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Author SHA1 Message Date
Daniel Agarand: bresch f3e2a197ad move vehicle at rest detection ekf2 -> land_detector 
- move vehicle at reset detection ekf2 -> land_detector
 - ekf_unit: reduce init period
   - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
 - ekf_unit: reduce minimum vel/pos variance required after init
   - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.

Co-authored-by:: bresch <brescianimathieu@gmail.com>
 2022-02-01 17:50:19 -05:00
Daniel Agar e387f302f9 mavlink: streams/COMMAND_LONG don't send internal vehicle_commands 2022-02-01 09:15:10 -05:00
Daniel Agar 999737ddd5 ekf2: refactor mag control 
- remove class _mag_sample_delayed
 - update mag fusion call graph to use mag sample delayed functionally
 - Ekf::resetMagHeading()
   - use low pass mag directly, but check if valid (magnitude)
   - MAG_FUSE_TYPE_INDOOR treat like auto if heading required
 2022-01-31 11:47:10 -05:00
Daniel Agar ad447ab223 commander: respect control mode for prearm requirements 
- preflight tolerate ekf2 warnings if not in an attitude/velocity/position mode (eg manual or acro)
 2022-01-31 09:48:37 -05:00
Daniel Agar 90358f078f add odometry reset counter (ekf2, mavlink, etc) 2022-01-31 09:19:36 -05:00
Daniel Agar 274d0d65c6 lib/cdev/posix: increase max FDs 256->512 2022-01-28 17:30:53 -05:00
Daniel Agar 0104b84289 logger: PX4_SITL log all ekf2 publications at full rate for replay 2022-01-28 07:46:54 +01:00
Daniel Agar d2ce9a8560 ROMFS: rc.replay fix ulog_params argument 2022-01-28 07:46:54 +01:00
Daniel Agar 49d9d1c987 ekf2: only set fault status bad_acc_clipping if clipping frequently 2022-01-27 09:59:50 -05:00
Daniel Agar f499749c23 ekf2: mag field strength check respect requirements 
- requires valid mag data (_mag_data_ready)
 - respect mag_fusion_type (including MAG_FUSE_TYPE_INDOOR)
 2022-01-27 09:05:13 -05:00
Daniel Agar ae3070bbf1 ekf2: make filter update period configurable 
- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
 - actual filter update period will be an integer multiple of IMU
 2022-01-26 10:57:09 -05:00
Daniel Agar 3f25349eb9 commander: don't reject VEHICLE_CMD_DO_SET_ACTUATOR 2022-01-25 18:44:58 -05:00
Daniel Agar 8d03e71c16 drivers/magnetometer/bosch/bmm150: init and self test improvements 
- if self test fails consistently proceed with startup, but report failure
 2022-01-24 16:16:03 -05:00
Daniel Agar 8217e0f335 drivers/magnetometer/bosch/bmm150: add self test fail perf counter to status 2022-01-24 13:06:32 -05:00
Daniel Agar 5ded1aedcb sensors/vehicle_angular_velocity: add IMU_GYRO_DNF_HMC to configure number of ESC RPM notch filter harmonics 2022-01-24 09:23:03 -05:00
Daniel Agar 07e6c274d5 uavcan/uavcannode: bridge LogMessage and PX4 ORB_ID(log_message_s) 2022-01-23 20:21:39 -05:00
Daniel Agar 4de9c598fa bmm150: retry probe up to 3 times 2022-01-21 15:51:43 -05:00
Daniel Agar 7cb8ed3a1f sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats 2022-01-21 09:18:49 -05:00
Daniel Agar 446729566d platforms/nuttx: px4io_serial always cleanup DMA before next bus exchange 
- this really shouldn't be necessary, but worst case it's harmless and
much better than potentially falling out of the sky
 2022-01-19 18:00:18 -05:00
Daniel Agar 92a5bbe97f ekf2: improve ring buffer sizing and dynamically allocate 2022-01-19 09:04:53 -05:00
Daniel Agar 36605bfff6 sensors: lower SENS_MAG_RATE default 
- reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4)
 2022-01-19 08:51:57 -05:00
Daniel Agar dd6b7fa98f sensors: switch status PX4_INFO -> PX4_INFO_RAW 2022-01-18 15:00:18 -05:00
Daniel Agar b1d2a0cc4e sensors: simplify timestamp data validator handling 2022-01-18 14:57:18 -05:00
Daniel Agar 8067207ea6 px4_work_queue: rename serial port WQs 2022-01-18 14:56:15 -05:00
Daniel Agar 7eee949a81 Jenkins: hardware tolerate irrelevant uorb status failure 2022-01-18 12:23:05 -05:00
Daniel Agar 548b7d5ece sensors/vehicle_imu: on calibration change don't resume in flight calibration learning immediately 2022-01-18 11:22:41 -05:00
Daniel Agar ece09064c4 parameters: perform verification pass twice 
- on NuttX with MTD storage this is to ensure we are verifying what's
actually stored on ramtron or eeprom, not just what's cached by bchlib
 2022-01-18 09:47:28 -05:00
Daniel Agar 2fb82789fe lib/wind_estimator: pass q_att as const reference 2022-01-17 16:59:28 -05:00
Daniel Agar 98a9748bb8 drivers/dshot: use uORB::PublicationMulti for ORB_ID(esc_status) 
- there can be multiple different outupt modules publishing esc_status (eg dshot & uavcan)
 2022-01-14 12:17:49 -05:00
Daniel Agar 81ecd130fc uavcan: ESC publish esc_status in callback instead of timer 
- this ensures every ESC status gets published with minimal latency
 - also prevents publishing ORB_ID(esc_status) when there's no actual
data (bug)
 2022-01-14 12:17:49 -05:00
Daniel Agar bb1177d504 sensor_calibration: refactor and centralize calibration slot logic 
- centralize logic for selecting a preferred calibration slot
   - automatically use existing calibration slot if it exists, otherwise
find first available slot, with a preference for a requested index
 - existing commander calibration methods rewrite all calibration slots
to match current sensor ordering
 2022-01-12 16:16:26 -05:00
Daniel Agar 463513f31f Jenkins: hardware disable auto cal before on board tests 2022-01-11 11:47:02 -05:00
Daniel Agar 2eec7842ae sensors/vehicle_imu: fix SENS_IMU_AUTOCAL saving logic 
- on cycles that don't check for updated calibraton (estimated bias) we
check if there's anything valid to save (when disarmed)
 2022-01-11 11:47:02 -05:00
Daniel Agar cc1fee525a lib/sensor_calibration: handle calibration slot change on parameter update 2022-01-10 17:16:50 -05:00
Daniel Agar ab547bb982 sensors/vehicle_angular_velocity: RPM notch don't fully disable if first harmonic frequency drops below minimum frequency 
- keep higher frequency harmonics enabled per ESC
 - cleanup timestamp handling (timeouts, etc)
 2022-01-10 14:51:29 -05:00
Daniel Agar b58922a5d7 sensors/vehicle_angular_velocity: notch filters automatically reset on sufficient parameter change 2022-01-10 14:51:29 -05:00
Daniel Agar 7d632254be NotchFilter push initialization/reset into filter 
- this simplifies the reset by allowing a notch filter to reset as
needed
 - improves cascade initialization, on reset each filter will reset
properly from the previous
 2022-01-10 14:51:29 -05:00
Daniel Agar 2e2ac36cab drivers/uavcan: make firmware server available on both CAN1/CAN2 always (if enabled) 
- uavcan firmware server no longer shuts down when arming (nodes might restart in flight)
 - always handle UAVCAN parameters with or without the FW server active
 - remove legacy ESC enumeration in FW server
 2022-01-10 11:13:02 -05:00
Daniel Agar d9e7315420 sensors: automatically set initial accel/gyro calibration if stable bias available 2022-01-10 10:46:37 -05:00
Daniel Agar e731fcdbc0 sensors (accel/gyro/mag) determine if external with device id 2022-01-10 10:31:07 -05:00
Daniel Agar 45040be669 ekf2: accel/gyro/mag sensor cal minor cleanup 
- cleanup obsolete comments
 - remove debug helpers
 - add additional variance requirements to mag bias stable (matching accel & gyro)
 2022-01-10 09:55:59 -05:00
Daniel Agar c3ca40a98f drivers/px4io: delete monitor command 
- the px4io console isn't even connected on most flight controllers
 2022-01-10 09:51:11 -05:00
Daniel Agar e5d49f6fff drivers/px4io: delete unused detect 2022-01-10 09:51:11 -05:00
Daniel Agar d077ca15fb delete PWM_SERVO_SET, PWM_SERVO_SET_MODE, systemcmds/motor_ramp, and pwm_out test 2022-01-10 09:51:11 -05:00
Daniel Agar df44df2df6 delete systemcmds/esc_calib 
- this is redundant with commander esc_calibration
 2022-01-10 09:51:11 -05:00
Daniel Agar 03bdc460d8 drivers/px4io: PWM_SERVO_GET_FAILSAFE_PWM don't get registers directly 2022-01-10 09:51:11 -05:00
Daniel Agar d3301ba826 delete PWM_SERVO_GET_TRIM_PWM 2022-01-10 09:51:11 -05:00
Daniel Agar 8de59dad32 delete PWM_SERVO_SET_TERMINATION_FAILSAFE 2022-01-10 09:51:11 -05:00
Daniel Agar 1739ecc981 delete PWM_SERVO_SET_FORCE_FAILSAFE 2022-01-10 09:51:11 -05:00
Daniel Agar 649d3e3f55 delete PWM_SERVO_SET_DISABLE_LOCKDOWN/PWM_SERVO_GET_DISABLE_LOCKDOWN 2022-01-10 09:51:11 -05:00
Daniel Agar b7ed4fd3e0 delete PWM_SERVO_SET_DISARMED_PWM 2022-01-10 09:51:11 -05:00
Daniel Agar 551a31ce2f delete PWM_SERVO_SET_FAILSAFE_PWM 2022-01-10 09:51:11 -05:00
Daniel Agar daa925137c boards: move default battery calibration defines to parameter defaults 2022-01-10 09:49:36 -05:00
Daniel Agar 78b3d22471 lib/mixer_module: consume output_limit library 2022-01-10 11:59:55 +01:00
Daniel Agar 71d8b15b73 commander: fix COM_HOME_EN missing case 
- VEHICLE_CMD_COMPONENT_ARM_DISARM is yet another path that calls set_home_position()
 2022-01-09 20:52:07 -05:00
Daniel Agar 0b1402afe2 Tools/HIL/test_airframes.sh enable all mavlink and GPS 2022-01-08 18:11:43 -05:00
Daniel Agar 6c97700eaa move sensor calibration parameters to yaml 2022-01-07 19:00:41 -05:00
Daniel Agar c17a9e8003 sensors/vehicle_imu: refactor SensorCalibrationUpdate() to separate accel/gyro cal saving 2022-01-07 09:40:51 -05:00
Daniel Agar aec97e0020 sensors: minor IMU bias saving updates 
- sensors/vehicle_imu: reset learned cal on any calibration change
during parameter update
 - sensors/vehicle_imu: cleanup logic estimated bias -> calibration offset
saving
   - don't invalidate saved calibration (the point is to keep the last valid)
   - remove old debug code, etc
 - sensors/vehicle_imu: notify parameter changes if accel or gyro
calibration has changed
 - lib/sensor_calibration: add calibrated() and calibration_index()
getters, keep Accelerometer/Gyroscope/Magnetometer in sync
 2022-01-07 09:40:51 -05:00
Daniel Agar 30ccfdb2ed sensors/vehicle_magnetomeer: fix copyright year 2022-01-06 20:27:56 -05:00
Daniel Agar 170849c8f8 ekf2: expand accel bias stability criteria 2022-01-04 13:57:49 -05:00
Daniel Agar e835a7c4ea boards: enable readline history and tab completion on newer boards 2022-01-03 10:44:32 -05:00
Daniel Agar 9d1558af25 ekf2: selector use status timestamp for timeout rather than timestamp_sample (delayed time horizon) 
- update stale checks for publication to use hrt elapsed time from
timestamp sample
 2022-01-03 09:20:44 -05:00
Daniel Agar 333edfe12f ekf2: use delayed IMU timestamp for publication's timestamp_sample 2022-01-03 09:20:44 -05:00
Daniel Agar 35502c249d ekf2: don't use Vectors for height innovations (baro, rng, etc) 2022-01-03 09:20:20 -05:00
Daniel Agar 75bb2f8dd2 Jenkins: hardware temporarily tolerate sd_bench failures on px4_fmu-v5_debug 2022-01-02 14:47:52 -05:00
Daniel Agar 673d4544d1 parameters: verify param backup after export 2022-01-02 10:46:34 -05:00
Daniel Agar 8e26b33009 tinybson: file write error add more detail 2022-01-02 10:46:34 -05:00
Daniel Agar 80ef6e19df tinybson: explicitly append int32 or int64 2022-01-02 10:46:34 -05:00
Daniel Agar 9cbb5c9920 parameters: fix export shutdown locking 
- in NuttX bchlib keeps a sector sized buffer that might not be written
out to RAMTRON until the file is closed
 2022-01-02 10:46:34 -05:00
Daniel Agar 2153710917 Tools/HIL/monitor_firmware_upload.py don't fail on any ERROR 
- on first boot we only care that it completes (gets to nsh prompt)
 2022-01-02 10:05:30 -05:00
Daniel Agar c421bff73c Tools/HIL: use pyserial spy:// to log all serial traffic and dump on failure 2022-01-01 22:25:29 -05:00
Daniel Agar 7df1721d32 ROMFS: rcS disable simplistic SD I/O test 
- this was added when trying to identify SD card issues at boot and
trigger a format, but didn't provide any value
 2022-01-01 18:43:27 -05:00
Daniel Agar f76aa0e772 cmake: NuttX ARMV7M_STACKCHECK skip ekf2 
- px4_fmu-v5_stackcheck switch from icm20689 -> bmi055 (lower rate)
 - this is to make performance tolerable
 2022-01-01 18:43:27 -05:00
Daniel Agar e9283d90cc systemcmds/netman: fix code style 2022-01-01 18:40:47 -05:00
Daniel Agar 0029317e55 Jenkins: hardware additional reboots no longer required 2022-01-01 14:06:05 -05:00
Daniel Agar 439ad7daea Jenkins: hardware disable calib_delay (too slow) and manual SD format 2022-01-01 12:10:28 -05:00
Daniel Agar 501474993e Tools/HIL: default to USB UART if available 2022-01-01 10:49:30 -05:00
Daniel Agar 77b65ee564 boards: px4_fmu-v5_debug disable stack check 
- this is redundant with px4_fmu-v5_stackcheck
 2021-12-31 19:34:18 -05:00
Daniel Agar 247b975675 Tools/HIL: disable XON/XOFF, consistent timeouts, proper input buffer clear 2021-12-31 19:28:40 -05:00
Daniel Agar 03371f8522 NuttX with bch flush backport 2021-12-31 10:59:56 -08:00
Daniel Agar 1b6700592b parameters: require valid BSON document size 2021-12-30 16:36:23 -05:00
Daniel Agar 3514458f42 Tools/HIL/test_airframes.sh: dump all parameter storage after bootup to verify contents 2021-12-30 12:43:00 -05:00
Daniel Agar b06215d038 Tools/HIL/test_airframes.sh: run param dump after save to verify BSON 2021-12-30 11:11:14 -05:00
Daniel Agar 6706d9b434 Jenkins: always fully clean git workspace 2021-12-29 17:14:11 -05:00
Daniel Agar 6d0339ba0c I2CSPIDriverBase: sensor start failure ERROR if internal, WARN if external 2021-12-28 11:05:35 -05:00
Daniel Agar 990d7c159d pwm_out: cleanup and prep for linux compatibility 2021-12-28 11:04:00 -05:00
Daniel Agar 10f4a2e91f boards: omnibus_f4sd_default disable systemcmds to save flash 2021-12-27 12:19:55 -05:00
Daniel Agar 3ef9c2d16c boards: holybro_kakutef7_default disable modules/gyro_calibration to save flash 2021-12-27 12:19:55 -05:00
Daniel Agar d94767ef88 cmake: NuttX use cygwin friendly path for linker script 2021-12-27 12:19:12 -05:00
Daniel Agar 3f17acdcc9 boards: mro_ctrl-zerl-h7-oem pin fixes (sync with mro_ctrl-zero-h7) 2021-12-27 09:25:21 -05:00
Daniel Agar 0f4e1dd9f9 boards: mro ctrl-zero-h7 pin fixes 2021-12-27 09:25:21 -05:00
Daniel Agar 236794235a parameters: export empty BSON document even if there are no parameters to save 
- otherwise a 'param reset_all' won't be saved until a parameter is changed
 2021-12-27 09:17:00 -05:00
Daniel Agar 33d7b42040 parameters: import quietly retry if there's no data (as a precuation) 2021-12-27 09:17:00 -05:00
Daniel Agar 20d3e6f4e1 parameters: add simple BSON verification pass after export 2021-12-27 09:17:00 -05:00
Daniel Agar 98d706772e boards: px4_fmu-v2_rover disable events module to save flash 2021-12-24 20:06:13 -05:00
Daniel Agar 712353ea56 gyro_calibration: increase required samples (to be more conservative) 
- make sure variance is checked across all available sensors
 2021-12-24 19:53:44 -05:00
Daniel Agar 3f3836afa8 parameters: simplify import mark_unsaved and don't fail bson decode unnecessarily 2021-12-24 14:32:40 -05:00
Daniel Agar d1cd4904dc parameters: param_value_is_default avoid locking if value unchanged 2021-12-24 14:32:40 -05:00
Daniel Agar c0b8f2952c parameters: param_get_default_value avoid locking if value is static default 2021-12-24 14:32:40 -05:00