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10386 Commits

Author SHA1 Message Date
Paul Riseborough
eed8b00857 mc_pos_control: Release estimator speed limit only when speed demand is significant 
This prevents unexpected increases in stick sensitivity when stick is moved after periods of inactivity.
 2018-01-29 22:30:34 +01:00
Paul Riseborough
f8693b49c2 mc_pos_control: Fix compile error after rebase 2018-01-29 22:30:34 +01:00
Paul Riseborough
64551607bc simulator: update local_position publication 
Ensure all data is set.
 2018-01-29 22:30:34 +01:00
Paul Riseborough
4b2dcddec2 position_estimator_inav: update local_position publication 
Ensure all data is set.
 2018-01-29 22:30:34 +01:00
Paul Riseborough
33b75d8e87 mavlink: update local_position publication 
Ensure all data is set.
 2018-01-29 22:30:34 +01:00
Paul Riseborough
c294393377 local_position_estimator: update local_position publication 
Ensure all data is set.
 2018-01-29 22:30:34 +01:00
Paul Riseborough
642a4a5fc7 mc_pos_control: respect estimator max speed and min height limits 2018-01-29 22:30:34 +01:00
Paul Riseborough
1e9361572f sensors: Add parameter for flow sensor minimum range 2018-01-29 22:30:34 +01:00
Paul Riseborough
fc78de4c26 ekf2: Update parameter descriptions for air data fusion 2018-01-29 22:30:34 +01:00
Paul Riseborough
f866698fb2 ekf2: Update parameter description for max optical flow rate 2018-01-29 22:30:34 +01:00
Paul Riseborough
b117fddb21 ekf2: publish estimator position control limits 2018-01-29 22:30:34 +01:00
Simone Guscetti
08490b0182 commander_helper: Modify to use the tunes library 2018-01-29 09:45:59 -05:00
bresch
aca30fc612 VTOL standard - Remove pitch trim 2018-01-29 09:32:51 -05:00
bresch
920cb7a1a1 VTOL standard - Group multicopter weights in update_vtol_state() 2018-01-29 09:32:51 -05:00
bresch
d34767b871 VTOL standatd - Simplify multicopter weight in update_transition_state() 2018-01-29 09:32:51 -05:00
Daniel Agar
2bea09a997 rate controller status include rates 
- the actual corrected rates currently used by mc_att_control are not
   logged
 2018-01-29 09:10:56 -05:00
Andreas Antener
98441ac100 Log rate controller integrators (FW + MC) 2018-01-29 09:10:56 -05:00
Daniel Agar
8b0ba3c34c commander log full status flags 2018-01-28 19:28:32 +01:00
Daniel Agar
dc2d6e8aab
commander fix ignored parameters (COM_POS_FS_DELAY/COM_POS_FS_PROB) and refactor position velocity validity check (#8765) 2018-01-28 11:22:51 -05:00
SungTae Moon
f8f95078e8 commander status reuse arming_state_names in state_machine_helper (#8667) 2018-01-27 10:22:29 -05:00
Julian Oes
757f0e7334 mavlink_mission: straightaway send item again 
Instead of using a timeout to resend a mission item, we should directly
send the mission request again. This is needed because we removed the
automatic resending which lead to troubles.
 2018-01-25 15:31:40 +01:00
Julian Oes
d5219c8bc0 mavlink_mission: answer with mission NACKs 
if anything doesn't go according to protocol we should not just throw
warnings but actually tell the ground station with a mission nack.
 2018-01-25 15:31:40 +01:00
Julian Oes
e43cc9a9c1 mavlink_mission: send request again if unsupported 
When we receive a MAV_MISSION_UNSUPPORTED, we should try to send a
mission request again with or without int mode.
 2018-01-25 15:31:40 +01:00
Julian Oes
ffc7f37f12 mavlink_mission: don't retransmit automatically 
This is an attempt to fix mission upload and download with QGC on a
lossy link. The way it should work according to the protocol on
https://mavlink.io/en/protocol/mission.html is that in general
the ground station should be concerned about timeouts and
retransmission. This means the autopilot does not need to retransmit by
itself but just answer requests.

This seems like it would make the transfer less robust, however, it
actually resolves an edge case where QGC fails to make requests because
it gets spammed by the autopilot and keeps resetting the timeout.
 2018-01-25 15:31:40 +01:00
Nicolas de Palezieux
bc3577bd60 mission_block: do relative alt correction for correct nav_cmd 2018-01-25 15:27:55 +01:00
Nicolas de Palezieux
0266ca9845 commander: fix indentation 2018-01-25 15:27:55 +01:00
DonLakeFlyer
342509b3ab New ROI commands implementation 2018-01-25 15:27:55 +01:00
Nicolas de Palezieux
ae52f74e78 landing target estimator: initialize landing target velocity with negative of vehicle velocity 2018-01-24 19:39:30 +01:00
Nicolas de Palezieux
b7dff95782 landing target estimator: check validity of the correct data before computing acceleration 2018-01-24 19:39:30 +01:00
Daniel Agar
c0615c9e70 logger add safety 2018-01-24 17:36:53 +01:00
Daniel Agar
2ae5e575a5 land detector initialize landed and publish periodically 2018-01-24 17:36:53 +01:00
Daniel Agar
fd3f59d8c4 commander publish periodic status messages at 1 Hz 2018-01-24 17:36:53 +01:00
Daniel Agar
edf178d4e8 commander safety update require successful orb_copy 2018-01-24 17:36:53 +01:00
Lorenz Meier
d8164377a8 Navigator: Move mission param into mission params 
This is important for the compile scope.
 2018-01-22 15:56:42 +01:00
Nicolas de Palezieux
7ae3884944 heading towards ROI: do not require setting the MIS_YAWMODE param to enable multicopters yawing towards ROIs 
ROI yaw control: configure yawing capability of mount in vmount parameters.
If configured that mount has no yaw control, vehicle will yaw towards ROI, irrespective of MIS_YAWMODE.
Vehicle will behave according to MIS_YAWMODE when there is no ROI.
 2018-01-22 15:56:42 +01:00
Nicolas de Palezieux
add3692357 ROI: accept ROIs of type None in missions to enable 'deactivating' another ROI 2018-01-22 15:56:42 +01:00
Nicolas de Palezieux
bedaafcc20 NAV_CMD_DO_SET_ROI: handle relative altitude in mission ROI commands 2018-01-22 15:56:42 +01:00
Jonas Vautherin
38c949731f mavlink_main: fix broadcast computation 
The way the broadcast IP is currently fetched is by sending an ioctl()
request. The limitation of this is that the broadcast address may not
be set on the network interface (more specifically, it is usually not
set in docker containers). In those cases, it results in the broadcast
address becoming 0.0.0.0, which is not valid [1].

This fix uses the network IP and the netmask to compute the directed
broadcast address. This should be more reliable, as both of those are
always set on the network interface.

[1]: https://tools.ietf.org/html/rfc1122, section 3.2.1.3 (a)
 2018-01-21 14:58:04 +01:00
Beat Küng
45458fe9eb uORBManager: add comment about not having to set the priority 2018-01-19 14:11:01 +01:00
Beat Küng
2cb698f01f uORBDevices: set the priority when advertising a node that's already subscribed 
This fixes the case where a topic instance is already subscribed, and
advertised later. The subscriber will create the DeviceNode with default
priority, and the advertiser will just use the existing DeviceNode,
without updating to the requested priority.
 2018-01-19 14:11:01 +01:00
Daniel Agar
bda929bebb commander fix hil_state regression again 2018-01-18 17:38:48 +01:00
TSC21
821eb5ac87 navigator: precland_params: PLD_MAX_SRCH: fix min value from float to int 2018-01-17 17:52:24 -05:00
TSC21
ae65289967 lpe: params: fix LPE_FUSION max value 2018-01-17 17:52:24 -05:00
Beat Küng
f672152d2d logger: change 'removing log directory' warning to info 2018-01-17 02:19:01 -05:00
ChristophTobler
3a52e7ee5d simulator mavlink: set vision pos/val valid 2018-01-15 11:11:56 +01:00
ChristophTobler
66c67f89e6 ekf2: check if vision_position pos/vel are valid before using them 2018-01-15 11:11:56 +01:00
ChristophTobler
6609e4843b mavlink receiver: set vision_position pos/vel invalid depending on covariance 2018-01-15 11:11:56 +01:00
ChristophTobler
c7cf442e16 ekf2: use ev eph/v for noise parameter if bigger than noise param 2018-01-15 11:11:56 +01:00
Nicolas de Palezieux
45fd908784 mavlink : add support for precision landing 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux
90e3aeda6c logger : add support for logging precision landing messages 2018-01-15 10:27:23 +01:00