c6e60c2189 Update submodule ecl to latest Sun Feb 3 07:37:55 EST 2019 
- ecl in PX4/Firmware (0dc2ccb130e891b387b4e0d6ea4492473339e142): 721f5e61a5
    - ecl current upstream: dd58e69549
    - Changes: 721f5e61a5...dd58e69549

    dd58e69 2019-01-30 Paul Riseborough - EKF: Ensure FW yaw alignment method is used on first in-air reset
3accab1 2019-01-28 Paul Riseborough - EKF: protect declination fusion from badly conditioned earth field estimates
7bddbd1 2019-01-28 Paul Riseborough - EKF: Update cleaned up autocode fragment with sign error fix and missing LD
fe378fd 2019-01-22 Paul Riseborough - EKF: Prevent unwanted declination fusion when re-starting 3-axis fusion
bd1647a 2019-01-22 Paul Riseborough - EKF: Rework use of fuseDeclination()
d52f536 2019-01-17 Paul Riseborough - EKF: Save mag field covariance data before reset
82ce7a8 2019-01-17 Paul Riseborough - EKF: Save mag field covariance information on startup
708c79e 2019-01-17 Paul Riseborough - EKF: Ensure mag field state covariance data is always available for re-use
8839e4e 2019-01-17 Paul Riseborough - EKF: Don't discard declination certainty information when resuming 3-axis fusion.
25148e1 2019-01-17 Paul Riseborough - EKF: Prevent rapid changes in declination estimate after a reset
6e7c119 2019-01-16 CarlOlsson - EKF: limit yaw variance increase to 0.01 rad^2 to prevent a badly conditioned covariance matrix
0896f7b 2019-01-16 CarlOlsson - EKF: Also fill in lower part of covariance matrix in increaseQuatYawErrVariance()
4b3140e 2019-01-16 Paul Riseborough - EKF: Fix rebase error
911d4d8 2019-01-16 Paul Riseborough - EKF: Fix sign error in increaseQuatYawErrVariance function
a0b9cb0 2018-12-24 Paul Riseborough - EKF: Use consistent method for recording completion of in-flight yaw alignment
ef5a87c 2018-12-21 Paul Riseborough - EKF: Rework quaternion yaw reset.
fc2a089 2018-12-21 Paul Riseborough - EKF: Add function to un-correlate quaternion states
bce1b96 2018-12-21 Paul Riseborough - EKF: Add function enabling yaw variance to be increased
bf1f3a2 2018-12-21 Paul Riseborough - EKF: Derive equations enabling yaw variance to be increased
81eabc1 2019-01-29 Daniel Agar - Jenkins update all containers to latest tag 2019-01-28
a5e6191 2019-01-29 Daniel Agar - EKF add clarity brackets to avoid potential confusion
 2019-02-03 18:57:10 -05:00
Matthias Grob
6a53a398e0 FlightTask: decline unimplemented callbacks, improve comments 2019-01-31 17:43:35 +01:00
Daniel Agar
40e42a677b
NuttX cmake support optional compressed defconfigs 2019-01-30 10:54:53 -05:00
David Sidrane
6f9a9b3d2c px4_fmu-v4: add runtime external SPI4 detection to support pmw3901 (#11301) 
* The build is built with SPI4. At run time the signal GPIO_8266_GPIO2 it tested. If it is low the SPI4 is configured. If it is high SPI4 is not configured.
 * board_common: Add Notion of Board has bus manifest
 2019-01-29 13:44:15 -05:00
mcsauder
dc5f18bdcd ToneAlarm class refactoring to implement an interface for hardware specific methods and a single ToneAlarm class. 2019-01-28 18:58:04 -08:00
David Sidrane
0cc3bfb10b flashfs:Track upstream nuttx CONFIG_ARCH_HAVE_PROGMEM 
Upstream header file is conditional on CONFIG_ARCH_HAVE_PROGMEM
 2019-01-25 06:32:37 -08:00
David Sidrane
f00d633196 flashfs:Upstream renamed up_progmem_erasepage to up_progmem_eraseblock 2019-01-25 06:32:37 -08:00
David Sidrane
e505fe859d Update Nuttx and NuttX-apps to 7.28+ 2019-01-25 06:32:37 -08:00
Daniel Agar
2ffb49b734 delete px4_includes.h header and update boards/ to use syslog 2019-01-23 18:25:18 -05:00
Daniel Agar
376e078c24 platforms delete PX4_ROS and obsolete headers 2019-01-23 18:25:18 -05:00
Daniel Agar
6feee70570 move SYS_STCK_EN to src/modules/load_mon 2019-01-23 08:23:03 +01:00
Daniel Agar
843443248e move modules/systemlib to lib/systemlib 2019-01-23 08:23:03 +01:00
Daniel Agar
320d2e9383
create PX4 platform layer initialization helper (#11269) 
- starts requirements for PX4 modules (hrt, param, etc)
 2019-01-22 14:13:20 -05:00
bresch
df58e161d1 Trajectory auto - Handle EKF xy reset 2019-01-22 17:23:16 +01:00
bresch
a2d5485c7f Trajectory manual - Handle EKF xy reset 2019-01-22 17:23:16 +01:00
PX4 Build Bot
b104b55cec Update submodule matrix to latest Mon Jan 21 20:57:42 UTC 2019 
- matrix in PX4/Firmware (31bd46d2ed700b2da9fc314e9b87d9b683a66606): 18fba8221c
    - matrix current upstream: 6b0777d815
    - Changes: 18fba8221c...6b0777d815

    6b0777d 2019-01-21 Daniel Agar - stdlib_imports cinttypes currently unavailable in NuttX toolchain (#79)
 2019-01-21 16:58:36 -05:00
Daniel Agar
658d734068 param add status 2019-01-18 11:50:37 -05:00
Daniel Agar
84724d5e1d param show default only active parameters 
- add -a option to display all possible system parameters
 2019-01-18 11:50:37 -05:00
Daniel Agar
91dcfb7ab2 PX4 sensor driver helpers 2019-01-18 10:39:15 -05:00
bresch
a2e9d9ffce AutoSmoothVel - Handle NAN in velocity and position properly 2019-01-17 17:55:37 +01:00
Beat Küng
beac53d775 cdev_platform: remove unused code (sim_delay) 2019-01-14 11:08:48 +01:00
Beat Küng
eda45b4df2 sbus: add time-based hardening (only for IO and NuttX) 
Since SBUS does not have CRC, we can use timing information to improve
parsing reliability and reject unexpected bytes.
 2019-01-07 10:17:37 +01:00
Beat Küng
4cd8fe0a30 sbus: simplify logic 2019-01-07 10:17:37 +01:00