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10842 Commits

Author SHA1 Message Date
Beat Küng
f2516bbf5f system_params: add SYS_HAS_MAG and SYS_HAS_BARO params 
This allows to use PX4 on systems that do not have a mag or a baro,
such as the Omnibus F4 SD.
 2018-05-20 11:54:17 +02:00
Daniel Agar
da5a9043a7 clang-tidy modernize-use-equals-delete 2018-05-18 22:48:55 +02:00
Daniel Agar
4e32cb17df clang-tidy modernize-use-equals-default 2018-05-18 22:48:55 +02:00
Beat Küng
9b5df10631 logger watchdog: avoid using printf from IRQ context 
PX4_ERR calls printf, which calls lib_sem_initialize, which calls sem_wait
 2018-05-18 22:23:32 +02:00
Beat Küng
b8a94bf8d4 logger: move pthread_t cast to pid_t into watchdog_initialize 
avoids compile error on OSX, trying to cast pthread_t to pid_t
 2018-05-18 22:23:32 +02:00
Beat Küng
bda237b368 logger: ensure that fsync is called at least every second 
In case a log ends abruptly, we will know that we have everything up to the
last second.

A test showed that CPU load and the amount of logging drops are unaffected
by this.
 2018-05-18 22:23:32 +02:00
Beat Küng
dd30012b27 logger: add watchdog that boosts its priority when the writer is blocked for >1s 
This is to guard against busy-looping tasks, so that we at least have a
log. In case the watchdog is triggered, it also logs CPU load of all
tasks.
 2018-05-18 22:23:32 +02:00
Beat Küng
401eefd39b refactor logger: add struct timer_callback_data_s used in the timer callback 2018-05-18 22:23:32 +02:00
Beat Küng
9b72080ec1 refactor logger: add an enum for the reason of printing the cpu load 2018-05-18 22:23:32 +02:00
Daniel Agar
2f553b956d dataman file read fixed size buffer 2018-05-18 08:03:56 +02:00
Beat Küng
11f4631b2a fix commander: initialize tune_durations (#9468) 
Fixes #9451
 2018-05-16 10:20:28 -04:00
Mohammed Kabir
bbcf5b1b65 logger : log ping topic 2018-05-15 18:57:34 +02:00
Mohammed Kabir
92457bcafd mavlink : implement full ping protocol and link latency reporting 2018-05-15 18:57:34 +02:00
Julien Lecoeur
e380adb9b6 Fix format with Artistic Style 3.1 2018-05-15 10:38:49 -04:00
Daniel Agar
e33da0a821 fw_att_control set default yaw rate max and update parameter descriptions 2018-05-14 00:56:46 +02:00
Beat Küng
12436c1d64 fix attitude_estimator_q: swap quaternion multiplication & fix from_dcm init 
Quaterion::from_dcm does not set *this, but just returns the resulting
Quaterion.
 2018-05-11 09:34:26 +02:00
Daniel Agar
421b01e677 attitude_estimator_q move to matrix lib 2018-05-11 09:34:26 +02:00
Beat Küng
9e24875131 attitude_estimator_q: fuse accel data only if close to 1g if GPS velocity not used 
This reduces attitude drift on vehicles w/o GPS. The default behavior is
unchanged, to use it, disable ATT_ACC_COMP.
 2018-05-11 09:34:26 +02:00
Beat Küng
f77b8d9aa8 attitude_estimator_q: remove double initialization 2018-05-11 09:34:26 +02:00
Beat Küng
54fac26327 attitude_estimator_q: allow it to be used on boards w/o a mag 
By setting ATT_W_MAG to 0
 2018-05-11 09:34:26 +02:00
Beat Küng
c6b0d5c76a navigator: don't complain 'Using minimum takeoff altitude' in case of numerical inaccuracies 
Happend in SITL.
 2018-05-09 07:59:46 +02:00
Beat Küng
258b1ea473 navigator: ensure result of strncpy is null-terminated 2018-05-09 07:59:46 +02:00
Beat Küng
8c638ac88c sdlog2: check result of snprintf and ensure result of strncpy is null-terminated 2018-05-09 07:59:46 +02:00
Beat Küng
289e618b6c mavlink: fix compiler warnings with GCC 8.0.1 
-Wno-extra-semi is not valid for C code
 2018-05-09 07:59:46 +02:00
Beat Küng
8bd61a9330 uORBDevices: avoid memset, use braced initializer instead 2018-05-09 07:59:46 +02:00
Beat Küng
19a12ba75d logger: avoid memset, use braced initializer instead 2018-05-09 07:59:46 +02:00
Beat Küng
13ab5ed0d0 px4_main_t: fix method declaration throughout the code base 
px4_main_t is defined as:
typedef int (*px4_main_t)(int argc, char *argv[]);
which matches with the definition in NuttX, given to task_create
 2018-05-09 07:59:46 +02:00
Beat Küng
71b4ad62a1 ekf2 replay: handle multi multiple GPS instances (#9433) 2018-05-09 10:00:59 +10:00
Hamish Willee
9a7195cb2d Change offboard mode fallback option back to Manual 2018-05-08 07:04:32 +02:00
Hamish Willee
19032b91e3 Change RTL @group to Return Mode 2018-05-08 07:04:32 +02:00
Hamish Willee
66d4b495d4 Return params to reflect current mode names 2018-05-08 07:04:32 +02:00
Hamish Willee
09986237b6 Navigator failsafe action params to reflect current mode names 2018-05-08 07:04:32 +02:00
Hamish Willee
2c1eb443ca Geofence failsafe action params to reflect current mode names 2018-05-08 07:04:32 +02:00
Hamish Willee
42d1708d7c Commander failsafe action params to reflect current mode names 2018-05-08 07:04:32 +02:00
alessandro
3ed093ba59 Add baro temperature to sensor voter observation (#9411) 
When determining the confidence of a barometer sensor, we should
consider the temperature as well, alongside the pressure.
Low-noise baros can show the same pressure reading for a second
or two when not moving and in an indoor location.
 2018-05-04 12:40:10 -04:00
Jake Dahl
92f15283c1 changed int to float 2018-05-04 12:08:55 -04:00
Daniel Agar
2e92484325
ecl update to latest master with separate libraries (#9406) 2018-05-03 23:48:09 -04:00
Mohammed Kabir
fc07b23f41 logger : log timesync topic 2018-05-03 09:59:16 +02:00
Mohammed Kabir
40df193700 sdlog2 : remove old timesync logging 2018-05-03 09:59:16 +02:00
Mohammed Kabir
39bb65ffd7 mavlink : add advanced timesync algorithm 2018-05-03 09:59:16 +02:00
Daniel Agar
977ab4e7b8
improve end to end control latency measurement (#9388) 2018-05-02 03:03:32 -04:00
Daniel Agar
edea1b65cd uORB delete unused Flavor 2018-05-02 00:48:46 -04:00
Daniel Agar
8404889098 delete unused ADCSIM 
- set BOARD_NUMBER_BRICKS to 0 for boards without analog power bricks
 2018-04-29 21:48:54 -04:00
Daniel Agar
ea3acb7121 cmake remove circular linking and reorganize 
- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link
 2018-04-29 21:48:54 -04:00
Beat Küng
c7c3e23f0d MC acro: update param descriptions 2018-04-27 22:34:55 +02:00
Beat Küng
12e967173d MC: set default MPC_THR_MAX & MPC_MANTHR_MAX to 1 
With the updated mixer (#9062) it's safe to set maximum thrust to 1 (in
both cases, if MC_AIRMODE is set, or not set).
So I see no reason to limit the maximum thrust.
 2018-04-26 14:37:48 +02:00
Beat Küng
f2cee9970c MC acro: add separate params to configure yaw expo 
So that it can be customized better according to personal preferences.

The limitation of 16 chars did not allow to use a better param name.
 2018-04-26 14:17:16 +02:00
Beat Küng
58c757a9db mc_att_control_params: increase max acro rates to 1800 
This matches the maximum rates for the attitude controller.
 2018-04-26 14:17:16 +02:00
Beat Küng
332a612f35 mc_att_control_main: do not apply the yaw weight for the feedforward term 
The meaning of the yaw weight changed with #8003:
- before, the yaw weight decreased with increasing tilt angle error, so
  it was mostly 1
- now, it is constant and depends on the tuning gains (around 0.4 by default)

It means that #8003 reduced the feedforward term, and we get the closer
behavior as before with this change.
It also reduces coupling between different parameters.
 2018-04-25 16:33:09 +02:00
Daniel Agar
fbbe1f5288 commander use new time literals 2018-04-24 00:02:48 -04:00