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15180 Commits
Author SHA1 Message Date
Daniel Agar 47dd312b57 fw_att_control: move to px4::params 2019-10-28 18:08:47 -04:00
JaeyoungLim 71fbe58e20 fw_pos_ctrl_l1: enable loiter type offboard position setpoint for Fixedwing vehicles 
* Use NAV_LOITER_RAD when provided offboard position setpoints
 2019-10-28 17:42:27 -04:00
RomanBapst 216556e7f6 commander_params: mention definition of battery states in the description 
of the battery failsafe mode parameter

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-10-28 16:18:42 -04:00
Daniel Agar 94de12ef19 sensors: own BAT_V_DIV and BAT_A_PER_V params (#13299) 
- this is currently necessary for the QGC power setup gui, but should be reverted in the future
 - fixes #13292
 2019-10-28 16:03:05 -04:00
Julian Oes cb03612d99 mavlink: only ignore messages on UDP before init 
We should still accept messages arriving over serial.
 2019-10-28 11:13:16 -04:00
Julian Oes 08cce4f7f3 mavlink: accept msgs without source initialized 
I don't understand why we should wait to parse incoming MAVLink traffic
just because we don't have the source address initialized. We still
check the source address before doing a sendto.

This should fix serial MAVLink communication on FMU5x where both serial
and UDP is available. There the serial connection previously did not
work because nothing was connected over UDP.
 2019-10-28 11:13:16 -04:00
Daniel Agar c284198bec clang-tidy: partially fix hicpp-use-override 2019-10-28 10:50:31 -04:00
Daniel Agar 6f1e132286 clang-tidy: enable readability-redundant-control-flow and fix 2019-10-28 10:50:31 -04:00
Daniel Agar 6f1f5e0325 clang-tidy: partially fix readability-redundant-declaration 2019-10-28 10:50:31 -04:00
Daniel Agar 9f4258f6ff clang-tidy: partially fix hicpp-explicit-conversions 2019-10-28 10:50:31 -04:00
Daniel Agar a7f330075a clang-tidy: enable hicpp-braces-around-statements and fix 2019-10-28 10:50:31 -04:00
Daniel Agar 744f06cc8f clang-tidy: enable readability-delete-null-pointer and fix 2019-10-28 10:50:31 -04:00
Daniel Agar 4192414576 clang-tidy: partially fix cppcoreguidelines-pro-type-reinterpret-cast 2019-10-28 10:50:31 -04:00
Julian Oes f5945d1185 commander: make battery failsafes sane by default 
I propose two changes to the battery failsafes:
1. Remove the return only mode because it means the drone is likely
   to crash during RTL. I think this is not expected by users chosing
   the option and therefore better not exposed as an option.
2. Make Return/Land the default battery failsafe because it is expected
   that a drone does the right thing when battery is low.

Also, this changes the description of the Return/Land behaviour to make
the drop down menu less long and awkward in QGC.
 2019-10-28 05:51:12 -07:00
Silvan Fuhrer 0ce9329803 Safe Landing Points: Added new RTL_TYPE: closest between home, mission landing and safe points 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

Co-authored by Martina Rivizzigno <martina@rivizzigno.it>
 2019-10-28 09:54:59 +01:00
Silvan Fuhrer efafd91095 Rally Points in RTL: fly to closest Rally Point (safe point), or to home if that's closer 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-10-28 09:54:59 +01:00
Silvan Fuhrer 99dd229d71 Rally Point: fix typo of save to safe in mission_safe_point_s 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-10-28 09:54:59 +01:00
Julien Lecoeur 8f910f8435 ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters (#13249) 
* Conversions lib: add quaternion getter

* vehicle_status: add flag is_vtol_tailsitter

* ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters
 2019-10-28 09:27:53 +01:00
Daniel Agar 380cae18d1 clang-tidy: partially fix modernize-use-equals-default 2019-10-27 19:19:07 -04:00
Daniel Agar 967446af4c clang-tidy: enable readability-simplify-boolean-expr and fix 2019-10-27 19:19:07 -04:00
Daniel Agar 279df3b1b8 clang-tidy: partially fix hicpp-use-equals-delete 2019-10-27 19:19:07 -04:00
Daniel Agar d545825bf0 clang-tidy: enable performance-unnecessary-value-param and fix 2019-10-27 19:19:07 -04:00
Jaeyoung-Lim 29987a4f80 Address comments 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim 3dc3679f9e Copy fields 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim 58d646e33d Log CPU loads 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim 677c0b4713 Add uorb topic 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim a3bd9ead4c Add message handlers for onboard computer status 2019-10-27 11:47:10 +00:00
Ildar Sadykov 0326a8ec76 mavlink_receiver: Fit in 'flash' region 2019-10-26 18:29:16 +01:00
Ildar Sadykov b29a6b8761 set_attitude_target: get vehicle_status every time. 2019-10-26 18:29:16 +01:00
Ildar Sadykov fc59414a25 set_attitude_target: set rate thrust according to VTOL mode 2019-10-26 18:29:16 +01:00
Ildar SadykovandJulien Lecoeur 948d24c1e3 Apply suggestions from code review 
Co-Authored-By: Julien Lecoeur <jlecoeur@users.noreply.github.com>
 2019-10-26 18:29:16 +01:00
Ildar Sadykov 65ed068bbd mavlink_receiver: vtol_vehicle_status changed to vehicle_status subscription 2019-10-26 18:29:16 +01:00
Ildar Sadykov d2f0100e5e Removed _is_vtol in MavlinkReceiver class 2019-10-26 18:29:16 +01:00
Ildar Sadykov c8edac0a1d VTOL state check for attitude setpoint publish 2019-10-26 18:29:16 +01:00
Ildar Sadykov 35b0778499 Check system type for SET_ATTITUDE_TARGET attitude publising 
Check if system type is VTOL and publish attitude to proper uORB topic
 2019-10-26 18:29:16 +01:00
Matthias Grob be545db44f mc_pos_control: reuse timestamp to reduce hrt calls 2019-10-26 06:11:18 +02:00
Matthias Grob d0084766ff PositionControl: make getters const functions 2019-10-26 06:11:18 +02:00
Matthias Grob f70d4d21a1 PositionControl: add getter for output attitude setpoint 2019-10-26 06:11:18 +02:00
Matthias Grob 198605d258 PositionControl: add getter for output position setpoint 2019-10-26 06:11:18 +02:00
Dusan Zivkovic 7ebaf9a1cb mission: ensure precland::on_inactivation() is called once landed 2019-10-25 09:28:09 +02:00
bresch 788b8c86a2 InnovationLpf: initialize state to zero 2019-10-24 18:33:55 +02:00
Matthias Grob 40edd33078 mc_pos_control: reduce scope of attitude setpoint 
No need for a gloabl state since it gets produced freshly
by the controller and then published.
 2019-10-24 14:58:57 +02:00
Matthias Grob 79334958a9 WeatherVane: only update with last row of rotation matrix 2019-10-24 14:58:57 +02:00
Matthias Grob 9c25b987bc vehicle_local_position_setpoint: make acceleration and jerk arrays 2019-10-24 14:58:57 +02:00
bresch a7727769e9 ekf2: Fix heading not stable issue. The prblem was that a large 
dt could drive the alpha filter crazy because of the small dt
approximation during the computation of the coefficient.
- Remove unused bitmask packing of the innovation checks
 2019-10-24 11:27:35 +02:00
JaeyoungLim 2fc5789d68 Support offboard velocity setpoints for rover (#13225) 
* Enable velocity control for rover

* Address comments

* Use pid for speed control

* Calculate steering commands correctly

* Use local velocity estimates to avoid global position dependency
 2019-10-24 10:40:20 +02:00
Beat Küng b5ba1665f6 commander: add COM_MOT_TEST_EN parameter to enable/disable motor testing 2019-10-24 09:27:29 +02:00
Beat Küng 02833c6075 px4io: add support for test_motor 
And fix some IO bugs:
- PX4IO_P_STATUS_FLAGS_RAW_PWM was never cleared. This meant that after a
  'pwm test' command, normal mixing was not possible anymore.
  Fixed by remembering when we are in test mode and not sending
  PX4IO_PAGE_CONTROLS during that time. PX4IO_P_STATUS_FLAGS_RAW_PWM is
  cleared when PX4IO_PAGE_CONTROLS are received.
- when entering test mode w/o specifying all channels, the other channels
  were not set at all, which means they could still be set to values from
  a previous test call.
  This is fixed by setting all channels to disarmed when entering/leaving
  test mode.
 2019-10-24 09:27:29 +02:00
Beat Küng 0d91d4e702 commander: do not beep on successful commands 
DO_MOTOR_TEST is sent continuously, which led to constant beeping
 2019-10-24 09:27:29 +02:00
Beat Küng f7b04d5cbc commander: answer to VEHICLE_CMD_DO_ORBIT 2019-10-24 09:27:29 +02:00