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Author SHA1 Message Date
Hamish Willee
e6eed43648
Spelling errors (#19935) 2022-07-27 14:33:16 +10:00
RomanBapst
97f632a408 vtol_takeoff: reset reposition triplet before handing over to loiter mode 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-25 14:48:18 +02:00
Igor Mišić
d6488fafc3 serial_test: fix first write_count_value for next write 2022-07-25 11:48:36 +02:00
Igor Mišić
32ca7ad706 serial_test: fix write for max buffer size 2022-07-25 11:48:36 +02:00
Taylor Nelms
21cb0ef50f Component: flash parameter storage on stm32h7. Fixes #15331. 
As per the discussion in #15331, fixed issue where stm32h7 chips
    use hardware ECC bits in program memory that disallow overwriting
    32-byte flash line that has already been written. As such,
    this change allows for a variant implementation of the flashfs system
    that uses more space in the flash entry header in order to
    allow an entire line to be reserved for erasing an entry.

Signed-off-by: Taylor Nelms <tnelms@roboticresearch.com>
 2022-07-25 08:19:00 +02:00
Thomas Stastny
6a0f394d46 rtl: reset rtl state only on activation 
rtl state was getting reset on inactive, which meant that the state which triggered resuming e.g. mission landing would be overwritten, and the navigator mode would switch back and forth between rtl and mission. this commit:
1. moves the reset of rtl state to the on activation function (removing it from the on inactive function)
2. functionalizes the rtl state input to the rtl time estimator so that rtl time can still be calculated from state=none while inactive
 2022-07-22 14:59:20 +02:00
Thomas Stastny
e512d77b89 RTL: expose RTL state 2022-07-22 14:59:20 +02:00
Silvan Fuhrer
85a621303d VtolLandDetector: remove airspeed check 
This commit removes the additional airspeed check (airspeed for VTOLs in
hover below LNDFW_AIRSPD_MAX), as it is not a required condition in the
landed state (headwind blowing into the airspeed sensor won't stop
once on the gruond). In FW mode the check would make more sense, but there
the land detector is currently simply disabled.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-22 08:31:32 +02:00
Daniel Agar
32c6ec061e sensors: add kconfig options to skip angular velocity and acceleration 2022-07-21 11:27:09 -04:00
Silvan Fuhrer
c9c62b860c ROMFS: add generic tiltrotor VTOL (13200) 
Add geometry for a quad tiltrotor VTOL, with only front motors tiltable,
two ailerons and a V-tail.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-21 10:09:12 -04:00
Silvan Fuhrer
3ffc37d988 ROMFS: generic tailsitter VTOL: enable CA by default and remove legacy mixer 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-21 10:09:12 -04:00
Silvan Fuhrer
ab58717313 ROMFS: standard VTOL: enable CA by default and remove legacy mixer 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-21 10:09:12 -04:00
Silvan Fuhrer
607c53e873 ROMFS: flying wing: enable CA by default and remove legacy mixer 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-21 10:09:12 -04:00
Silvan Fuhrer
4dabc8b7ed ROMFS: standard plane: enable CA by default and remove legacy mixer 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-07-21 10:09:12 -04:00
Daniel Agar
70e95812e7 ekf2: reset mag_lpf (by zeroing _mag_counter) when resetting mag bias (or changing mags) 
- so that there's new filtered data avaiable for reset
 2022-07-21 09:24:28 -04:00
Daniel Agar
ecdade3638 ekf2: mag in air reset fall back to regular resetMagHeading() if realignYawGPS() fails 2022-07-21 09:24:28 -04:00
Daniel Agar
05133aed27 ekf2: clear test ratios, flags, etc when stopping mag fusion 2022-07-21 09:24:28 -04:00
Daniel Agar
65a587e56a ekf2: mag fusion don't update all states if mag_fault or mag_field_disturbed 2022-07-21 09:24:28 -04:00
Daniel Agar
a41a0e7e80 ekf2: resetMagHeading() split out simple init case 2022-07-21 09:24:28 -04:00
Daniel Agar
9efadad06a ekf2: move checkMagFieldStrength() to magFieldStrengthDisturbed() const method 2022-07-21 09:24:28 -04:00
Daniel Agar
a7f573e150 ekf2: delete isStrongMagneticDisturbance() 2022-07-21 09:24:28 -04:00
Daniel Agar
e6e27e694e ekf2: delete isYawResetAuthorized() 2022-07-21 09:24:28 -04:00
Daniel Agar
0f1f6daa1a ekf2: delete isMagBiasObservable() 2022-07-21 09:24:28 -04:00
Daniel Agar
d160229f47 ekf2: delete isYawAngleObservable() 2022-07-21 09:24:28 -04:00
Daniel Agar
b0c979f745 ekf2: add copyright header to EKFGSF_yaw and utils 2022-07-21 09:24:28 -04:00
Daniel Agar
4fee059696 ekf2: simplify mag yaw reset request when transitioning to mag enabled 2022-07-21 09:24:28 -04:00
Daniel Agar
f254b55523 ekf2: add mag fusion timestamps 2022-07-21 09:24:28 -04:00
Jukka Laitinen
e3e067d640 stub_keystore: Allow using also with other that SW_CRYPTO driver 
Remove "depends on DRIVERS_SW_CRYPTO"

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-07-21 08:08:14 +02:00
Jukka Laitinen
026bd073b5 Don't error on CONFIG_CRYPTO_RANDOM_POOL not defined 
px4_secure_random can be implemented also outside NuttX for some platform

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-07-21 08:08:14 +02:00
Thomas Stastny
d6fb1114ff rtl: fix printout of rtl delay time 2022-07-20 14:15:12 +02:00
Thomas Stastny
1ec62c4063 rtl: let fixed-wing RTL all the way to the loiter/delay state 
also fix home vs destination alt discrepancy on RTL
 2022-07-20 14:15:12 +02:00
Daniel Agar
2f3cb97872 sensors/vehicle_magnetometer: don't advertise vehicle_magnetometer instance if mag has been disable 
- if using multi-EKF across all magnetometers then an instance of
vehicle_magnetometer is advertised immediately for every sensor_mag
instance
 - this can become problematic if EKF2 multi-mag is enabled, but with
only 1 IMU (EKF2_MULTI_MAG) because you will be stuck with no magnetometer data
 2022-07-20 01:18:19 -04:00
Daniel Agar
e5be0e776e ekf2: if multi-mag disabled (EKF2_MULTI_MAG <= 1) properly re-enable sensors hub selection (SENS_MAG_MODE) 
- this prevents potential misconfiguration if trying to disable ekf2 multi mag
 2022-07-20 01:16:55 -04:00
Daniel Agar
8ccd8fbed1 px4io: minimal backup scheduling regardless of dynamic mixing 
- even if there's no configured output we still need to run to grab RC
data
 2022-07-20 01:15:36 -04:00
Daniel Agar
8f8615e6c2 delete CBRK_RATE_CTRL 2022-07-20 01:14:53 -04:00
Beat Küng
67107f4978 .clang-tidy: exclude some warnings 
Some are too verbose, others don't apply to the code base
 2022-07-20 01:14:04 -04:00
Beat Küng
84b0a889a4 cmake: add clion support 2022-07-20 01:14:04 -04:00
Beat Küng
f22dc80ecc system: add missing includes (added indirectly via visibility.h for normal builds) 2022-07-20 01:14:04 -04:00
Beat Küng
ea136e73be ekf2: remove unused variables 2022-07-20 01:14:04 -04:00
Thomas Schneider
cd66a262ee Robustify RTPS bridge stream parsing. 2022-07-20 01:13:47 -04:00
Peter van der Perk
089fbdccc9 UAVCANNODE NuttX SocketCAN driver 
Change init mode for CAN driver so it get executed in a single context
 2022-07-20 01:12:43 -04:00
Peter van der Perk
47aaa38d5f Added DroneCAN SocketCAN driver Skeleton 2022-07-20 01:12:43 -04:00
Daniel Agar
14df1ee917
boards: px4_fmu-v5x_rtps disable systemcmds/gpio to save flash 2022-07-20 01:05:28 -04:00
Daniel Agar
2ece92abd0
sagetech_mxs: module.yaml remove invalid default 2022-07-20 01:00:15 -04:00
Daniel Agar
ace80e2b9d fw_att_control: add simple backup scheduling if vehicle_attitude unavailable (or stops) 2022-07-20 00:53:37 -04:00
jasta
1603883dc9 Configure SCALED_PRESSURE so temperature data is available to QGroundControl 2022-07-20 00:49:11 -04:00
jasta
a110032dc0 Fix typo in SCALED_PRESSURE*_HPP defines 
This was preventing SCALED_PRESSURE* from being added to the list of
streams, so even if it was configured it still wouldn't work.
 2022-07-20 00:49:11 -04:00
Thomas Stastny
413ce8a3c4 fw pos ctrl: absorb fw_lnd_rel_ter into fw_lnd_useter parameter 2022-07-19 22:37:09 -04:00
Thomas Stastny
de3ac12ecd fw pos ctrl params: clarify landing parameters, change defaults 
FW_LND_USETER defaulted to 1 and FW_LND_ABORT terrain based bits all enabled. why? because using a distance sensor is critical to detecting when to flare, and we want to force the user to actively disable these safety settings if they so choose, so that they understand the implications.
 2022-07-19 22:37:09 -04:00
Thomas Stastny
26cb55ec2c fw pos ctrl: takeoff and landing nudging enabled by default 2022-07-19 22:37:09 -04:00