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f3e2a197ad3b17e785aef0fb76834c92a3c2456a
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14943 Commits

Author SHA1 Message Date
Daniel Agar 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
Beat Küng a4206ba553 logger: log excluded optional topics 
Can be displayed with:
ulog_info <file> -m excluded_optional_topics
 2022-02-01 08:40:02 +01:00
Roman Dvořák 2b1229786e Multi instance SHT3x driver support 2022-01-31 21:38:26 -05:00
Roman Dvořák ed475ca324 SHT3x driver 
SHT3x driver, clean code
changes leading to merge TFHT with CUAV hygrometer
Delete humidity_temperature.msg
Update CMakeLists.txt
rename 'atmosphefir_quantities' to 'hygrometers'
fix logging
removed cmake files
fix PR issues
 2022-01-31 21:38:26 -05:00
mcsauder e554f0174d Format whitespace and group checkall() methods together in geofence class. 2022-01-31 21:01:03 -05:00
Matthias Grob ae0bb8371d Commander: message planned battery action with warning together 2022-01-31 20:27:06 -05:00
Matthias Grob 973116c7a4 commander_params: clarify failsafe delay procedure description 2022-01-31 20:27:06 -05:00
Matthias Grob cd560da57c Commander: correct battery failsafe message severity level 2022-01-31 20:27:06 -05:00
Matthias Grob 405852b5c8 Commander: only disallow RC override during battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob 5ec21835a4 Commander: ensure low battery failsafe flying unatended without GPS 2022-01-31 20:27:06 -05:00
Matthias Grob 1911ec0085 Commander: fix user messageing for low battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob 52a9040c62 BatterySimulator: recharge battery upon disarming 2022-01-31 20:27:06 -05:00
Matthias Grob 955aad0dfb Commander: consistent hysteresis initialization 2022-01-31 20:27:06 -05:00
Matthias Grob d10f9030ad Commander: add delay before executing low battery failsafe action 2022-01-31 20:27:06 -05:00
Matthias Grob 3af315f2c3 Commander: change battery failsafe to return action instead of executing 2022-01-31 20:27:06 -05:00
Matthias Grob 8eed43b515 Commander: put battery warning and failsafe action in separate functions 2022-01-31 20:27:06 -05:00
Matthias Grob 367b6123e1 state_machine_helper: change main state directly also for low battery RTL 2022-01-31 20:27:06 -05:00
Matthias Grob f49bd9956b state_machine_helper: reuse battery action conditions 2022-01-31 20:27:06 -05:00
Matthias Grob 95b5bc0d84 state_machine_helper: separate low battery warning from action 2022-01-31 20:27:06 -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
mcsauder 463ac8e8a1 Standardize method name style in navigator_main.cpp and whitespace formatting in navigator.h 2022-01-29 21:36:11 -05:00
Jukka Laitinen 058302ecdb Link px4iofirmware against nuttx_mm 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:30:13 -05:00
Jukka Laitinen a2dc6e63cf Fix sdcard logging when crypto is used but algorithm is set to NONE 
If the board supports encrypting logfiles, but the parameter SDCARD_ALGORITHM is set to NONE,
the log should be written to the sdcard in plaintext format. This fixes a bug which caused
logger to hang in mutex instead.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:29:51 -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
Jukka Laitinen 138f584e70 fw_pos_control_l1: Add a missing dependency to motion_planning 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen 4c3234af38 mavlink: fix linking 
- link to nuttx_apps if CONFIG_NET is defined for "netlib_get_ipv4netmask"
- link to tunes

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen 1326c51a1c esc_battery: Link to battery library 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
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
Roman Dvořák c8349811d1 Enable logging of mavlink tunnel messages 
Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
 2022-01-26 11:10:43 -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
Oleg Kalachev 2945ce7c87 ekf2: fuse optical flow when magnetometer is disabled 
Co-authored-by: bresch <brescianimathieu@gmail.com>
 2022-01-25 15:42:10 +01:00
bresch 82e88a9547 [AUTO COMMIT] update change indication 2022-01-25 15:07:48 +01:00
bresch d20e46567e ekf2: improve flow for terrain unit test 2022-01-25 15:07:48 +01:00
bresch 1502d77df2 ekf: refactor fake position control logic 2022-01-25 15:07:48 +01:00
Matthias Grob 42404ade77 FlightTaskOrbit: Use cruise speed and manual acceleration for radius and velocity changes 
instead of arbitrary fractions of the maximum radius and velocity.
 2022-01-25 11:45:31 +01:00
Matthias Grob 7c55229db7 FlightTaskOrbit: Fix altitude adjustment by stick 
This is done by inheriting from FlightTaskManualAltitudeSmoothVel again.
The altitude change by command is taken care of by switching
to the apporach when the altitude difference is big enough and
switching back once the altitude is close enough.

The altitude of the command is not perfectly reached but this can
only be done smoothly when the Orbit has full control over the
altitude smoothing. The independent altitude smoothing is not kept
because it was lacking stick handling like altitude lock and smooth
transitions when opening and closing the vertical position loop.
 2022-01-25 11:45:31 +01:00
Matthias Grob d73d8f390b FlightTaskOrbit: Fix vertical speed limit 2022-01-25 11:45:31 +01:00
Matthias Grob 38de07186d FlightTaskOrbit: include acceleration and jerk in approach setpoint publishing 
I think they were forgotten and it leads to side effects:
- The acceleration feed-forward does not get executed
- The acceleration setpoint is NAN when initializing the altitude
  smoothing when arriving at the circle
 2022-01-25 11:45:31 +01:00
Matthias Grob b9fb8490ba FlightTaskOrbit: initialize position smoothing with previous setpoints instead of current state 2022-01-25 11:45:31 +01:00
Matthias Grob e0337a484b FlightTaskOrbit: remove unnecessary _sanitizeParams() in activation 
the parameters are anyways sanitized on every update so even if activate()
sets unfeasible one's they get adjusted on the first update.
 2022-01-25 11:45:31 +01:00
Matthias Grob 661496ab24 FlightTaskOrbit: improved naming in applyCommandParameters() 2022-01-25 11:45:31 +01:00
Matthias Grob 8525a8e520 FlightTaskAuto: fix typo pos(i)tion 2022-01-25 11:45:31 +01:00
Thomas Debrunner 4671a741dc FlightTaskOrbit: Do not switch out of circle orbit control logic on radius change. 2022-01-25 11:45:31 +01:00
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
PX4 BuildBot 6203ad25c7 Update submodule mavlink to latest Sat Jan 22 00:39:17 UTC 2022 
- mavlink in PX4/Firmware (a16a8dceb1b2d234ae963c74621c147f521abce9): https://github.com/mavlink/mavlink/commit/3d8092006ec1b2321f74e84039dadb1ebd3d1f37
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/51abf3c82b3d7137406459dc9b337e57637711ae
    - Changes: https://github.com/mavlink/mavlink/compare/3d8092006ec1b2321f74e84039dadb1ebd3d1f37...51abf3c82b3d7137406459dc9b337e57637711ae

    51abf3c8 2022-01-21 Julian Oes - Component information: add note (#1785)
f5694b29 2022-01-19 Julian Oes - component_info: re-use protocol capabilities (#1786)
 2022-01-21 23:10:05 -05:00