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16288 Commits

Author SHA1 Message Date
Beat Küng
eb33145ac8 px4_param.h: add ParamExtFloat & ParamExtInt (required by ekf2) 2018-03-13 17:35:15 +01:00
Beat Küng
89a775b401 navigator: remove use of final to allow extending class hierarchy 2018-03-13 17:35:15 +01:00
Beat Küng
8a5cdac1f4 FixedwingPositionControl: fix ordering of PRINT_MODULE_USAGE_NAME 2018-03-13 17:35:15 +01:00
Beat Küng
e0af2912a1 navigator: avoid use of a static variable last_geofence_check 2018-03-13 17:35:15 +01:00
Beat Küng
320bdc6482 navigator: refactor to use ModuleBase class 2018-03-13 17:35:15 +01:00
Beat Küng
246be4f0ab precland: use 'default' for destructor 2018-03-13 17:35:15 +01:00
Beat Küng
2e6904b8a4 navigator: use '#pragma once' as include guard 2018-03-13 17:35:15 +01:00
Beat Küng
f2dddc65a5 navigator: use new Param class 2018-03-13 17:35:15 +01:00
Beat Küng
32eaf278ad Battery: remove unnecessary updateParams() call in constructor 2018-03-13 17:35:15 +01:00
Beat Küng
523bb11577 module template: update to use the new Param classes 2018-03-13 17:35:15 +01:00
Beat Küng
0d26aeafe2 px4_parameter.h: remove this file - it's not used anymore 2018-03-13 17:35:15 +01:00
Beat Küng
fca99cf775 param: refactor BlockParam classes 
- make the selected parameter a template argument. This
  enables type-checking at compile-time.
- move things to src/platforms.
  This provides consistent includes with ModuleBase
- add ModuleParams base class (replaces Block & SuperBlock)
- drop the Block* prefix from the class names
 2018-03-13 17:35:15 +01:00
Beat Küng
0e4034d01e param: add a px4_parameters_public.h.jinja template 
Generates an enum with all params & additional type information for static
type checking

The generated public param header is required to build the modules using
the new BlockParam classes.
 2018-03-13 17:35:15 +01:00
Beat Küng
0a5af01454 NavigatorMode: inherit from Block instead of SuperBlock 2018-03-13 17:35:15 +01:00
Philipp Oettershagen
ff66605a8a Fix: Increase pwmsim module stack by 100 bytes again because load_mon was giving warning about low stack 2018-03-13 12:51:33 +01:00
David Sidrane
de9368319f Do not change mode to read temperature 
The mode change was not necessary and in fact caused the chip to not update the registerfile resulting in MAG timeouts
 2018-03-12 11:56:59 +01:00
Beat Küng
bb6802a1ed kinetis: fix PPM decoding 
On kinetis, the TPM_STATUS_TOF was used to detect missed interrupts for
PPM decoding. However this was not correct, because the TOF bit was set on
each timer overflow. This happened regularly after every 64ms interval,
which meant that most PPM frames were just discarded.

I have not found any equivalent register/solution that is used on STMF4,
so this just removes the TOF handling. However there is now no way to
detect missed edges/interrupts!
 2018-03-12 11:56:59 +01:00
Beat Küng
5a7885610d fmu: fix PPM publication if RC_SERIAL_PORT is not defined 
Before, the RC channel was published as fast as the fmu was running
(around 200Hz in unarmed state).

And fix code style.
 2018-03-12 11:56:59 +01:00
Beat Küng
dde922a971 fxos8701cq: add a 'stop' command 2018-03-12 11:56:59 +01:00
David Sidrane
0ed631227f fxos8701cq:Work with fxos8701cq and fxos8700cq 
Allow whoami of fxos8701cq and fxos8700cq
 2018-03-12 11:56:59 +01:00
Daniel Agar
5335778f6e nxphlite start correct sensors and disable debug 2018-03-11 18:19:12 -05:00
Mohammed Kabir
f95f4c5f09 UAVCAN : Correct startup sequence and improve parameter description 2018-03-10 23:09:19 -05:00
Vasily Evseenko
ebe74ccb2e Add 'forced on' flow control mode to mavlink UART (#8776) 2018-03-10 14:54:57 -05:00
acfloria
fd0be3c412 Remove MavLink dependency in navigator 2018-03-09 21:16:28 +01:00
Roman
64b97cb18e fw_att_control: in acro use thrust from rate setpoint topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-09 13:48:14 +01:00
Thomas Stastny
74730273c1 fw_att_control move angular rate limits to body angular rates (#9023) 
* ecl: attitude_fw update
- move angular rate limits to body angular rates
- handle rattitude/acro vs attitude mode rate limits
 2018-03-08 22:55:45 -05:00
Daniel Agar
2ce8b6a984
delete VT_FW_PITCH_TRIM parameter (#9014) 2018-03-07 09:08:59 -05:00
Roman
ac2b3ccadc vtol_att_control: default front transition throttle to 100% 
- the main idea is to prevent airspeed less systems to stall after a
transition

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
e4ea7262fd tailsitter.cpp: small cosmetic fix 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
03338935e0 vtol_att_control: make sure blending airspeed is smaller than transition airspeed 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
e0ca38e794 standard vtol: fix mc weight calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
23257bf6ee standard vtol: simplify blending weight calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
b66bc712af tailsitter: avoid doing same calculation twice 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
1d8f588d37 vtol_att_control: switch from division to multiplication for variable 
calculation

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
9e16543dbe tiltrotor: represent time since transition in seconds 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
ae2e6c7a18 tailsitter: represent time since transition in seconds 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
bf22f02567 tailsitter: removed usage of hrt_elapsed and small cleanup 
- do not call hrt_elapsed_time since it's expensive
- remove P2 front transition phase (was not even used)

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
196d0e40b4 standard vtol: use time in second since transition start instead of using 
microseconds

- seconds is more intuitive
- avoids tons of divisions by 1e6f

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
5a2a5127fa tailsitter: removed common vtol parameters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
07a84f2246 tiltrotor: removed common vtol parameters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
6900f97b72 vtol_att_control: use airspeed_disabled flag instead of airspeed mode 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman
daa6c6ffc8 vtol_att_control: consolidated standard parameters & fix usage of hrt_elapsed time 
- standard vtol was implementing many custom parameters although they
are generic and should be shared between the vtol types
- removed heavy usage of hrt_elapsed_time() which is a system call and
could be computationally expensive
 2018-03-07 14:01:51 +01:00
Julian Oes
9c6b1a0f04 navigator: fix incorrect takeoff altitude 
This fixes a problem where we do not properly go to the set takeoff
altitude but end up lower.

The problem was that the setpoint triplet is reset when the navigation
mode changes. So in this case, the triplet is reset when we switch from
takeoff to loiter which can happen before reaching the actual takeoff
altitude.

The fix is an ugly hack to prevent the reset in the case of takeoff to
loiter. A better solution would be to remove the general reset and have
all navigation modes do the proper resets themselves.

This hotfix should however be lower risk.
 2018-03-07 08:48:44 +01:00
Daniel Agar
623e16e8be logger SITL add additional messages by default 2018-03-06 17:42:33 +01:00
Daniel Agar
ba90952e07 px4fmu-v2 board_on_reset also reinit spi 2018-03-06 13:47:37 +01:00
AlexKlimaj
83d01a7c76 Updated batt_smbus. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature. (#8991) 
* Updated and expanded batt_smbus to work with bq40z50-R2. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature, added commented out expanded battery_status.msg parameters for future mavlink expansion.

* Changed errx to PX4_ERR

* Added PX4_ERR returns
 2018-03-06 10:42:20 +01:00
Daniel Agar
493c41c76e VtolLandDetector require vehicle_status timestamp 2018-03-05 15:46:24 -05:00
Daniel Agar
354584acfc MulticopterLandDetector initialize all class members 2018-03-05 15:46:24 -05:00
Daniel Agar
69470f6991 land_detector use THROTTLE index 2018-03-05 15:46:24 -05:00
Daniel Agar
458db2e508 vehicle_global_position remove redundant evh and evv 
- vehicle_status_flags condition_global_velocity_valid is also unnecessary
 2018-03-05 13:20:28 -05:00