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Commit Graph

21217 Commits

Author SHA1 Message Date
TSC21 b3bbc351ca mavlink: DISTANCE_SENSOR: propagate signal_quality metric 2020-06-20 22:25:37 +01:00
Daniel Agar b1e360e332 simulator: only use temperature if baro updated 2020-06-18 21:34:58 -04:00
Daniel Agar 3f19335f08 drivers/imu/invensense: FIFO_MAX_SAMPLES include sensor_accel_fifo in sample size limit 2020-06-18 20:49:15 -04:00
Daniel Agar 56c86e77bd replace FIFOSample -> sensor_accel_fifo/sensor_gyro_fifo 2020-06-18 20:49:15 -04:00
Daniel Agar 87250ca47f move ecl L1, TECS, and data validator to PX4/Firmware 2020-06-18 19:26:30 -04:00
JacobCrabill 78650bdbab UAVCAN: Fix STM32H7 message RAM for FDCAN2 2020-06-18 18:55:21 -04:00
JacobCrabill 62799d9aca UAVCAN: Add STM32H7 FDCAN Driver 
Took the existing uavcan_stm32 driver and replaced all bxCAN code with
the equivalent for FDCAN following ST Reference Manual RM0433.

Note: There is still a bug somewhere in regards to FDCAN2 (probably
incorrect setup of the message RAM? Not sure.)  But (FD)CAN1 is fully
functional (Classic CAN only, no CAN-FD).

Also TODO: Configure CAN filters.  Right now there are no filters; all
incoming messages are accepted.
 2020-06-18 18:55:21 -04:00
Daniel Agar 0a63df25a6 create fake_magnetometer "driver" to publish magnetic field in body frame 
- this can be helpful for orienting new unknown magnetometers
 - requires attitude and GPS position
 2020-06-18 16:21:30 -04:00
Daniel Agar 6afa7e4368 mavlink: HIL_SENSOR receiver respect fields_updated 
- keep in sync with the simulator module
 2020-06-18 09:54:00 -04:00
Daniel Agar f55ed0992c accel and gyro calibration refactor and cleanup 
- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
 - sensor_accel and sensor_gyro are now always raw sensor data
 - calibration procedures no longer need to first clear existing values before starting
 - temperature calibration (TC) remove all scale (SCL) parameters
    - gyro and baro scale are completely unused
    - regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
 2020-06-17 22:50:09 -04:00
Matthias Grob 588d551098 mc_pos_control_params: set the ground slow down speed to the default maximum speed 
This results in no change with defaults but a slow down to 10m/s if the maxiumum speed is set higher than that.
 2020-06-17 11:47:41 -04:00
Matthias Grob bcd771d832 Update ecl and adapt to new AlphaFilter location 2020-06-17 09:29:35 -04:00
hanyang2013212 4209101333 Update uuv_att_control.cpp 
Modified the thruster value to be accessed from attitude setpoint message instead of parameters
 2020-06-16 19:27:54 -04:00
TSC21 6add0fff7f add iris_dual_gps config and the possibility of testing GPS blending through simulation 2020-06-16 09:57:05 +01:00
JaeyoungLim 39b803a9dc Remove gps noise multiplier parameter (#15108) 
This removes the gps noise multiplier parameter that can be set on the firmware side
 2020-06-15 22:32:32 +02:00
Daniel Agar 6c78c62d9d BMI088: accel get max rate from PX4Accelerometer 2020-06-15 10:19:14 -04:00
Daniel Agar e819f99064 new Bosch BMI055 IMU driver using FIFOs and DRDY 
- accel & gyro FIFOs enabled
 - FIFO watermark on data ready interrupt
 - sensor side filtering completely disabled
 - gyro now respects `IMU_GYRO_RATEMAX` (up to 2 kHz)
 - saves a few % cpu (at default rate)
 2020-06-15 10:19:14 -04:00
Daniel Agar daf75e40eb drivers/imu/invensense: simplify gyro range configuration 2020-06-15 09:36:21 -04:00
Matthias Grob 1efc8c27eb FlightTaskAuto: check yawspeed saturation before constraining 
to avoid possible numerical float equality issues.
 2020-06-15 10:40:48 +02:00
bresch 12449c23c5 FlightTaskAuto: add missing wrap_pi and do not override yaw_sp_aligned 2020-06-15 10:40:48 +02:00
bresch 7a401e5ca3 FlightTaskAuto: Create artificial yaw speed sp for feedforward 2020-06-15 10:40:48 +02:00
Matthias Grob c165327c9f INA226: revise read() and collect() error handling 
to allow negative currents and simplify unnecessary redundancy.
 2020-06-15 10:26:10 +02:00
Matthias Grob da9feeb699 INA226: refactor spacing and return codes 2020-06-15 10:26:10 +02:00
dino d98cf2f719 Fixe for wrong perf counter increment in ina226 driver 2020-06-15 10:26:10 +02:00
PX4 BuildBot eee87cd605 Update submodule ecl to latest Mon Jun 15 00:38:18 UTC 2020 
- ecl in PX4/Firmware (adc733932566f0198a8892c3cebe9e5c8345e391): https://github.com/PX4/ecl/commit/38cbd1a18211f1702b403915ab37d5e22626432f
    - ecl current upstream: https://github.com/PX4/ecl/commit/e835bc34c4c84b526941db418f5c9d00d35cbe12
    - Changes: https://github.com/PX4/ecl/compare/38cbd1a18211f1702b403915ab37d5e22626432f...e835bc34c4c84b526941db418f5c9d00d35cbe12

    e835bc3 2020-06-06 Kamil Ritz - remove inline modifier
74780aa 2020-06-06 Kamil Ritz - Refactor gps fusion commencing
 2020-06-14 22:14:14 -04:00
PX4 BuildBot f89dac03f3 Update submodule matrix to latest Sun Jun 14 12:39:39 UTC 2020 
- matrix in PX4/Firmware (18f14ebefad29873ddeef6396c7c3a728c90b996): https://github.com/PX4/Matrix/commit/2bee0d078cb6b0e6205d17145899ccbb15dbe380
    - matrix current upstream: https://github.com/PX4/Matrix/commit/674bd99f3b9284e1088d100d765b3a09cf0c192f
    - Changes: https://github.com/PX4/Matrix/compare/2bee0d078cb6b0e6205d17145899ccbb15dbe380...674bd99f3b9284e1088d100d765b3a09cf0c192f

    674bd99 2020-06-11 kamilritz - Add operator* and operator/ for slice with type
38b3acc 2020-06-11 Nicolas MARTIN - fix conjugate_inversed comment
 2020-06-14 11:18:00 -04:00
Beat Küng ab060cdab0 bmi088 accel: use IMU_GYRO_RATEMAX to configure sampling rate (with 800 max) 
Primarily for logging the fifo topic @400 Hz.
 2020-06-11 12:25:13 -04:00
Beat Küng 16323256bc gyro calibration: add median filter to motion detection 
The bmi088 has a bit more noise and tends to trigger it.
This improves reobustness against noise, and increases the threshold
slightly.
 2020-06-11 12:25:13 -04:00
Daniel Agar 13e34b32e6 new Bosch BMI088 IMU driver using FIFOs and DRDY 2020-06-11 12:25:13 -04:00
Ricardo Marques a4927606ed Fix SENS_EN_SF1XX max value 
Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>
 2020-06-10 14:37:23 -04:00
Matthias Grob 7ff25373e4 powerCheck: add power redundancy check 
A parameter spcifies what the redundancy level for 5V rail supply
needs to be and a check makes sure that it's available before
taking off such that the user is aware of a broken or disconnected
redundant power module.
 2020-06-10 10:13:51 -04:00
Daniel Agar 6f6efd60b7 boards: centralize optional external I2C sensor start 
- configured with new parameter SENS_EXT_I2C_PRB
 2020-06-10 09:04:13 -04:00
PX4 BuildBot 13d983d305 Update submodule ecl to latest Tue Jun 9 20:35:44 UTC 2020 
- ecl in PX4/Firmware (af11fa456d7282e324d662a452c71ae85ee59d9b): https://github.com/PX4/ecl/commit/b3dc06d0cb572931000705ac04807eeae5e2401a
    - ecl current upstream: https://github.com/PX4/ecl/commit/38cbd1a18211f1702b403915ab37d5e22626432f
    - Changes: https://github.com/PX4/ecl/compare/b3dc06d0cb572931000705ac04807eeae5e2401a...38cbd1a18211f1702b403915ab37d5e22626432f

    38cbd1a 2020-06-09 Matthias Grob - AlphaFilter: prevent setParameters division by zero
b7d54b5 2020-06-04 RomanBapst - gps: fixed filter initialization bug around gps - do not gps reference altitude to zero in case gps checks pass before the filter initialized - reset the filtered gps position and position derivative filters in case we are in air or there is movement on the ground
8f533cb 2020-06-03 bresch - terrain_estimator: fix sensor aid selection
821e1fa 2020-06-03 bresch - terrain_estimator: add unit tests
aa96fa6 2020-06-03 bresch - Random style fixes in the code
5d6a72e 2020-06-03 bresch - sensor_simulator: add possibility to set GPS position rate
 2020-06-09 17:21:49 -04:00
Beat Küng 0fcb873636 logger: add raw FIFO high-rate IMU logging profiles 
Minimum requirement to use: set IMU_GYRO_RATEMAX to 400.

Logging rate of a single topic: ~85 KB/s. If multiple should be logged,
a really good SD card has to be used.
 2020-06-09 09:58:15 -04:00
Daniel Agar 5507c15bdc boards: move rgbled_pwm startup to appropriate boards 2020-06-08 16:49:46 -04:00
Matthias Grob c36c8d161c MulticopterLandDetector: remove arbitrary maximum altitude based on battery percentage 2020-06-08 10:41:19 +02:00
Daniel Agar 39a33a35ae sensors/vehicle_imu: pause computing publication update rate 2020-06-07 11:23:22 -04:00
Daniel Agar 786733cd1a sensors/vehicle_imu: only publish status at 10 Hz (or on change) 2020-06-07 11:23:22 -04:00
Daniel Agar 8890ea23b7 sensors/vehicle_imu: only apply corrections once before publication 2020-06-07 11:23:22 -04:00
RomanBapst af5c48b869 navigator: always make sure that we set target lat/lon for fixed wing 
takeoff

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-06-05 21:52:12 -04:00
Daniel Agar 5286ed3a11 imu/invensense/mpu6000: minor improvements 
- at start perform full sensor signal path reset and wait for max time
 - issue full sensor reset on any error
 - only allocate DRDY perf counter if GPIO is available
 - allow running faster than accel ODR (safe limit of 2 kHz in place)
 2020-06-05 21:28:37 -04:00
Daniel Agar 01f4486b32 imu/invensense/icm20689: minor improvements and potential fixes 
- perform full sensor signal path reset and wait for max time (100 ms)
 - issue full sensor reset on any error
 - always read FIFO count before transfersj
 - only allocate drdy perf counter if GPIO is available
 2020-06-05 21:28:37 -04:00
Daniel Agar ff3b040d3c imu/invensense/icm20608g: minor improvements and potential fixes 
- perform full sensor signal path reset and wait for max time (100 ms)
 - issue full sensor reset on any error
 - always read FIFO count before transfersj
 - only allocate drdy perf counter if GPIO is available
 2020-06-05 21:28:37 -04:00
Matthias Grob b607630ee7 battery_params: relax maximum for capacity thresholds 2020-06-05 09:55:24 -04:00
Daniel Agar a1b0634258 Jenkins HIL test fix sensor timeouts 
- stop logger when running tests
 - decrease test priorities
 - hrt test don't flush output
 2020-06-04 22:09:07 -04:00
PX4 BuildBot b5a5e8e45b Update submodule ecl to latest Fri Jun 5 00:39:52 UTC 2020 
- ecl in PX4/Firmware (d4fcf77c546c31c4c0b813e5034c66581b3b2877): https://github.com/PX4/ecl/commit/c91c78dcf67dee85225ada6621b6fd19ec008fd5
    - ecl current upstream: https://github.com/PX4/ecl/commit/b3dc06d0cb572931000705ac04807eeae5e2401a
    - Changes: https://github.com/PX4/ecl/compare/c91c78dcf67dee85225ada6621b6fd19ec008fd5...b3dc06d0cb572931000705ac04807eeae5e2401a

    b3dc06d 2020-05-25 Roman Bapst - Added height above ground source bitmask indicating which sensor is used
62e15cb 2020-06-03 bresch - sensor_simulator: set IMU rate to 200Hz as this is the new value used in the Firmware
6126c19 2020-06-03 bresch - sensor_simulator: update EKF at IMU rate
59183f7 2020-06-02 Paul Riseborough - EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors (#831)
d0ddda8 2020-05-29 Matthias Grob - tecs: fix typo init(i)alized
86fc94b 2020-05-24 Kamil Ritz - Remove tilt align from position innovation check
b024cdd 2020-05-25 Mathieu Bresciani - unit test: check that the accel bias is only learned when observable (#827)
 2020-06-04 21:15:59 -04:00
Daniel Agar 31fe7af454 selectively increase optimization -Os -> -O2 
- targetted at modules/libraries that benefit without drastically
increasing flash usage
 - ignored on boards with CONSTRAINED_FLASH set
 2020-06-04 20:59:52 -04:00
Beat Küng 32642b78bf gyro filtering: apply IMU_GYRO_CUTOFF also to D-term 
Greatly improves the noise on the d-term on a Kopis 2. Apparently the order
of filtering vs differentiating matters.

Also disables the DGYRO filter by default, as the D-term now already has
a default filter of 30Hz applied.
 2020-06-04 20:58:40 -04:00
Beat Küng 5ce006dd8b SYS_HITL: reserve value -1 for external HITL 2020-06-04 20:58:40 -04:00
David Sidrane 920355e851 bmi088 remove dump of registers that causes driver to fail 2020-06-03 21:09:08 -04:00