fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity
33,943 Commits 852 Branches 161 Tags
Commit Graph

13463 Commits

Author SHA1 Message Date
RomanBapst
fe2e299046 FlightModeManager: small rebase change 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-12-30 10:25:08 -05:00
Matthias Grob
e92795b474 Temporary logging addition to debug CI 2020-12-30 10:25:08 -05:00
Matthias Grob
fafbb687d8 FlightModeManager: fix integral reset on ground 
This information could also be used for yaw and integral
resets of the lower level controllers.
 2020-12-30 10:25:08 -05:00
Matthias Grob
7de288877a MulticoperPositionControl: 3rd pass get rid of zombie members 2020-12-30 10:25:08 -05:00
Matthias Grob
62ada2e2dc FlightModeManager: restore weathervane calls 
I had to do an extra subscription to the vehicle attitude.
I don't know how to test this.
 2020-12-30 10:25:08 -05:00
Matthias Grob
aa888223f0 FlightModeManager: fix takeoff state in stabilized mode 2020-12-30 10:25:08 -05:00
Matthias Grob
8edb06e94f FlightModeManager: make sure emergency failsafe works 2020-12-30 10:25:08 -05:00
Matthias Grob
8329208b84 FlightModeManager: fix takeoff ramp from zero 2020-12-30 10:25:08 -05:00
Matthias Grob
88c274b3cd MulticopterPositionControl: 2nd pass to move to FlightModeManager 2020-12-30 10:25:08 -05:00
Matthias Grob
f52bad87e2 mc_pos_control: separate out flight_tasks (into FlightModeManager) 2020-12-30 10:25:08 -05:00
Matthias Grob
fa7170bc4f Add FlightModeManager 
to separate out setpoint generation from controllers
 2020-12-30 10:25:08 -05:00
Daniel Agar
49d4cc7d5b commander: CMD_NAV_LAND/CMD_NAV_PRECLAND reply RESULT_ACCEPTED unless transition is denied 2020-12-30 12:05:41 +01:00
Daniel Agar
91f5f26618 commander: main_state_transition call trivial style fixes 2020-12-30 00:26:14 +01:00
Daniel Agar
4f62355dec
msg: new estimator_status_flags message for more accessible ekf2 status logging 
- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
 - this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
 - for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2020-12-29 11:27:21 -05:00
Daniel Agar
adb98d5702 mavlink: move HIL_ACTUATOR_CONTROLS to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar
3b20310e9c mavlink: move POSITION_TARGET_GLOBAL_INT to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar
672a1c90aa mavlink: move POSITION_TARGET_LOCAL_NED to separate streams header 
- position type_mask
 2020-12-28 11:09:46 +01:00
Daniel Agar
6b1d02feb7 mavlink: move RC_CHANNELS to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar
48be6962d1 mavlink: move MANUAL_CONTROL to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar
629d03b684 mavlink: move TRAJECTORY_REPRESENTATION_WAYPOINTS to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar
5762c3b356 mavlink: move NAV_CONTROLLER_OUTPUT to separate streams header 2020-12-28 11:09:46 +01:00
Daniel Agar
9f57df75e8 remove rotation 41 (ROLL_270_YAW_180) 
- duplicate of 31 (ROLL_90_PITCH_180)
 2020-12-28 11:07:08 +01:00
Daniel Agar
a66cb0cbaf mavlink: check TX buffer before processing command ack 2020-12-28 11:05:42 +01:00
bazooka joe
8d5813994f format smart battery serial number as string on mavlink 
according to change on mavlink protocol message
formatted as 'dd/mm/yy-123456'
 2020-12-28 11:04:54 +01:00
Daniel Agar
ceadcd74d0 mavlink: CAMERA_TRIGGER stream check free tx buf before send 2020-12-28 11:03:53 +01:00
Daniel Agar
ae706537b8 mavlink: CAMERA_IMAGE_CAPTURED stream check free tx buf before send 2020-12-28 11:03:53 +01:00
Daniel Agar
27b631e827 mavlink: ADSB_VEHICLE stream check free tx buf before send 2020-12-28 11:03:53 +01:00
Daniel Agar
0d72b47571 mavlink: COLLISION stream check free tx buf before send 2020-12-28 11:03:53 +01:00
Daniel Agar
dcb897307d mavlink: HEARTBEAT stream check free tx buf before send 2020-12-28 11:03:53 +01:00
Nicolas MARTIN
e06d218ff2
commander: disable arm_auth request for prearm status continuous publication 2020-12-27 16:23:05 -05:00
Daniel Agar
12bf035642 uORB: tests limit latency to only orb_test_medium and remove some unnecessary output 2020-12-27 15:29:45 -05:00
Daniel Agar
409ea2ac02
mavlink: parameters manually mark active minimal QGC set on first send 2020-12-27 13:54:03 -05:00
Lorenz Meier
4b0d8efbc1 Commander: move static overload_start to class 2020-12-27 13:44:32 -05:00
Daniel Agar
92afe45f7f
vtol_att_control: improve readability of fill_actuator_outputs() 
- vtol standard pass through landing gear for MC and flaps for FW
 2020-12-24 09:29:17 -05:00
Silvan Fuhrer
9849ff4a9c Standard VTOL: set idle PWM during backtransition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-24 09:25:08 +01:00
Silvan Fuhrer
7e01938341 VTOL: rename class variable flag_idle_mc to _flag_idle_mc 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-24 09:25:08 +01:00
Lorenz Meier
70c372329c MAVLink FTP: Update implementation according to updates specs 
The MAVLink specs for CreateFile in MAVLink FTP were updated on Dec 23, 2020 (today) with a behavior change to truncate a file if it already existed, following the UNIX standard behavior: https://pubs.opengroup.org/onlinepubs/9699919799/functions/creat.html. This change is tracking that spec change. While it is a functional change, the limited usage of the FTP protocol and the fact that implementations should not rely on error states to determine wether to truncate a file or not makes this a viable change.
 2020-12-23 13:45:01 +01:00
bresch
c253badba4 HTE: remove dist_bottom validity check 
Without range finder, the validity flag goes to false quite quickly and
if can be that a vehicle never starts HTE is the takeoff is too slow.
In this specific context of takeoff detection, since
the exact value is not important, we can safely ignore the validity flag.
 2020-12-18 12:05:22 +01:00
bresch
690c1158ad HTE: do not update the estimator during fast up/down motions 
Drag and prop wash effects produce significant forces at high speed
that can bias the estimator when applied for an extended period of time
 2020-12-18 12:05:22 +01:00
bresch
39251daf28 HTE: pull status from class instead of returning struct 2020-12-18 12:05:22 +01:00
bresch
652cc4350e HTE: empty braces initialization of struct 2020-12-18 12:05:22 +01:00
bresch
d532bc9555 HTE: only run in air 
the _landed flag only is not enough to tell if the drone is still touching
the ground, so an additional check based on the altitude AGL is required.

to have this in_air detection correctly updated, the module needs to be
scheduled on the vehicle_local_position message as no setpoint is
produced in non-assisted modes.
 2020-12-18 12:05:22 +01:00
Daniel Agar
c05c213042 mavlink: ALTITUDE stream initialize local_pos 2020-12-18 08:32:04 +01:00
Daniel Agar
c7db0942ba sensors: vehicle_imu don't round measured accel and gyro sample rates 2020-12-16 10:12:27 -05:00
Daniel Agar
bf5ee99952 sensors: acceleration always get accel rate from vehicle_imu_status 
- sensor rate is used for control data low pass and notch filters
 2020-12-16 10:12:27 -05:00
Daniel Agar
7038cb8518 sensors: angular_velocity always get gyro rate from vehicle_imu_status 
- sensor rate is used for control data low pass and notch filters
 2020-12-16 10:12:27 -05:00
Daniel Agar
336176b2f0 Mavlink FLIGHT_INFORMATION fix arming time (ms -> us) and add takeoff time 
- fixes https://github.com/PX4/PX4-Autopilot/issues/16393
 2020-12-16 09:38:05 -05:00
bresch
b23d8244f0 ekf2: fix dist bottom constraint 2020-12-16 09:33:38 -05:00
Hamish Willee
acc647c518 remove duplicate this in COM_HLDL_LOSS_T 2020-12-16 08:37:42 +01:00
Julian Oes
1719ff9892 simulator: fix after px4_task_spawn_cmd change 
argv[0] now contains the task name, so everything moves by one.
 2020-12-14 09:26:18 +01:00