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35,071 Commits 852 Branches 161 Tags
f9af1bbe2dc0e651c0102ece10368244ac1c88e0
Commit Graph
13914 Commits
Author SHA1 Message Date
Michael Schaeuble f9af1bbe2d PreFlightCheck: Check if SD card is present only once and store the result 
statfs accesses the file-system and can be blocking for an extended period. Since the SD card check is part of the preflight checks in the main thread of commander, it could block its execution and cause various issues. The SD card is only mounted in rcS during boot so the state will not change after the first check.
 2021-03-30 08:20:49 +02:00
Daniel Agar c2350c06c1 commander: ManualControl avoid unnecessary copy 2021-03-30 08:19:07 +02:00
Beat Küng 2d2799b739 IMU_GYRO_CUTOFF: add 800 (used by SITL) 2021-03-30 08:18:49 +02:00
Beat Küng 346f269d8f IMU_INTEG_RATE: add 250 (used by SITL) 2021-03-30 08:18:49 +02:00
Beat Küng 6a7688cbca component_information: rework to reflect mavlink message changes 2021-03-30 08:18:49 +02:00
bresch ace6f81c93 commander: report estimator mag fault detection to ground station 2021-03-25 12:57:36 -04:00
bresch 2c5342acd4 commander: increase nav_test_failed hysteresis time 
This is to avoid race condition with the yaw emergency estimator having
the same trigger delay of 1 second. Commander will now give more time to
EKF2 to reset itself before switching to altitude mode.
 2021-03-25 12:57:36 -04:00
Daniel Agar 92910de81d gyro_fft: silence initial sensor selection attempt 
- early in startup the selected gyro may not be published yet
 2021-03-24 18:58:18 -04:00
Beat Küng c3985709e4 version: add optional oem version tag (ext/oem-<version>) and log it 2021-03-24 10:08:41 -04:00
Daniel Agar ae010ea55c sensors/vehicle_angular_velocity: unify filtering for both FIFO and regular use cases 2021-03-24 09:23:40 +01:00
Beat Küng 629f7ba15b params: ensure short description is only a single line 
So a UI can display it properly
 2021-03-23 12:55:11 -04:00
Mohamed Moustafa 5802dce699 mavlink: ignore self published UTM_GLOBAL_POSITION msgs in simulation using sys id (#17193) 2021-03-23 10:32:21 +01:00
Daniel Agar e57aaaaa5e rotate accel/gyro FIFO before publish and fix angular velocity filter resets 
- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
     - to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
 - fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
      - in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
 2021-03-22 12:01:12 -04:00
Star Simpson d4dd019578 removing hardcoded units from parameter descriptions throughout land_detector_params 2021-03-22 11:39:53 +01:00
Star Simpson 48219ab1e6 fixed typo in description of RWTO_PSP parameter 2021-03-22 00:37:18 -04:00
Daniel Agar 7563438558 sensors/vehicle_angular_velocity: fix dynamic notch ESC in FIFO case 
- last timestamp sample must be set in FIFO case for ESC RPM dynamic filter update
 - slightly relax thresholds for dynamic notch FFT apply or reset
 2021-03-21 20:46:54 -04:00
Julian Oes a13459858d commander: improve logic for ekf2 preflight check 
With this change we prevent the case where arming silently fails within
the first 10 seconds after boot.

Also, we now set the sensors as healthy as soon as the ekf is healthy,
and don't wait 10 seconds without actually checking.
 2021-03-19 15:58:14 -04:00
Julian Oes 2f024a9a8a commander: pass in correct time since boot 
This fixes the case where the preflight check fail right after the start
and report "sensors unstable".
 2021-03-19 15:58:14 -04:00
bresch 6fda6e43af StickAcceleration: synchronize XY acceleration profiles 2021-03-19 13:51:15 +01:00
Matthias Grob c8c3f57ba1 mc_pos_control_params: correct cruise speed description 
It is used in autonomous modes only and has no influence
on Position mode.
 2021-03-19 13:35:17 +01:00
Daniel Agar b74bdb0250 sensors/vehicle_angular_velocity: RPM filter add harmonics 2021-03-18 19:34:51 -04:00
Daniel Agar 8000e6feba gyro_fft: reduce default max 
- we're mainly looking for lower frequencies that may be an issue for control
 2021-03-18 10:04:04 +01:00
Daniel Agar c7c6122bfd gyro_fft: manually inline subset of arm_rfft_init_q15 to save flash 2021-03-18 10:04:04 +01:00
Daniel Agar 1429423876 gyro_fft: support sensor_gyro (non-fifo) 2021-03-18 10:04:04 +01:00
Lorenz Meier 13e0b74782 MAVLink: Increased stack size 
This is needed for MAVLink shell and UAVCAN.
 2021-03-17 22:03:18 +01:00
Matthias Grob 25dd12382a FlightTaskOrbit: default center at exact vehicle location 2021-03-17 09:50:11 -04:00
Matthias Grob ef774578e1 FlightTaskOrbit: NACK command if coordinates could not get applied 2021-03-17 09:50:11 -04:00
David Sidrane ccee36bb68 sd_bench and logger use aligned buffers 2021-03-17 05:27:53 +01:00
garfieldG e9725a5fa7 Merge pull request #17089 from garfieldG/pr-safety_switch_status 
send safety switch status to ground
 2021-03-17 05:23:31 +01:00
Inhwan Wee c67d85945b [commander] more detailed print_status 2021-03-16 01:00:55 -04:00
Daniel Agar 29d4ad1848 fw_pos_control_l1: OFFBOARD fully populate position_setpoint_triplet 2021-03-16 00:58:04 -04:00
Daniel Agar ed8f6aa8fe gyro_fft: fix bucket_index size 
- needed for larger FFT lengths (eg 1024, 2048, etc)
 2021-03-16 00:49:45 -04:00
Daniel Agar 0eac534b80 geo: purge globallocal_converter 2021-03-15 16:16:19 -04:00
Daniel AgarandSander Smeets b20949e664 mission feasibility: Fix first wp too far message overflow 
Co-authored-by: Sander Smeets <sander@droneslab.com>
 2021-03-15 12:40:52 -04:00
RomanBapst 82a2126f97 TECS: add feedforward gain for total energy balance rate 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-03-15 11:47:07 -04:00
Daniel Agar 20d8de2dca gyro_fft: reduce run frequency (still consuming all queued data) 2021-03-15 09:42:35 -04:00
Lorenz Meier a5151f92ea Merge pull request #17065 from PX4/pr/fix-mavlink-shell 
MAVLink shell: Ensure that nothing is written to the file handles during shell creation.
 2021-03-15 09:47:58 +01:00
Daniel Agar 2257c3767e simple gyro auto calibration module 2021-03-15 09:46:47 +01:00
Daniel Agar af3573e464 gyro_fft: log peak frequency magnitudes 2021-03-15 09:42:08 +01:00
Daniel Agar 3665f9a3c4 gyro_fft: increase default range and length to improve test data 2021-03-14 20:17:41 -04:00
Daniel Agar 893eee4cb8 logger: double sensor_gyro_fft logging rate 2021-03-14 20:17:41 -04:00
Jaeyoung-Lim 6b4ccaa53e Handle invalid yaw rate setpoints 2021-03-14 00:01:57 +01:00
Jaeyoung-Lim 06e3d38bbd Fix yaw rate ignore flag for attitude setpoints 
This PR fixes the yaw rate ignore case handling for offboard control using the SET_ATTITUDE_TARGET message
 2021-03-14 00:01:57 +01:00
CarlOlsson 528127c372 fw_att_ctrl: remove unused variable 2021-03-12 12:19:29 -05:00
romain-chiap f150e1e7aa sih: time constant added on thrusters, and minor cleanup 2021-03-12 12:04:14 -05:00
ArkadiuszNiemiec 1d8c55db4a mavlink: fix yaw and yaw_rate ignore mask check 2021-03-12 16:34:41 +01:00
Daniel Agar 7fb43559f8 gyro_fft: run by default on STM32H7 2021-03-12 07:50:31 -05:00
Beat Küng af8c3215f2 logger: add airframe and system-wide default parameters 
- adds new ulog message & compatibility flag
- separately add airframe and system-wide defaults
- log only non-volatile defaults that are different from the current value
- additional size is ~3KB for 100 params
 2021-03-12 13:44:10 +01:00
Daniel Agar 0079cb708c gyro_fft: don't update FFT length while running 
- this is used for the length of dynamically allocated buffers that
aren't resized while running
 2021-03-11 21:53:59 -05:00
Daniel Agar ee7b6c0e9f mavlink: delete fake CAMERA_CAPTURE stream 2021-03-11 23:00:00 +01:00