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21882 Commits

Author SHA1 Message Date
Daniel Agar ef6209ba03 new manual_control_switches msg (split out of manual_control_setpoint) (#16270) 
- split out switches from manual_control_setpoint into new message manual_control_switches
 - manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
 - simple switch debounce in rc_update (2 consecutive identical decodes required)
 - manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
 - manual_control_setpoint publish at minimal rate unless changing
 - commander handle landing gear switch for manual modes
 - processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
     - a future step will be to finally drop mode_switch and accompanying switches entirely

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2020-12-11 12:11:35 -05:00
Daniel Agar 25ef76b3b8 navigator: fix LOITER_TO_ALT 
- this was overzealously removed in https://github.com/PX4/PX4-Autopilot/pull/15677
 2020-12-11 16:28:08 +01:00
Jannik Beyerstedt c5a6a60903 Also log transponder_report and satellite_info 
* log full data rate transponder_report message by default
* log satellite_info (GPS_STATUS) as part of debug topics
 2020-12-11 12:44:23 +01:00
RomanBapst fd18ba6496 tiltrotor: allow to finish transition if groundspeed is below cruise speed 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-12-11 09:40:47 +03:00
Roman Bapst 842d98d572 AirspeedValidator: fuse true airspeed before sideslip (#742) 
- the states can be initialised more accurately using an airspeed measurement
and the wind estimator uses the first measurement to initialise

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-12-11 09:37:09 +03:00
Daniel Agar d44e537084 ekf2: update to new ecl to fix fault status getter 
- estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits
 2020-12-10 12:45:41 -05:00
Beat Küng 72420dfff3 mavlink_receiver: remove unused _param_com_flight_uuid 2020-12-10 08:47:04 +01:00
PX4 BuildBot 7db555573b Update submodule ecl to latest Wed Dec 9 12:40:07 UTC 2020 
- ecl in PX4/Firmware (ef162f7629ce29be8fd556b81357b96720d8e21f): https://github/commit/da7d41e78aecdc07d226bd7d723c747895d1c615
    - ecl current upstream: https://github/commit/8f3df7a97b348dd7bf06233004f9821fe2ea88d1
    - Changes: https://github/compare/da7d41e78aecdc07d226bd7d723c747895d1c615...8f3df7a97b348dd7bf06233004f9821fe2ea88d1

    8f3df7a 2020-12-09 Mathieu Bresciani - flow: restructure optical flow control logic (#928)
3835800 2020-12-09 kritz - Auto update change indication by github actions
688a054 2020-12-08 Daniel Agar - EKF: controlDragFusion() add parenthesis for readability
944b18c 2020-12-05 Paul Riseborough - EKF: Remove non useful status print
ee94980 2020-12-03 Paul Riseborough - EKF: Clean up wind state activation logic
44ebfb8 2020-12-02 Paul Riseborough - EKF: Don't report local position as valid when in a non-position mode
 2020-12-09 13:12:58 -05:00
Orkun Aşa a6b7add2fe SENS_EN_VL53L1X parameter is implemented to enable VL53L1X distance sensor 2020-12-09 17:55:38 +01:00
Igor Campos 9c3b70d517 remove default value for roll angle 2020-12-09 17:54:53 +01:00
Igor Campos bbad1bdd6e add comment. 2020-12-09 17:54:53 +01:00
Igor Campos 33b831efe3 rename variables 2020-12-09 17:54:53 +01:00
Igor Campos dfcd6a7c16 fix typo 2020-12-09 17:54:53 +01:00
Igor Campos c316af6ec7 update to match new feature as a new mavlink command Oblique Survey 260 2020-12-09 17:54:53 +01:00
Igor Campos 390ed3765f disable pseudo-oblique mode if param4 is 0. 2020-12-09 17:54:53 +01:00
Igor Campos 38a5b8a502 fix comment description for pitch angle 2020-12-09 17:54:53 +01:00
Igor Campos d0ae931543 adjust minimum number of positions to 2. 2020-12-09 17:54:53 +01:00
Igor Campos 0cb3ce4886 fix readability 2020-12-09 17:54:53 +01:00
Igor Campos e1e06364da fix formatting 2020-12-09 17:54:53 +01:00
Igor Campos 73f7b08873 add Camera Auto Mount Pseudo Oblique Solution (CAMPOS) 
add target system and component ids to vmount commands

Signed-off-by: Igor Campos <igor.gama.90@gmail.com>
 2020-12-09 17:54:53 +01:00
Thomas 7e2da11d67 reenable WV after FT alignment 2020-12-09 17:36:20 +01:00
Julian Oes a1b54eb655 mavlink: check index for out-of-bounds 
If a MAP_RC_PARAM message is sent with an index > 2, this would lead
to undefined behaviour or a segfault/hardfault.
 2020-12-09 08:59:57 +01:00
Mark Sauder dd4ee5c48c dshot: breakout driver header file, use static_casts, add const specifiers (#15908) 
* Break out dshot.h from dshot.cpp and rename files to reflect the class name.
Move DShot class specific #defines from drv_pwm_output.h to dshot.h.
Replace c-style casts with static_casts, standardize method naming, single line comment styles, and formatting.
Rename update_dshot_out_state() to enable_dshot_outputs().
 2020-12-09 08:51:47 +01:00
Daniel Agar cd1ffa63cd commander: auto transition to LOITER if disarmed with no RC only requires a valid global position 2020-12-08 18:26:03 -05:00
Daniel Agar 82746af07a ekf2: use new IMU and mag bias and variance getters in ecl/EKF 
- reset IMU bias on calibration change (only works with multi-ekf)
 - standardize PX4_INFO/PX4_WARN/PX4_ERR output for multi-ekf with instance number
 - https://github.com/PX4/PX4-ECL/pull/924
 2020-12-08 16:06:18 -05:00
Daniel Agar 8f5f564c05 commander: preflightcheck only report failure once per sensor type 
- either way the user action is to recalibrate, so we might as well try
to minimize the noise/annoyance
 2020-12-08 13:18:22 -05:00
Silvan Fuhrer edaf9f2bb6 FW Position Controller: consolidate mission throttle adaptions for position and loiter waypoints 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 12:08:36 -05:00
Silvan Fuhrer 6d255df0a8 airspeed selector: disable beta fusion when not in fixed-wing mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 11:43:27 -05:00
Silvan Fuhrer 59564af860 wind_estimate message: add identifier for source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 11:43:27 -05:00
Roman Dvořák bc1c8fb73a GPS_DUMP_COMM: dump all gps instances 2020-12-08 11:45:24 +01:00
Julian Oes fd261b590c battery: don't init uint16_t with -1.0f 
This was flagged as undefined behaviour by fuzz testing.
 2020-12-08 09:58:29 +01:00
Daniel Agar 681590c510 ekf2: multi-ekf force initial selection (and sensor_selection publication) 
- depending on the particular sensor configuration and startup timing we were getting an initial sensor_selection publication without valid accel & gyro device ids (only applies to Multi-EKF)
 - fix faulty accel and gyro device ids
 - initialize unused test ratio fields to NAN for logging clarity
 2020-12-07 21:37:24 -05:00
bresch 3276916df9 HomePos: check corresponding validity before using data 2020-12-07 10:24:23 -05:00
bresch 711bd2ce87 Commander: use helper to set home position 2020-12-07 10:24:23 -05:00
bresch f3e5b86b06 Commander: set home position in air 
en/dis-able in-air home position via parameter COM_HOME_IN_AIR
 2020-12-07 10:24:23 -05:00
Julian Oes a2ff53b018 mavlink: remove typedef of anonymous struct 
Clang doesn't seem to like these.
 2020-12-06 23:55:59 -05:00
Julian Oes 8900c6200d commander: remove typedef of anonymous struct 
Clang doesn't seem to like these.
 2020-12-06 23:55:59 -05:00
JaeyoungLim e6992db1ca Use enums for set attitude setpoint typemasks for offboard mode (#16327) 
This commit switches the typemask comaparision to enums for better readability
 2020-12-04 17:44:33 +01:00
Daniel Agar cc979d2249 Update submodule GPSDrivers to latest Fri Dec 4 00:39:25 UTC 2020 
- devices in PX4/Firmware (1303a8f17c5174a02b1c3ed22acd88da499e5a53): https://github/commit/0bf63c9820f4af997d0a48743dcc1008d119e49c
    - devices current upstream: https://github/commit/5afc11588b2b6ec0861ecf9ef673c7a9e2109129
    - Changes: https://github/compare/0bf63c9820f4af997d0a48743dcc1008d119e49c...5afc11588b2b6ec0861ecf9ef673c7a9e2109129

    5afc115 2020-11-30 Beat Küng - gps_helper: define M_PI_F if not defined (was missing for ubx)
 2020-12-03 23:48:29 -05:00
Daniel Agar 01620420fa ekf2: update to latest ecl with RingBuffer minor improvements 
- includes https://github.com/PX4/PX4-ECL/pull/938
 2020-12-03 21:17:22 -05:00
Matthias Grob 25c113a527 StickAccelerationXY: boost low speed brake 2020-12-03 18:19:42 +01:00
Matthias Grob badaf1eae0 Functions: add squareroot linear function 2020-12-03 18:19:42 +01:00
Matthias Grob 3f3a82e034 FlightTaskManualAcceleration: reset position lock on reactivation 
to prevent having a fixed position lock while moving the vehicle
on the ground before flying.
 2020-12-03 18:19:42 +01:00
Matthias Grob 66f8fc08c0 FlightTasks: refactor to use isAnyTaskActive() 2020-12-03 18:19:42 +01:00
David Sidrane 229f02a4f9 mtd:Reduce functionality on memory constrained systems 2020-12-02 20:40:23 -05:00
David Sidrane e83a00c604 px4_manifest:Add Queries 2020-12-02 20:40:23 -05:00
David Sidrane 68ab736b16 Refactor mtd to make available to board startup 2020-12-02 20:40:23 -05:00
Daniel Agar 378c0b5093 parameters: find and get perf counters aren't threadsafe 2020-12-02 10:11:42 -05:00
Daniel Agar e69aea0a9b parameters: don't keep in memory if set to default 2020-12-02 10:11:42 -05:00
Daniel Agar c305774fae commander: move vehicle_status into class 2020-12-02 10:20:50 +01:00