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23064 Commits

Author SHA1 Message Date
Daniel Agar
ea577f15b9 px4iofirmware: never directly touch mixer from isr 2021-08-26 23:57:10 -04:00
Daniel Agar
d9f3c820ab sensors: always start baro/GPS/mag aggregators if SYS_HAS_* set 
- add new SYS_HAS_GPS parameter
 2021-08-23 14:14:27 -04:00
David Sidrane
8e57a62c9d rgbled_ncp5623c:Add comand line mapping of PWM to color 2021-08-21 11:52:15 -04:00
David Sidrane
b961f6a1e1 rgbled_ncp5623c:Needs 2 retries 2021-08-21 11:52:15 -04:00
David Sidrane
09140c01bf rgbled_ncp5623c:Can change address, return actual 2021-08-21 11:52:15 -04:00
David Sidrane
822ae46235 rgbled_ncp5623c:Document support for ncp5623[c|b] parts 2021-08-21 11:52:15 -04:00
David Sidrane
84066f574d vcm1193l:Bug Fix set default address 2021-08-21 11:52:15 -04:00
Daniel Agar
c5f82ed838
ekf2: fix sensor_combined last_generation 2021-08-12 10:03:25 -04:00
Daniel Agar
99501b4c38
flight_mode_manager: ManualAcceleration support weathervane yaw handler 
- fixes https://github.com/PX4/PX4-Autopilot/issues/17911
 2021-08-12 10:02:13 -04:00
Daniel Agar
9e4a04f58a
mavlink: receiver fix HIL_STATE_QUATERNION map projection init 
- fixes https://github.com/PX4/PX4-Autopilot/issues/17977
 2021-08-02 09:59:41 -04:00
bresch
a8572f0fdd
ECL: update to include latest bugfixes 
- fix yaw spin on ground after large mag field change
- change covariance prediction for better stability
- fix yaw alignment in air for mag-less mode
- improve tilt alignment for non-static applications
- add momentum drag model
 2021-08-01 12:54:15 -04:00
Daniel Agar
a299a3bbd0
sensors: populate sensors_status_imu healthy flags even in multi-EKF mode 2021-08-01 12:54:08 -04:00
Julian Oes
349dd63072
mavlink: fix offboard velocity input 
This reverts the behavior for offboard velocity setpoint.

Back in v1.11, the velocity input in NED_BODY was assumed to be in the
world frame but rotated by yaw to the vehicle frame. With the current
state the frame is completely fixed to the body. While this might be
technically correct, it doesn't seem much intuitive for multicopters
and breaks the MAVSDK offboard velocity API.

So as an example, with a velocity setpoint of 5 m/s forward, the drone
would in
- v1.11: fly forward with 5 m/s
- v1.12: start to fly forward by pitching down but then descend rapidly
  as the forward velocity would translate to a setpoint in Z into the
  ground as it is pitched down.

This commit restores the behavior to what we had previously.
 2021-07-22 22:09:56 -04:00
Daniel Agar
9524e8ec03 drivers/px4io: mirror PWM_MAIN_OUT support 2021-07-05 21:23:04 -04:00
murata
c9b5e488f5 NCP5623C: Change the class name to the device name 2021-07-04 14:22:20 -04:00
Matthias Grob
acf848ba99 PWM: Draft implementation to respect PWM_OUT when loading defaults 2021-07-02 12:48:04 +02:00
Beat Küng
50b0f0e392 iridiumsbd: disable module until everything is fixed 
There seem to be more issues in combination with MAVLink.
 2021-07-02 12:45:18 +02:00
Beat Küng
fcf3bb5af9 fix iridiumsbd: use ModuleBase 
fixes hardfaults, e.g. when device not connected
 2021-07-02 12:45:18 +02:00
Peter van der Perk
cf524cd2c9 [UAVCANv1] Added uORB actuator_outputs publisher 2021-07-02 00:58:38 -04:00
Beat Küng
6a44fc7cac fix vtol_att_control: set _current_max_pwm_values to current values on init 2021-07-02 00:53:42 -04:00
Beat Küng
894ecac8da px4io: ensure pwm params are loaded before any other module starts 
The vtol module will read them later on.
 2021-07-02 00:53:42 -04:00
Thies Lennart Alff
cacab75b42 define decimals for uuv_att_control gains 
decimal for the uuv_att_control gain parameters was not defined. So
QGroundControl displays them as integers what is rather unhandy.
 2021-07-01 11:08:16 -04:00
Daniel Agar
0aa14deb5d drivers/distance_sensor/broadcom/afbrs50: minimize IRQ_LOCK()/IRQ_UNLOCK() calls 2021-07-01 10:47:53 -04:00
Matthias Grob
62546350f1 battery: use local instead of global member battery_status message 2021-07-01 14:24:38 +02:00
Matthias Grob
fa976f84b1 battery: clear interface for determineWarning() 2021-07-01 14:24:38 +02:00
Matthias Grob
f41c294028 BatterySimulator: No need to explicitly mention throttle being set to zero 2021-07-01 14:24:38 +02:00
Matthias Grob
b824f33ae9 battery: publish measured values also when battery not connected 2021-07-01 14:24:38 +02:00
Matthias Grob
a99ddd0845 battery: don't reset on every loop iteration 2021-07-01 14:24:38 +02:00
Matthias Grob
8d74e52bb7 battery: omit separate publish() function 2021-07-01 14:24:38 +02:00
Matthias Grob
9c0c85c9e2 battery_status: naming consistency current_filtered_a -> current_average_a 2021-07-01 14:24:38 +02:00
Matthias Grob
41cc73e555 battery: simplify battery_initialized condition 2021-07-01 14:24:38 +02:00
Matthias Grob
a51d47f8e8 battery: connected check outside of determineWarning() 2021-07-01 14:24:38 +02:00
Jaeyoung-Lim
e45b862f1d Specify orientaiton of ADIS16448 IMU from rc.sensors 
Specify orientaiton of ADIS16448 IMU for from the rc.sensors

WIP: Currently only handling one orientation
 2021-06-30 09:34:12 -04:00
Daniel Agar
d87cd171f4 sensors/vehicle_imu: continue integrating gyro if there's a gap in data 
- minor improvement that helps to determine the sensor publication rate
as soon as possible
 2021-06-30 09:13:49 -04:00
Daniel Agar
7ddcb7fe3c adis16470: disable debug 2021-06-30 01:01:07 -04:00
Daniel Agar
982692f5ed ekf2: selector handle NAN test ratios as uninitilaized 
- requires https://github.com/PX4/PX4-ECL/pull/1020
 2021-06-29 21:36:24 -04:00
Daniel Agar
f0d8d53da6
sensors/vehicle_imu: minor IMU integration improvements 
- IMU integrator set max dt based on final return size (uint16)
 - improve integration consuming gyro as needed then integrate all available accel until caught up
 - increase required number of samples for sensor rate measurement (online Welford mean)
 2021-06-29 10:43:09 -04:00
Daniel Agar
3fcd323f6a
drivers/imu/invensense: store offset registers on configure, trigger reset on any change 
- this can catch subtle failures that occur after self hours of continuous operation on some units
 2021-06-29 10:33:03 -04:00
TSC21
a67e66000e protocol_splitter: including magic number on XOR for checksum 2021-06-25 13:05:24 +02:00
Matthias Grob
5ac5399d83 Remove horizontal slow down close to ground 
Because based on the numerous complaints it was disabled by default
(only velocities above 10m/s were limited)
and since then no one intentionally used it anymore. But
there were some minor investigations of drones not reaching
their maximum speed which always showed 10m/s.
 2021-06-25 11:15:41 +02:00
Matthias Grob
055c9db178 state_machine_helper: allow takeoff and hold without any link 2021-06-25 10:46:43 +02:00
Matthias Grob
15096ead5f state_machine_helper: explicitly notify about rca and data link loss 2021-06-25 10:46:43 +02:00
Matthias Grob
bec9eef5b0 state_machine_helper: react on link losses during takeoff 
The same way like in loiter. This should be further unified in the code
but at least we can increase safety in the case the takeoff altitude is
very high and the vehicle never reaches it but looses links.
 2021-06-25 10:46:43 +02:00
Matthias Grob
11556d4e9a Commander: allow disabling RC loss failsafe for mission, hold, offboard independently 2021-06-25 10:46:43 +02:00
Matthias Grob
933d31b476 commander_params: correct parameter group from Mission to Commander 2021-06-25 10:46:43 +02:00
Matthias Grob
6ee8f7be0f Commander: switch to static_cast<> for set_nav_state parameters 2021-06-25 10:46:43 +02:00
Jukka Laitinen
b3e9904df0 Add monocypher crypto library in src/lib/crypto/monocypher 
This simple crypto library is used as an example default backend for the crypto
interfaces

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-06-25 08:35:58 +02:00
Roman Dvořák
ab0e3b6001
icm20948_i2c_passthrough: allow to configure i2c address 2021-06-25 07:50:31 +02:00
Sander Swart
aa60d76963
camera trigger: don't keep triggering while enabled but paused 2021-06-24 06:56:58 +02:00
Mathieu Bresciani
9cedb169fc
HTE: relax validity condition when already valid (#17783) 
The condition to get valid requires a low variance and test ratio. but
to stay valid, only the variance is required.

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-06-23 07:33:11 +02:00