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Commit Graph
26120 Commits
Author SHA1 Message Date
David Sidrane 4acc18ca60 Add VCM5883 Magnetometer 
Fix LSB/G
 2021-05-18 12:57:46 -04:00
Daniel Agar 820a442fe3 drivers/imu/analog_devices/adis16448: minor fixes and compatibility with older model 
- increase SPI stall time slightly
 - tolerate mag self test failure (could be due to local magnetic field)
 - register configuration compatible with older ADIS16448AMLZ
 - don't publish duplicate accel/gyro
 - only allocate CRC perf counter if using CRC
 2021-05-18 12:44:37 -04:00
PX4 BuildBot 319cab6c2c Update submodule ecl to latest Tue May 18 00:50:43 UTC 2021 
- ecl in PX4/Firmware (4668ea5c32075aca28fd813881a349f765ad8d2a): https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/85f5a935fe6095f585bfb12b584e0813126cbc2a
    - Changes: https://github.com/PX4/PX4-ECL/compare/29243ac5cbb5d27ac71744e88afcd786df6f748d...85f5a935fe6095f585bfb12b584e0813126cbc2a

    85f5a93 2021-05-11 bresch - [AUTO COMMIT] update change indication
f7c687e 2021-05-11 bresch - GNSS yaw unit test: test fallback to non yaw aiding mode
a4fe2b1 2021-05-11 bresch - yaw_align: let the mag control logic do the alignement and resets
2cc0230 2021-05-11 bresch - mag control: select mag mode before doing the reset
fe943cf 2021-05-11 bresch - mag reset: force align in MC custom mode (aka. indoor mode)
cadcc58 2021-05-11 bresch - mag reset: do not stop the fusion from inside the reset function
6248646 2021-05-11 bresch - EV yaw: move EV yaw reset out of resetMagHeading function
48722a2 2021-05-07 bresch - control: inhibit EV yaw from restarting when GPS aid wants to start
a685987 2021-05-07 bresch - GNSS yaw: unset yaw_align if fusion stops before takeoff
7ee6970 2021-05-04 bresch - GNSS yaw: add test case when measurement jumps
7a11871 2021-05-04 bresch - GNSS yaw tests: adjust timing
51197a5 2021-05-03 bresch - GNSS yaw selection logic refactor
 2021-05-17 21:52:00 -04:00
Daniel Agar c3884b5bc1 fake_imu (formally fake_gyro) updates for testing gyro filtering 
- fake_imu now publishes sine sweeps over 10 seconds
 - accel is also published so that fake IMU can be selected when the only option
 2021-05-17 20:26:25 -04:00
Daniel Agar 39c90c8fc9 Update submodule GPSDrivers to latest Mon May 17 12:38:15 UTC 2021 2021-05-17 19:25:45 -04:00
Daniel Agar 87b861d0f0 IMU_GYRO_CUTOFF and IMU_DGYRO_CUTOFF increase default slightly 2021-05-17 17:37:52 +02:00
Daniel Agar 3a3cc33d69 drivers/optical_flow/paw3902: require >= 10 valid consecutive readings before deciding mode changes 
- improve mode change requirements comments
 - reduce verified read/write retries (these are mostly wasting time)
 2021-05-16 20:29:06 -04:00
PX4 BuildBot 093854d29b Update submodule public_regulated_data_types to latest Sun May 16 12:39:17 UTC 2021 
- public_regulated_data_types in PX4/Firmware (b0b812007a76a7d3cfb3e1d2d32f245a681800d7): https://github.com/UAVCAN/public_regulated_data_types/commit/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae
    - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/0a773b93ce5c94e1d2791b180058cb9897fab7e1
    - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae...0a773b93ce5c94e1d2791b180058cb9897fab7e1

    0a773b9 2021-05-10 Kalyan Sriram - reg/drone: remove redundant timestamp in Velocity3Var (#117)
 2021-05-16 17:23:01 -04:00
PX4 BuildBot 723e803ab9 Update submodule public_regulated_data_types to latest Sun May 16 12:39:14 UTC 2021 
- public_regulated_data_types in PX4/Firmware (b00f416229a5bcef2bdad4ec29c90e4846c701af): https://github.com/UAVCAN/public_regulated_data_types/commit/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae
    - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/0a773b93ce5c94e1d2791b180058cb9897fab7e1
    - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae...0a773b93ce5c94e1d2791b180058cb9897fab7e1

    0a773b9 2021-05-10 Kalyan Sriram - reg/drone: remove redundant timestamp in Velocity3Var (#117)
 2021-05-16 17:22:40 -04:00
AlexKlimaj 4a93f7cea1 Add ARK CAN GPS Board Config 2021-05-16 13:21:44 -04:00
Beat Küng 9fbbcc9c73 mavlink ATTITUDE_TARGET: send also if vehicle_attitude_setpoint is not updated 
This is the case in MC acro
 2021-05-16 13:01:20 -04:00
Beat Küng 2a84afb6a2 mavlink: avoid 'stream xy not found' warnings on CONSTRAINED_FLASH targets 
e.g.:
WARN  [mavlink] stream ADSB_VEHICLE not found
WARN  [mavlink] stream GIMBAL_DEVICE_ATTITUDE_STATUS not found
WARN  [mavlink] stream GIMBAL_MANAGER_STATUS not found
WARN  [mavlink] stream GIMBAL_DEVICE_SET_ATTITUDE not found
WARN  [mavlink] stream GPS2_RAW not found
WARN  [mavlink] stream UTM_GLOBAL_POSITION not found
ERROR [mavlink] configure_streams_to_default() failed
 2021-05-16 13:01:20 -04:00
Jonas Vautherin 5f14ee2a97 busy -> invalid item 2021-05-13 12:22:16 +02:00
Beat Küng e77b4418a5 fix logger: use free() instead of 'delete[]' for _buffer 
The allocation got changed to px4_cache_aligned_alloc
 2021-05-11 18:12:56 +02:00
Igor Mišić 05a2d4d5a9 gps: updated submodule to fix for heading 2021-05-11 08:34:23 +02:00
Igor Mišić d9e31d67aa gps: Updated timeout time for the rover with moving base 
The MB rover will wait as long as possible to compute a navigation solution, possibly lowering the navigation rate all the way to 1 Hz while doing so.
 2021-05-11 08:34:23 +02:00
Silvan Fuhrer b7e563bdbe Airspeed selector: fix in_air_fixed_wing condition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer 596da5b7d3 Airspeed selector: use module params for FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer 2f73115b54 translate ASPD_STALL to FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer bf311ed77d addressed review comments (fixes in error message and comments) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer 63a53d48e7 FW Position controller: improve parameter sanity checks (provide more feedback) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer c8ec6b3d08 Airspeed selector: remove ASPD_STALL and replace by FW_AIRSPD_STALL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
RomanBapst 3ac8c23dd0 commander: added prearm check for geofence violation 
- if geofence action is not none, then don't allow arming outside of geofence

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-10 10:46:49 +03:00
RomanBapst 6215e6c7ec navigator: do not emit geofence warnings if system is not armed 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-10 10:46:49 +03:00
Daniel Agar c49c8932de commander: mag_calibration fail immediately if no mags available 2021-05-08 13:03:42 +02:00
Peter van der Perk 0c926250a2 UAVCANv1 cleanup and uORB over UAVCANV1 move to own subclass 2021-05-08 13:03:02 +02:00
Daniel Agar f15eefcc95 ekf2: selector increase status rate before potential instance change 2021-05-07 22:38:47 -04:00
Julian Oes 29730e30fa ekf2: don't timeout in HITL mode 
Otherwise ekf2 might not start if HITL isn't started within 30 seconds.
 2021-05-07 22:38:03 -04:00
Julian Oes ac97b5520c commander: assume power is fine for HITL 
This means that the preflight check indicator in QGC is green for HITL.
 2021-05-07 22:38:03 -04:00
Julian Oes 648a21f11d commander: ignore calibration in HITL 
The calibration is not found in HITL mode. Therefore, I suggest to
ignore this step and assume the calibration is fine.

This mostly fixes the preflight check indicator in QGC, arming was (for
some reason?) already possible.
 2021-05-07 22:38:03 -04:00
Hamish Willee d3fd03a014 airspeed calibration: instruct to blow into front of pitot 
... rather than across it
 2021-05-07 21:34:53 -04:00
PX4 BuildBot e265ebabc5 Update submodule ecl to latest Thu May 6 12:39:12 UTC 2021 
- ecl in PX4/Firmware (a300d32523e24df3f366a0d564b764261e1c1909): https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b
    - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d
    - Changes: https://github.com/PX4/PX4-ECL/compare/a7b8afe420f438554ad90bcba0f1f4872325e75b...29243ac5cbb5d27ac71744e88afcd786df6f748d

    29243ac 2021-05-05 bresch - yaw_reset: reduce minimum vector length to compute yaw error
aad4840 2021-05-02 Kabir Mohammed - EKF: increase allowed difference between flow and gyro ODRs
 2021-05-06 13:53:40 -04:00
Silvan Fuhrer 08dab18a8b vtol_type: in FW, set min PWM to PWM_DEFAULT_MIN instead of PWM_MOTOR_OFF 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-06 10:20:24 +02:00
benjinne 099c2d13f6 dshot: add 3D capability 2021-05-06 08:12:07 +02:00
Daniel Agar 177ee4cbca drivers/optical_flow/paw3902: properly discard samples after mode change 
- respect mode 2 shutter requirements from datasheet (should not operate with Shutter < 0x01F4 in Mode 2)
 - sensor reset is handled by mode change
 2021-05-05 21:48:01 -04:00
Daniel Agar b1ebd16c61 ekf2: improve selector reset handling 
- handle reset count rollover (uint8_t)
 - compute full reset delta if primary estimator instance has changed or if we missed a reset
 2021-05-05 21:45:13 -04:00
Alessandro Simovic d1d5eba320 follow-me: log follow_target msg 2021-05-05 16:13:50 -04:00
Alessandro Simovic 48f3bd4078 follow-me: formatting 2021-05-05 16:13:50 -04:00
Alessandro Simovic 5f19eeaaa5 follow_target: copy also velocity fields from uorb 2021-05-05 16:13:50 -04:00
Alessandro Simovic 2d6bc9b6e0 follow_target: use actual velocity measurement 2021-05-05 16:13:50 -04:00
Alessandro Simovic 5d9b3504f7 follow-target: correctly set "updated" flag 2021-05-05 16:13:50 -04:00
Alessandro Simovic f1fca0939f follow-target: name variable correctly 2021-05-05 16:13:50 -04:00
David Sidrane 3702140e24 PWMOut:Arm once all channels are initalized. 2021-05-05 20:48:06 +02:00
David Sidrane 3d166d3279 PWM:Add Channel mask to up_pwm_servo_arm & up_pwm_servo_deinit 2021-05-05 20:48:06 +02:00
David Sidrane dd4ffb3c0c PWMOut:Fix pwm status 2021-05-05 20:48:06 +02:00
David Sidrane 44cdc52ef8 PWMOut:Use rates from single instance & init all instances channels 2021-05-05 20:48:06 +02:00
Jukka Laitinen ac6e7a1c6c FlightTaskManualAltitude: Fix double->float conversion in initialization 
This gives an error on some new compilers, e.g. riscv64-unknown-elf 10.2.0

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-05-05 09:31:07 +02:00
Jukka Laitinen 532f370e7d Fix implicit float to double conversions 
The both results of ?: should be of same type, and some compilers give error
on this:
	" implicit conversion from 'float' to 'double' to match other result of conditional"

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-05-05 09:31:07 +02:00
Daniel Agar 3ec40a5956 collision_prevention: fix CP_GO_NO_DATA parameter type 2021-05-04 16:41:32 -04:00
Matthias Grob ee87257a8d FlightModeManager: move velocity control feedback into FlightTask 
This was only handled outside because FlightTaks lived in the
multicopter position controller which produces the data that was
needed but now it doesn't make sense anymore to handle this
subscription separately.

It's better to have it inside the base task to have the data available
on task activation sucht that e.g. Altitude mode can take over smoothly
from Position mode.
 2021-05-04 16:47:48 +02:00