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13380 Commits

Author SHA1 Message Date
JaeyoungLim
e6992db1ca
Use enums for set attitude setpoint typemasks for offboard mode (#16327) 
This commit switches the typemask comaparision to enums for better readability
 2020-12-04 17:44:33 +01:00
Daniel Agar
01620420fa
ekf2: update to latest ecl with RingBuffer minor improvements 
- includes https://github.com/PX4/PX4-ECL/pull/938
 2020-12-03 21:17:22 -05:00
Daniel Agar
c305774fae commander: move vehicle_status into class 2020-12-02 10:20:50 +01:00
Daniel Agar
b7de10fca3 commander: move vehicle_status_flags to class 2020-12-02 10:20:50 +01:00
Daniel Agar
dc435c4c90 commander: control_status_leds() use _armed directly 2020-12-02 10:20:50 +01:00
Daniel Agar
8ac2581d7b commander: handle_command() use _armed directly 2020-12-02 10:20:50 +01:00
Daniel Agar
741a0b43e8 commander: move mavlink_log_pub into class 2020-12-02 10:20:50 +01:00
Daniel Agar
a03b91c01e commander: move answer_command() to class 2020-12-02 10:20:50 +01:00
Daniel Agar
d5dc7e2873 commander: move actuator_armed state into class 2020-12-02 10:20:50 +01:00
Matthias Grob
de66616341 MulticopterPositionControl: don't switch out of Orbit task 
when it got started via vehicle_command
 2020-12-01 10:00:46 -05:00
Matthias Grob
8f40558f41 MulticopterPositionControl: reset task when switching mode 
to make sure the state is clean between auto mode switches.
 2020-12-01 10:00:46 -05:00
Daniel Agar
85f3ab1960
rc_update: only decode if RC input is stable (channel count and source) 2020-12-01 09:40:24 -05:00
JaeyoungLim
bd943d872c
Use explicit typemasks for offboard position setpoints (#16296) 
This uses enums of the POSITION_TARGET_TYPEMASK in order to separate typemasks that are part of the mavlink specs more explicitly
 2020-11-30 22:12:06 +01:00
Beat Küng
a63e8cc149 fix mavlink: ensure vehicle_command topic exists 
If the first publisher publishes multiple commands right after each other
(e.g. on 'commander takeoff'), mavlink would miss the first and print an
error like 'vehicle_command lost, generation 0 -> 2'.

This is due to a recent uORB behavior change.
 2020-11-30 11:53:22 -05:00
Beat Küng
05a3492174 commander: remove low priority thread, run tasks in a worker thread on demand 
- removes race conditions
- removes dependencies on static data & methods
- reduces RAM usage by ~3.8KB
 2020-11-30 11:53:22 -05:00
Beat Küng
419b336a15 commander: fix ModuleBase usage, remove volatile flag 2020-11-30 11:53:22 -05:00
Antonio Sanjurjo Cortés
aa80167b47 mavlink: rename OPTICAL_FLOW header and defines to OPTICAL_FLOW_RAD 
Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>
 2020-11-29 20:26:07 -05:00
Antonio Sanjurjo Cortés
7dde298664 mavlink: move COLLISION to streams hpp 
Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>
 2020-11-29 20:26:07 -05:00
Antonio Sanjurjo Cortés
2243931abd mavlink: move ATTITUDE_TARGET to streams hpp 
Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>
 2020-11-29 20:26:07 -05:00
Antonio Sanjurjo Cortés
ce28aa089b mavlink: move ATTITUDE_QUATERNION to streams hpp 
Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>
 2020-11-29 20:26:07 -05:00
Antonio Sanjurjo Cortés
8ac2ada0e6 mavlink: move ATTITUDE to streams hpp 
Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>
 2020-11-29 20:26:07 -05:00
Antonio Sanjurjo Cortés
0bf622e211 mavlink: move OPTICAL_FLOW to streams hpp 
Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>
 2020-11-29 20:26:07 -05:00
Jaeyoung-Lim
d59ba2032f Handle takeoff waypoints for rover 
Fix
 2020-11-29 00:08:53 +01:00
Silvan Fuhrer
3309bf21dd FW att C: do not lock or reset integrator if tailsitter and in hover 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-27 17:28:52 +03:00
Ricardo Marques
3215c50660 commander: Fix comment typos. 
Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>
 2020-11-27 10:25:32 +01:00
BazookaJoe1900
bd09be43c0
simulator mavlink actuator limits (#15861) 
using unified way to decide which output should be scale as rotor
fixed case that actuator that wasn't set (value 0 "PWM") results output of -3
make default actuator mode to set all actuator to range of -1 to +1
cleanups
 2020-11-26 14:42:31 +01:00
Matthias Grob
ce8f4dece2 rc_update_params: clarify failsafe channel and threshold 2020-11-26 10:55:35 +01:00
Daniel Agar
ec9f8998a7
commander: limit mode switch re-evaluation logic on estimate validity changes 
- re-evaluating mode switches on altitude or position validity change can create confusing when also relying on mode changes via mavlink
 - limiting this logic to only apply when disarmed solves the original problem (respecting initial switch position) without introducing potential problems mid-flight
 - fixes https://github.com/PX4/PX4-Autopilot/issues/16235
 2020-11-25 21:14:55 -05:00
Paul Riseborough
3e4c38f6e8 ekf2: Fix bug causing excessive lane selection switching 2020-11-25 10:00:07 -05:00
Daniel Agar
5e855c6747 commander: preflightcheck and calibration remove hash (#) from mavlink message 
- QGroundControl is reading these as "Hash" and I don't think it's ambiguous if removed
 2020-11-23 21:56:23 -05:00
Beat Küng
615333badb logger: log gps_dump if GPS_DUMP_COMM is set 2020-11-20 11:04:52 -05:00
Matthias Grob
65e1b702c9 GPS_GLOBAL_ORIGIN: simplify send logic 2020-11-19 19:00:37 +01:00
Matthias Grob
0ca63120eb mavlink_messages: add GPS_GLOBAL_ORIGIN 
sending out local position reference.
Only send as anser to a request message command or
when the origin was changed from externally to verify.
 2020-11-19 19:00:37 +01:00
Matthias Grob
41b56f20b8 mavlink_messages: fix raw rpm message size 2020-11-19 19:00:37 +01:00
Matthias Grob
c845265b1b mavlink_receiver: use SET_GPS_GLOBAL_ORIGIN to set the origin 
The message GPS_GLOBAL_ORIGIN is meant as a telemtry information message
to send out the components reference and not to set it. I had to switch
to listen to SET_GPS_GLOBAL_ORIGIN such that I can implement sending out
GPS_GLOBAL_ORIGIN.
 2020-11-19 19:00:37 +01:00
alessandro
f18e70029a Correct topic name for thermal corrections 
The message used is ./msg/sensor_correction.msg
 2020-11-19 08:23:25 +01:00
Matthias Grob
fabeb22ae4 mavlink_receiver: remove unused decode_switch_pos function 2020-11-17 19:48:01 -05:00
Daniel Agar
7baeb78964 mavlink: STATUSTEXT track missed mavlink_log messages 2020-11-17 19:47:06 -05:00
Daniel Agar
e1168070d1 mavlink: decrease task stack 2020-11-17 19:47:06 -05:00
Daniel Agar
ed8a30d73e mavlink: STATUSTEXT directly use mavlink_log subscription 
- ORB_ID(mavlink_log) increase queue depth now that mavlink ringbuffer is gone
 2020-11-17 19:47:06 -05:00
Silvan Fuhrer
b58e270fd4 FW Position Control: remove manual climbout mode trigger via pitch stick 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-16 14:41:01 +01:00
Daniel Agar
ee9ce1087a IMU_DGYRO_CUTOFF add conservative default (0 Hz -> 30 Hz) 2020-11-13 21:26:35 -05:00
Daniel Agar
29658961ef mavlink: move DISTANCE_SENSOR to streams header 2020-11-13 10:05:22 -05:00
Daniel Agar
860a7fd1db mavlink: move ALTITUDE to streams header 2020-11-13 10:05:22 -05:00
Daniel Agar
a8f0987028 mavlink: move WIND_COV to streams header 2020-11-13 10:05:22 -05:00
Daniel Agar
4a9f293596 mavlink: move MOUNT_ORIENTATION to streams header 2020-11-13 10:05:22 -05:00
Daniel Agar
4a6c90b8ea
mavlink: STATUSTEXT check TX buffer before sending 
- Note the TX buffer size check is lazily ignoring the possibility of messages that span multiple Mavlink STATUSTEXT. This at least accommodates the calibration use case and it's no worse than before for longer messages.
 2020-11-13 09:52:05 -05:00
Daniel Agar
d14b4221f1
sensor calibration: apply board level adjustment to external sensors (#16127) 
- apply SENS_BOARD_{X,Y,Z}_OFF to external sensors to prevent unnecessary misalignment with internal IMU
 2020-11-12 10:37:30 -05:00
Daniel Agar
5d7ea62190 estimator_innovations: remove unimplemented fake vel & pos fields 
- easy to readd if and when they're needed
 2020-11-11 20:17:52 -05:00
Daniel Agar
880dc6accd ekf2: compile at MAX_CUSTOM_OPT_LEVEL 2020-11-11 20:17:52 -05:00