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Commit Graph
516 Commits
Author SHA1 Message Date
Paul Riseborough 94ce6e12c1 sensor: update default flow sensor rotation 
The SENS_FLOW_ROT parameter is used in the px4flow and mavlink receiver to perform the rotation from sensor frame to body frame.
 2016-12-30 10:39:10 +01:00
Lorenz Meier a6696d339d Sensors app: Fix consistency checks. 
The sensors app assumed that all topics are published on boot which is not necessarily true and it assumed that all publications had valid data. This change ensures that topics are initialized as they update the first time and that the consistency check only runs on topics which carry valid data.
 2016-12-30 00:06:04 +01:00
Lorenz Meier c2af93d1a5 sensors: Add missing headers 2016-12-27 21:00:51 +01:00
Lucas De Marchi 1fafa2069c sensors: aerofc: set default voltage divider 2016-12-26 16:11:33 +01:00
Matthias Grob f9da41fcf2 fixed rebase errors in arm switch implementation 2016-12-20 09:46:36 +01:00
Matthias Grob aa984edd90 added an rc switch for arming and disarming with the option to use it as a button 2016-12-20 09:46:36 +01:00
Lorenz Meier c91f827072 sensors app: Always run validator so it gets updated and can detect timeouts 2016-12-19 20:34:52 +01:00
Lorenz Meier fe5cc5622b Failover logging in sensors app: Trim down strings 2016-12-19 20:34:52 +01:00
Lorenz Meier cc7db94edc Sensors app mag voter: Increase stale value detection threshold to accomodate low-noise mag setups 2016-12-19 20:34:52 +01:00
Mark Whitehorn bad2dc80a4 change default THR_MDL_FAC to zero (disabled) 2016-12-16 18:12:17 +01:00
Roman d221313dfb implemented mapping between desired thrust and applied pwm in 
multirotor mixer.

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-15 23:39:53 +01:00
Beat Küng 66925bc065 voted_senors_update: fix style after rebase 2016-12-14 19:57:54 +01:00
Beat Küng d4da626e78 sensors: move sensors with voting into a separate class 2016-12-14 19:57:54 +01:00
Beat Küng f9b3b5a799 sensors: break off parameters initialization into separate source file 2016-12-14 19:57:54 +01:00
Beat Küng c5e485bdd7 sensors: break off RC handling into its own class 2016-12-14 19:57:54 +01:00
Beat Küng 4e2d0500a1 sensors: use orb_publish_auto where possible 2016-12-14 19:57:54 +01:00
Lorenz Meier 7d0db35e90 Update PWM params to match standard usage in system 2016-12-13 09:18:59 +01:00
James Goppert fa834497bf Setup sf0x driver to handle all lightware lidars. (#5957) 2016-12-06 12:19:13 -05:00
Daniel Agar a8747a01fe pixhawk 2.1 add 2nd ms5611 2016-12-05 15:27:11 +01:00
Lorenz Meier b229dd891f Senssors app: Introduce thermal setting 2016-12-05 10:23:46 +01:00
Andreas Antener f772fc2d02 Airspeed: preflight check for bad offset, fixed calls to preflight checks (vtol & airspeed) 2016-12-02 22:56:48 +01:00
Anton Matosov 90c049d8ec Fix formatting 2016-11-19 15:14:46 +01:00
Anton Matosov cd40512505 Add mag2, acc2 and gyro2 sensors params to make sure backup/restore is reliable 2016-11-19 15:14:46 +01:00
Anton Matosov 96fc66ff7d Add force param_find for missing sensor parameters to fix load/save loss of calibration data 2016-11-19 15:14:46 +01:00
Anton Matosov 4edd12c44a Make PWM_RATE configurable via QGroundControl 2016-11-19 15:14:18 +01:00
Paul Riseborough 55bf6b4974 sensors: Calculate and publish pre-flight IMU sensor consistency metric 
If a single sensor is fitted, the calculation is not performed and zero values are published.
If dual IMU's are fitted, the vector length difference between the primary IMU and the second sensor is output for the angular rates and accelerations. The vector difference is low pass filtered before the length is taken.
If three IMU's are fitted, the vector length is calculated for both alternative sensors and and the maximum values output.
Fourth and subsequent IMU's are ignored.
 2016-11-19 15:12:08 +01:00
Beat Küng 85cee9460f sensors: use only as many voters as there are sensors 
This saves ~1.1KB of RAM for systems with only 1 sensor of each type.

If there are more sensors, they will be dynamically added, such that
failover still works.
 2016-11-06 14:48:20 +01:00
Julian Oes 2fff2ab9ac Add switch for landing gear, pass it to actuators 2016-10-20 23:17:05 +02:00
Roman 66ddea01d1 implemented slew-rate 2016-09-30 13:55:53 +02:00
Beat Küng ce0d31b7d9 mavlink log: ensure all critical & emergency msgs are also logged to console & ulog 
Critical messages that the user sees should also go to the log file, so
that the exact error (with time) can later be analyzed from the log file.
 2016-09-30 13:50:51 +02:00
Lorenz Meier 69f6708f37 Increase sensors stack 2016-09-30 09:16:36 +02:00
Julian Oes 8ff237c69f Remove size optimization for individual modules 
It makes more sense to set the optimization flags on a platform basis
instead of individually for each module. This allows for different
optimization options for SITL, NuttX, Snapdragon, etc.
 2016-09-30 08:11:51 +02:00
Nicolas de Palezieux a071ef94db always update armed flag (#5434) 
otherwise the battery estimator does not compute bat_v_empty_dynamic correctly
 2016-09-03 21:59:27 +02:00
Luís Rodrigues cda4338095 Configuration parameter for TeraRanger One (#5359) 2016-08-26 12:03:18 +02:00
Lorenz Meier 8bd4a624a7 Added voltage scaling. Need to move this to board_config.h instead 2016-08-12 13:55:16 +02:00
Lorenz Meier 63275ef92f Sensors: Perform init on best effort basis 2016-08-12 13:55:16 +02:00
Vasily Evseenko 078aca1966 Fix SENS_EN_SF1XX description 2016-08-04 15:09:33 +02:00
Vasily Evseenko 6689a3d1b1 Add SENS_EN_SF1XX param to specify sensor model 
Fix missing orb_unadvertise on shutdown
Fix missing closing of file descriptors
 2016-08-04 15:09:33 +02:00
James Goppert 5f16c97662 Added mb12xx sensor enable. (#5164) 2016-07-29 16:18:27 -04:00
Roman 1f1839d978 sensors: fixed code style 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-07-29 13:28:09 +02:00
Roman 499d362b8b added transition switch 2016-07-29 13:28:09 +02:00
Michael Schaeuble d94bdb0829 Add missing defines for Bebop sensor drivers 2016-07-22 09:21:55 +02:00
Beat Küng 8ab841e046 sensors: poll on best-voted gyro (#5106) 
This is a follow-up to 399d4ef833
 2016-07-21 14:52:32 -07:00
Julian Oes fa614a3cc1 RPi: just use RPI instead of RPI2. 
The reason for this change is that RPi2 and RPi3 are compatible, and
hopefully all differences coming up can be resolved without ifdefs but
at runtime.
 2016-07-16 15:51:00 +01:00
Beat Küng 399d4ef833 sensors: only poll on first gyro for now 
This fixes a bug with following setup:
- two (or N > 1) connected gyros
- ekf2 enabled
In this case, sensors would publish with the combined rate of the gyros,
but with N following messages having the same gyro data & timestamp.
Apparently ekf2 cannot handle this, the other estimators can.

We may want to rethink what the proper solution is here.
 2016-07-13 14:35:03 +02:00
Lorenz Meier a740d80a20 Mag voter: Be more forgiving on load changes 2016-07-11 15:16:35 +02:00
Beat Küng 9c73eae941 sensor_combined: replace accel & gyro integral with value, use float for dt 
Reason: the value is easier to read & handle (for example plotting). In
most places the value is needed, not the integral.

Note that this breaks the replay format for sdlog2 replay
 2016-07-07 11:35:50 +02:00
Beat Küng 8e136779ec stack sizes: reduce stack sizes for modules that use sensor_combined 
The sensor_combined topic got reduced from ~780 bytes to 72 bytes.
 2016-07-07 11:35:50 +02:00
Beat Küng c5ea4b43be sensor_combined.msg: make timestamps relative 
This is needed for the new logger & saves some space as well.
 2016-07-07 11:35:50 +02:00
Beat Küng c66f26245c sensor_combined.msg: use uint32 for integral_dt 
There is no reason to make this 64 bit. The same should be done in
the sensor raw messages, together with further cleanup.
 2016-07-07 11:35:50 +02:00