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23332 Commits

Author SHA1 Message Date
David Sidrane
f01cab3be1 px4io:Ensure proper lifecycle of registration of cdev 2021-09-24 19:01:54 -04:00
Igor Mišić
9ad0e5b357 mavlink_receiver: updated sens flow parameters to be dynamically handle 2021-09-23 09:23:22 +02:00
Beat Küng
e73172b537 hrt: remove hrt_elapsed_time_atomic 
There's no protection on posix
 2021-09-23 09:23:08 +02:00
Beat Küng
6f902e54f9 mavlink: correctly lock radio status 
- hrt_elapsed_time_atomic is not atomic on posix
- other fields like _radio_status_mult need protection as well
 2021-09-23 09:23:08 +02:00
Beat Küng
0bfb1a983b px4iofirmware: avoid using hrt_elapsed_time_atomic 
It's only ever read and written in controls_tick() after startup
 2021-09-23 09:23:08 +02:00
Igor Mišić
682db4b8ac dshot: timeout if commands are not processed 2021-09-23 09:22:49 +02:00
bresch
e53d2907d7 AutoSmoothVel: adjust controller constraints in emergency braking 
When engaging auto mode at high vertical speed, we don't want to cut the velocity
trajectory setpoint in order to create a smooth deceleration.
 2021-09-23 09:22:32 +02:00
bresch
316e0dfeb5 AutoLineSmoothVel: add emergency braking mode 
Currently only for the Z axis. If the current downward velocity is more
than twice the maximum allowed value, the emergency braking mode is
activated. In this mode, a higher vertical acceleration and jerk is used
until the vehicle stops moving.
 2021-09-23 09:22:32 +02:00
Igor Mišić
92696b589f sdp3x: stop continuous measurement while reconfig 2021-09-23 09:22:09 +02:00
Igor Mišić
3a148bc777 camera_trigger: remove camera trigger secondary 
camera_trigger: publish trigger when capture feedback is not enabled
 2021-09-23 09:21:56 +02:00
Thomas Debrunner
43ece74fa0 ina238: Do not expose raw adc config to user, make specific to ina238 2021-09-22 10:02:17 +02:00
Thomas Debrunner
b8d0bb44c4 ina23X: Support for ina23X power monitors 2021-09-22 10:02:17 +02:00
Julian Oes
faca2b17d0 camera_trigger: only get param if available 2021-09-17 12:23:30 +02:00
Daniel Agar
7af5a33ff3 commander: don't play failsafe tune if disarmed 2021-09-16 09:17:00 -04:00
Thomas Stauber
2b80a6958a
fix disable airspeed check with negative ASPD_FS_INTEG (#18186) 
* fix disable airspeed check with negative ASPD_FS_INTEG

* improve logic when nav velocity data is not good

* simplify logic. Reset integrator state when the check is not run.
 2021-09-14 12:13:56 +02:00
Matthias Grob
e7a90bf367 PositionControl: correct horizontal margin calculation 
It was using the already reduced vertical thrust to do
the horizontal limitation resulting in no margin.
 2021-09-14 10:57:38 +02:00
Matthias Grob
d1f1e02afb Refactor mode button changes 2021-09-14 09:52:32 +02:00
Claudio Micheli
05d40f40d4 Handle rc toggle mode buttons to initialize flight modes 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-14 09:52:32 +02:00
Claudio Micheli
c50daae4a3 rc_update: introduce support for toggle buttons via RC channels 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-14 09:52:32 +02:00
Daniel Agar
e6552370ab imu/invensense: adjust scheduling dynamically if not using data ready interrupt 2021-09-12 17:34:35 -04:00
Claudio Micheli
fa4fc5f347 esc_report: change esc_temperature field to allow negative values 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-11 15:14:49 -04:00
David Jablonski
7d7200cf2f Added yaw to CMD_DO_SET_HOME 2021-09-11 15:14:01 -04:00
Hamish Willee
ce206d992b
RC_FAILS_THR and RC_MAP_FAILSAFE improve parameter description 2021-09-11 15:12:54 -04:00
bresch
f09b34007e CA: reload CA matrix to newly created CA class properly 
Also remove the dependency of ActuatorEffectivenessMultirotor
to param update uORB topic; the CA module
sends a "force" parameter when needed
 2021-09-11 15:07:49 -04:00
bresch
cf5917d188 control_allocator: restructure param update 
recompute effectiveness on param change
clear update at the end
 2021-09-11 15:07:49 -04:00
David Jablonski
9d974062d0 replay: improved logging for format mismatchs 2021-09-11 14:37:52 -04:00
Beat Küng
1a743e1117 collision_prevention: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
5b70fd4a1d airspeed_selector: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
5fb16e4395 fw_pos_control_l1: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
0a1ae37c1a logger: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
38eca0c64b logger: start session & log index at 100 
To avoid leading zeros, as the events interface does not support that (yet)
 2021-09-11 14:08:41 -04:00
Beat Küng
b31276a4f5 mavlink: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
90940c3672 mc_pos_control: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
79a0edafb5 vehicle_air_data: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
a8cc2f9ef6 vehicle_imu: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
acb73fde14 vehicle_magnetometer: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
f8dc915789 vtol_att_control: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
1f73294ad7 navigator: switch to events 2021-09-11 14:08:41 -04:00
Beat Küng
5ac43e7236 commander: switch to events 2021-09-11 14:08:41 -04:00
Daniel Agar
8866215d1d sensors/vehicle_imu: add protections for bad sensor data 
- check for inconsistent timestamps, zero samples, and numerical issues in online mean
 2021-09-11 13:04:46 -04:00
Beat Küng
ae8733c2d4 pwm_input: remove 'test' command and use 'status' instead 2021-09-08 16:10:24 -04:00
Beat Küng
f1aafe83b3 pwm_out: cleanup, remove _output_mask & only update owned channels 
_pwm_mask reflects the actually owned channels.
 2021-09-08 16:10:24 -04:00
Beat Küng
a8e75d174c boards: remove BOARD_HAS_PWM and use DIRECT_PWM_OUTPUT_CHANNELS 2021-09-08 16:10:24 -04:00
Beat Küng
1ee423e3c8 pwm_out, dshot: remove mode_* handling and capture ioctl's 
They now use all unused pins, whereas camera_capture, camera_trigger and
pwm_input modules start before to reserve their pins.
 2021-09-08 16:10:24 -04:00
Beat Küng
062dd28f4d camera_capture: use up_input_capture_set directly 
It reserves the channel and pwm_out will not use it
 2021-09-08 16:10:24 -04:00
Beat Küng
847bd120fa io_timer: reserve pins & timers on first use 
This allows modules to do a first-come-first-serve pin/timer reservation
on bootup.
E.g. camera trigger reserves any of the pins, and then PWM/DShot output
will just use the rest of the available pins.
 2021-09-08 16:10:24 -04:00
bresch
aad11ecc65 PreFltCheck: do not force to report ekf2 failures on GCS connection 
EKF2 has a grace period of 10 seconds after boot where it doesn't need
to warn the user while the sensors (especially GNSS) are still
converging.
A connection to a GCS shouldn't skip this grace period but
an arming request should.
 2021-09-08 14:41:26 -04:00
Matthias Grob
58ea97a699 MulticopterPositionControl: add horizontal margin for saturation cases 2021-09-08 19:55:27 +02:00
benjinne
06a91ec752
Improve offboard failsafe (#18160) 
* state_machine_helper: improve offboard failsafe

* state_machine_helper: add missing parameter to set_link_loss_nav_state

* state_machine_helper: fix no rc and offboard reason

* Fix offboard test by enabling rcl_except

* mavros_test fix offboard_posctl_test with rcl_except

* autopilot_tester make RcLossException bits explicit

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester change rcl_except to rc_loss_exception

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester fix rc_loss_exception renaming errors

Co-authored-by: Julian Oes <julian@oes.ch>
 2021-09-08 18:19:53 +02:00
ShiauweiZhao
686bcff8a7
new TDK ICM42670p IMU driver support (#18141) 
Co-authored-by: zhaoxiaowei <zhaoxiaowei@efy-tech.com>
 2021-09-08 10:24:22 -04:00