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27140 Commits

Author SHA1 Message Date
Beat Küng 24142bc014 commander: RcCalibrationChecks: avoid param access on each cycle 
reduces cpu usage a bit
 2022-10-11 22:31:20 -04:00
Beat Küng c72c580a0b commander: run arming checks @ 10Hz 
Required for things like RC loss.
 2022-10-11 22:31:20 -04:00
Beat Küng 6fda555cba commander: move ownership of vehicle_status_flags_s to HealthAndArmingChecks 2022-10-11 22:31:20 -04:00
Beat Küng 500a896a56 commander: print reason for mode rejection & report for GCS switches as well 2022-10-11 22:31:20 -04:00
Beat Küng e4bb219d10 vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status 2022-10-11 22:31:20 -04:00
Beat Küng ae6377dfa0 mission_result: remove unused fields 2022-10-11 22:31:20 -04:00
Beat Küng 455b885f86 commander: use new failsafe state machine and add user intention class 2022-10-11 22:31:20 -04:00
Beat Küng a04230faa1 commander: add failsafe state machine with webassembly simulation 
to run the simulation:
install sdk: https://emscripten.org/docs/getting_started/downloads.html
make run_failsafe_web_server
open http://0.0.0.0:8000/

Co-authored-by: Konrad <konrad@auterion.com>
 2022-10-11 22:31:20 -04:00
Beat Küng 82911e48be fix commander: check estimator type & avoid timestamp wrap-around 
Before it was possible that the publication timestamp was never than 'now',
leading to wrap-around.
 2022-10-11 22:31:20 -04:00
Beat Küng 27f8298bb9 fix commander: add local position requirement to NAVIGATION_STATE_AUTO_LAND 2022-10-11 22:31:20 -04:00
Beat Küng 57c7b5e843 flight_mode_manager: reduce error verbosity & remove mode switching 
While disarmed, commander allows to be in any mode now.
 2022-10-11 22:31:20 -04:00
Beat Küng 31dfdea12e commander: remove state_machine_helper tests 2022-10-11 22:31:20 -04:00
Beat Küng e9387cac1d mavlink: move get_px4_custom_mode to px4_custom_mode.h 2022-10-11 22:31:20 -04:00
Silvan Fuhrer 9159f020cb mavlink local_position_ned: always publish on update, not just when xy and v_xy valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-10-11 00:47:32 -04:00
Daniel Agar ce609144b0 simulation/gz_bridge: fix implicit floating-point conversions 2022-10-09 14:11:19 -04:00
Daniel Agar 9010029e0d lib/drivers/device: Device.hpp fully init devid 
- constructor use available setters
 2022-10-09 13:49:39 -04:00
Daniel Agar f3964513c7 sensors: fix accel/gyro/mag calibration offset units 2022-10-09 13:02:38 -04:00
Daniel Agar ee4821ed0a commander: relax COM_ARM_MAG_ANG default to minimize false positives 
- this check is mainly intended for catching blatant setup problems like a magnetometer that's mounted 90 or 180 degrees off
 2022-10-09 12:41:06 -04:00
alexklimaj 064f3f86bc Increase mag calibration max_var_allowed 2022-10-06 08:44:36 -04:00
Hamish Willee 022aa13aa1 mpu9250_i2c - also needs docs update 2022-10-05 20:26:25 -04:00
Hamish Willee 6d612b1ba4 MPU9250 driver doc incorrect 2022-10-05 20:26:25 -04:00
Daniel Agar 8cc39096cb load_mon: NuttX cpuload use system times for calculation 
- this is to minimize the impact of any load_mon scheduling jitter in the sampled load percentage
 2022-10-05 14:21:38 -04:00
Daniel Agar 5f0a539633 gps_blending: fix blending init to best instance 
- output GPS publication defaults to best input instance
 - blended states are explicitly cleared and then populated with
weighted blend
 2022-10-05 10:26:48 -04:00
Matthias Grob 46e6e83e14 Commander: allow disarmin not-landed boat like rover 
This is a hotfix and a boat should never even detect a takeoff
in normal operation.
 2022-10-05 09:07:18 -04:00
Beat Küng dafead6f20 logger: add compressed events metadata file if it exists in the ROMFS 
Allows to decode events not (yet) on main.
The file is currently ~15KB.
 2022-10-05 07:44:55 +02:00
Beat Küng 02035d94aa metadata: sort json output 
ensures the files don't change arbitrarily
 2022-10-05 07:44:55 +02:00
modaltb 06a0aedbdb modalai_esc: directly using deadband param value instead of converting it to RPM 2022-10-04 20:14:59 -04:00
Thomas Debrunner 0af87ec745 mavlink: initial OPEN_DRONE_ID_BASIC_ID/OPEN_DRONE_ID_LOCATION support 2022-10-04 14:40:59 -04:00
pandafeng1999 e4b4df4e5d drivers/distance_sensor/gy_us42: add the specified i2c address 2022-10-04 11:35:45 -04:00
Matthias Grob f96507bb22 vtol_takeoff: fix comment typo 2022-10-04 10:01:04 -04:00
Julian Oes 5c77bbcb4c ms5611: ignore reading 0 
This prevents publishing a negative pressure which leads to a NAN
altitude estimate further down the line.
 2022-10-04 09:37:53 -04:00
Beat Küng 04b1cbb423 vtol_att_control: standard: also do blending for FW controls 
So that the sum of the control is always 1.
 2022-10-04 09:54:11 +02:00
Silvan Fuhrer 6db92b4011 ControlAllocation: remove actuator trim value from actuator_sp to calculate allocated control 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-10-04 07:51:25 +02:00
Zachary Lowell 4520186878 qurt: replacing qurt threads with pthread 2022-10-03 18:01:04 -04:00
bresch 4b687beb3b ekf2: remove old airspeed fusion code 2022-10-03 10:59:42 -04:00
bresch 299e6058e3 ekf2_test: test airspeed symforce vs sympy generated code 2022-10-03 10:59:42 -04:00
bresch 29ebef1f74 ekf2: migrate fuse_airspeed to SymForce 2022-10-03 10:59:42 -04:00
Daniel Agar 41cda14126 ekf2: add symforce code generation helper target 2022-10-03 10:59:42 -04:00
PX4 BuildBot f7a5c91fb3 Update submodule libcanard to latest Sun Oct 2 12:38:56 UTC 2022 
- libcanard in PX4/Firmware (8e144eece9e9cd5a23dbeb6723591f214cad631a): https://github.com/opencyphal/libcanard/commit/db87ea32aa092c48ea103963138b6346dd3e9008
    - libcanard current upstream: https://github.com/opencyphal/libcanard/commit/2e3b11f6b8325080c160d38521b169b0bbb6b1c7
    - Changes: https://github.com/opencyphal/libcanard/compare/db87ea32aa092c48ea103963138b6346dd3e9008...2e3b11f6b8325080c160d38521b169b0bbb6b1c7

    2e3b11f 2022-07-15 Pavel Kirienko - Follow-up for #197 -- fix minor issues discovered by Sonar (#198)
106ceaf 2022-07-11 Dmitry Ponomarev - Fix cast-align warnings on ARM
8953fe6 2022-07-06 Dmitry Ponomarev - Add ARM build to github workflow
 2022-10-02 10:54:05 -04:00
PX4 BuildBot 644a836d0a Update submodule libevents to latest Sun Oct 2 12:39:02 UTC 2022 
- libevents in PX4/Firmware (ddc1e6d6c5c2707be5522d4c4d7434403202cf45): https://github.com/mavlink/libevents/commit/82dabdb914d7bd640c281900e2852d0afc074b68
    - libevents current upstream: https://github.com/mavlink/libevents/commit/a89808bffd1efb0543e66f17a7fa12dfce5e6bf0
    - Changes: https://github.com/mavlink/libevents/compare/82dabdb914d7bd640c281900e2852d0afc074b68...a89808bffd1efb0543e66f17a7fa12dfce5e6bf0

    a89808b 2022-09-26 Beat Küng - combine.py: sort json keys
 2022-10-02 10:53:28 -04:00
PX4 BuildBot cf0cd4ebf2 Update submodule mavlink to latest Sun Oct 2 12:39:04 UTC 2022 
- mavlink in PX4/Firmware (65bd1fd4c000a7fa0de2a0e8dce1ba9b2a62fa86): https://github.com/mavlink/mavlink/commit/c46af523263ff0dad59afe018fe387c1df030442
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/dda5a18ddb002a871ba301bb584893ee6378e2f3
    - Changes: https://github.com/mavlink/mavlink/compare/c46af523263ff0dad59afe018fe387c1df030442...dda5a18ddb002a871ba301bb584893ee6378e2f3

    dda5a18d 2022-09-28 WickedShell - Support a return to default speed for DO_CHANGE_SPEED (#1890)
4e04dbbf 2022-09-24 Hamish Willee - MAV_FRAME_BODY_FRD - match to implementations and sanity (#1894)
89a61214 2022-09-23 Hamish Willee - DO_CHANGE_SPEED - clarify lifetime of speed setting (#1892)
11414f88 2022-09-21 Søren Friis - Clarify swarm fields (#1891)
5cdf8b60 2022-09-08 Hamish Willee - HOME_POSITION - clarify local frame means NED (#1886)
551e3b49 2022-09-07 Julian Oes - Fix CI (#1888)
d99ee9b6 2022-09-07 Julian Oes - pymavlink: update submodule to latest master (#1887)
92d2a58d 2022-09-01 Hamish Willee - common.xml:TIMESYNC docs and extensions (#1878)
c424dc65 2022-09-01 Julian Oes - minimal: try to make component ID less confusing (#1876)
153939bd 2022-09-01 Hamish Willee - Fix typo MAV_CMD_DO_SET_MISSION_CURRENT
5043a1e0 2022-09-01 Hamish Willee - MAV_CMD_DO_SET_MISSION_CURRENT - allow mission resetting (#1870)
90aa7bfc 2022-08-31 Chikirev Sirguy - Update common.xml (#1815)
554ccadd 2022-08-31 Hamish Willee - common: OpenDroneID messages no longer WIP (#1882)
06448cf6 2022-08-24 Hamish Willee - MAV_ODID_ARM_STATUS entries update to naming convention (#1883)
ff649224 2022-08-18 Patrick José Pereira - Fix gibberish descriptions ualberta.xml (#1881)
11f4b236 2022-08-18 Hamish Willee - Mission item - document values for autocontinue (#1868)
fb8ac31b 2022-08-18 Julian Oes - development: remove MISSION_CHANGED (#1879)
76b794c2 2022-08-18 Julian Oes - common: extend MISSION_CURRENT (#1869)
1ae3edc4 2022-08-15 Andrew Tridgell - common: added OPEN_DRONE_ID_SYSTEM_UPDATE message (#1880)
aa25f4df 2022-08-11 Andrew Tridgell - common: added OPEN_DRONE_ID_ARM_STATUS (#1873)
 2022-10-02 10:53:00 -04:00
Silvan Fuhrer 9b3cb6c758 FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body) (#20330) 
* FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FW Attitude controller: do manual control polling before attitude setpoint polling

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-30 13:45:20 +02:00
Beat Küng 64ae0049de mission: add support for NAV_CMD_DO_SET_ACTUATOR 2022-09-29 14:23:16 -04:00
Daniel Agar a27aeb30bf mc_pos_control: fix trajectory setpoint copy 
- trajectory_setpoint and vehicle_local_position_setpoint used to be
the same data type
 - we got extremely lucky here that this didn't cause any issues due to
all the fields still aligning
 2022-09-29 14:17:00 -04:00
bresch 20b46ad33f ekf2_test: test validity of local position when not at rest 
At rest, the zero velocity update keeps the local position valid all the
time. Deactivate it to be able to test the validity checks
 2022-09-29 14:16:36 -04:00
bresch 1914053db2 ekf2: synchronize z_valid and v_z_valid 
mc_pos_control doesn't handle all the cases at the moment
 2022-09-29 14:16:36 -04:00
bresch f753b92cff ekf2: start fake pos fusion after dead-reckoning timeout 
Starting the fake position as soon as all the aiding sources stop makes
the local position immediately invalid while we could continue to navigate
for a couple of second with inertial dead-reckoning
 2022-09-29 14:16:36 -04:00
bresch bb790c9bec ekf2: add vertical dead-reckoning timeout check for height validity 2022-09-29 14:16:36 -04:00
Thomas Stastny da99387215 welford mean: protect against negative variances 2022-09-29 14:14:16 -04:00
Thomas Stastny d3849c0265 welford mean: convert to matrix only template 2022-09-29 14:14:16 -04:00