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13002 Commits

Author SHA1 Message Date
Matthias Grob
e9eae1bd76 Refactor: Name manual_control_setpoint the same way everywhere 2020-06-22 12:06:27 -04:00
Daniel Agar
e50f92805b mavlink: mission minor whitespace fixes and initialization 
- it's safer to zero any struct being send over mavlink to prevent
extension field surpries later
 2020-06-21 11:26:02 -04:00
Daniel Agar
80c1f4e5e6 mavlink: send MISSION_CURRENT respect signed sequence number 
- current_seq -1 indicates nothing currently active
 2020-06-21 11:26:02 -04:00
TSC21
b3bbc351ca mavlink: DISTANCE_SENSOR: propagate signal_quality metric 2020-06-20 22:25:37 +01:00
Daniel Agar
b1e360e332 simulator: only use temperature if baro updated 2020-06-18 21:34:58 -04:00
Daniel Agar
87250ca47f move ecl L1, TECS, and data validator to PX4/Firmware 2020-06-18 19:26:30 -04:00
Daniel Agar
6afa7e4368 mavlink: HIL_SENSOR receiver respect fields_updated 
- keep in sync with the simulator module
 2020-06-18 09:54:00 -04:00
Daniel Agar
f55ed0992c
accel and gyro calibration refactor and cleanup 
- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
 - sensor_accel and sensor_gyro are now always raw sensor data
 - calibration procedures no longer need to first clear existing values before starting
 - temperature calibration (TC) remove all scale (SCL) parameters
    - gyro and baro scale are completely unused
    - regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
 2020-06-17 22:50:09 -04:00
Matthias Grob
588d551098 mc_pos_control_params: set the ground slow down speed to the default maximum speed 
This results in no change with defaults but a slow down to 10m/s if the maxiumum speed is set higher than that.
 2020-06-17 11:47:41 -04:00
Matthias Grob
bcd771d832 Update ecl and adapt to new AlphaFilter location 2020-06-17 09:29:35 -04:00
hanyang2013212
4209101333 Update uuv_att_control.cpp 
Modified the thruster value to be accessed from attitude setpoint message instead of parameters
 2020-06-16 19:27:54 -04:00
TSC21
6add0fff7f add iris_dual_gps config and the possibility of testing GPS blending through simulation 2020-06-16 09:57:05 +01:00
JaeyoungLim
39b803a9dc
Remove gps noise multiplier parameter (#15108) 
This removes the gps noise multiplier parameter that can be set on the firmware side
 2020-06-15 22:32:32 +02:00
Beat Küng
16323256bc gyro calibration: add median filter to motion detection 
The bmi088 has a bit more noise and tends to trigger it.
This improves reobustness against noise, and increases the threshold
slightly.
 2020-06-11 12:25:13 -04:00
Matthias Grob
7ff25373e4 powerCheck: add power redundancy check 
A parameter spcifies what the redundancy level for 5V rail supply
needs to be and a check makes sure that it's available before
taking off such that the user is aware of a broken or disconnected
redundant power module.
 2020-06-10 10:13:51 -04:00
Daniel Agar
6f6efd60b7 boards: centralize optional external I2C sensor start 
- configured with new parameter SENS_EXT_I2C_PRB
 2020-06-10 09:04:13 -04:00
Beat Küng
0fcb873636 logger: add raw FIFO high-rate IMU logging profiles 
Minimum requirement to use: set IMU_GYRO_RATEMAX to 400.

Logging rate of a single topic: ~85 KB/s. If multiple should be logged,
a really good SD card has to be used.
 2020-06-09 09:58:15 -04:00
Matthias Grob
c36c8d161c MulticopterLandDetector: remove arbitrary maximum altitude based on battery percentage 2020-06-08 10:41:19 +02:00
Daniel Agar
39a33a35ae sensors/vehicle_imu: pause computing publication update rate 2020-06-07 11:23:22 -04:00
Daniel Agar
786733cd1a sensors/vehicle_imu: only publish status at 10 Hz (or on change) 2020-06-07 11:23:22 -04:00
Daniel Agar
8890ea23b7 sensors/vehicle_imu: only apply corrections once before publication 2020-06-07 11:23:22 -04:00
RomanBapst
af5c48b869 navigator: always make sure that we set target lat/lon for fixed wing 
takeoff

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-06-05 21:52:12 -04:00
Daniel Agar
31fe7af454 selectively increase optimization -Os -> -O2 
- targetted at modules/libraries that benefit without drastically
increasing flash usage
 - ignored on boards with CONSTRAINED_FLASH set
 2020-06-04 20:59:52 -04:00
Beat Küng
32642b78bf gyro filtering: apply IMU_GYRO_CUTOFF also to D-term 
Greatly improves the noise on the d-term on a Kopis 2. Apparently the order
of filtering vs differentiating matters.

Also disables the DGYRO filter by default, as the D-term now already has
a default filter of 30Hz applied.
 2020-06-04 20:58:40 -04:00
Julian Oes
c37ba26a2f mavlink: remove outdated comment 2020-06-03 17:57:12 +02:00
Julian Oes
2c5b8a9491 mavlink: handle stream not updated 
Our answer does not just depend on whether the stream was found but
whether we actually were able to send out an update.
 2020-06-03 17:57:12 +02:00
Julian Oes
efb10a2fbc mavlink: address review comments 2020-06-03 17:57:12 +02:00
Julian Oes
7d1b451e39 mavlink: add missing copyright header, pragma once 2020-06-03 17:57:12 +02:00
Julian Oes
afafc541d8 mavlink: use send() instead of using reset flag 
I think we can just directly use send() and don't need to use the
workaround of resetting the send flag to trigger one send.

Also, we don't need to override it if we don't need to check any params.
 2020-06-03 17:57:12 +02:00
Julian Oes
b54c44bd37 mavlink: don't send streams with interval 0 
We only need to send them immediately if the interval is < 0 meaning
unlimited.
 2020-06-03 17:57:12 +02:00
Julian Oes
3815e608f4 mavlink: create stream if needed and trigger once 
Instead of creating the stream and deleting it again, we now create it
with a rate of 0 and trigger it once.

This should avoid heap fragmentation by continous allocations.
 2020-06-03 17:57:12 +02:00
Julian Oes
acdc15e2cd mavlink: create stream even if rate is 0 
This allows to send a message exactly once if requested.
 2020-06-03 17:57:12 +02:00
Julian Oes
bb032a9c46 mavlink: remove incorrect outdated comment 
Default is -2, so the comments seems wrong.
 2020-06-03 17:57:12 +02:00
Julian Oes
80f91b0f6a mavlink: add support for legacy requests back in 2020-06-03 17:57:12 +02:00
Julian Oes
b4cbd93b7c mavlink: new args to request message, omit param1 
We can omit param1 because it is already used for the message_id, so
it's basically duplicate information and won't get used anywhere.
 2020-06-03 17:57:12 +02:00
Julian Oes
27b6c209e0 mavlink: Move request message logic to function 2020-06-03 17:57:12 +02:00
David Jablonski
62bf0a6cf8 added streams to mavlink messages 2020-06-03 17:57:12 +02:00
David Jablonski
edbe7e3ef0 added FLIGHT_INFORMATION stream 2020-06-03 17:57:12 +02:00
David Jablonski
e1f4a70c0e added AUTOPILOT_VERSION and PROTOCOL_VERSION streams 2020-06-03 17:57:12 +02:00
David Jablonski
aef2a5755e moving storage_information stream to separate file 2020-06-03 17:57:12 +02:00
David Jablonski
9ce9fe38de use storage_id 1 2020-06-03 17:57:12 +02:00
David Jablonski
fd09198c7e implemented MAV_CMD_REQUEST_MESSAGE for STORAGE_INFORMATION 2020-06-03 17:57:12 +02:00
Daniel Agar
9e509a4bec navigator: RTL minor whitespace and style fixes 2020-06-02 22:08:55 -04:00
Daniel Agar
aca6be8b5c navigator: RTL destination throttle dataman access 2020-06-02 22:08:55 -04:00
Daniel Agar
11585dfb67 ekf2: decrease default GPS horizontal velocity noise 2020-06-02 08:18:12 -04:00
Dusan Zivkovic
08fdc90175 mission: keep current heading if close to ROI while heading sp is invalid 2020-06-02 12:04:23 +02:00
Daniel Agar
a9dacae57e sensors/vehicle_angular_velocity: limit scheduling to IMU_GYRO_RATEMAX 2020-06-01 15:08:50 -04:00
Daniel Agar
96f043cd62 sensors/vehicle_acceleration: limit scheduling to IMU_INTEG_RATE 2020-06-01 15:08:50 -04:00
Daniel Agar
b139f48fef
sensors: throttle mavlink emergency log messages 
- in rare situations sending these messages multiple times in close succession can actually cause a loop of additional sensor timeouts
 2020-06-01 11:25:12 -04:00
Daniel Agar
51a36f0b61 sensors/vehicle_imu: improve initial sensor interval monitoring 
- add perf counters for monitoring
 2020-05-31 21:41:37 -04:00