9756226dc3
[DO NOT MERGE] UAVCAN embedded peripheral firmware hacks
2021-02-11 20:41:00 -05:00
cb7aabf932
fw_pos_control_l1: cleanup body velocity and acceleration usage
...
- minimize storing unnecessary state (msg copies)
2021-02-12 00:41:39 +01:00
9ebf783214
Use smaller loiter radius for rovers
2021-02-11 23:24:34 +01:00
aca1e85da4
mavsdk_tests: don't forget to check for rootfs dir
2021-02-11 22:25:07 +01:00
4184c204c4
autopilot_tester: don't poll mission progress
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Instead use subscription here as well in order not to miss an update.
2021-02-11 22:25:07 +01:00
2971ce8664
mavsdk_tests: don't clear logs
2021-02-11 22:25:07 +01:00
9d3ff12a94
commander: reword nav failure message
2021-02-11 16:20:30 -05:00
5726e8e0a3
commander: do not fail nav check on GPS position glitch
...
In case of a diverge of the nav filter, both position and velocity test
ratios are large. If only one of them is too large, the nav filter is
most likely not diverging but is encountering a GNSS position reset and
it is still safe to fly in position mode.
2021-02-11 16:20:30 -05:00
b1b032d6e1
commander: rework nav failure check
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Allows to recover from a failed test with a stricter test
2021-02-11 16:20:30 -05:00
80b8e6a48f
v5X: Register board variants
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This is needed to properly identify new variants.
2021-02-11 22:14:02 +01:00
5b44bd67bb
ist8310: fix 16 times average configuration
2021-02-11 13:18:13 -05:00
7e18cffc5f
Update submodule mavlink v2.0 to latest Thu Feb 11 12:41:13 UTC 2021
2021-02-11 12:51:22 -05:00
176d932f23
mavsdk_tests: prevent missing updates
...
It seems like we are often missing updates from topics like flight mode
or in air state, both topics that are sent out infrequenctly e.g. at 1
Hz. Therefore, instead of polling for that data we should probably
subscribe to the updates and that way get notified of each an every
update.
For instance this should prevent the case where we miss the mode change
from mission to descend and back to mission once landed and disarmed.
2021-02-10 16:37:02 -05:00
3d9cde885d
Add comment for reserve autostartIDs
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This commit adds a comment where the autostart IDs 22000-22999 should be reserved for custom models
2021-02-10 16:34:01 -05:00
82d6cc3dba
FlightTasks: use .xy() where possible
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to take the first two elements of a Vector3f.
2021-02-10 15:56:58 +01:00
7686533abb
FlightTaskManualAcceleration: adapt position reset to new structure
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The mapping itself was seprated out into a calls because it was reused
for the experimental nudging implementation.
The position resets which were handled correctly before now
change the wrong setpoints and I adjusted.
The nudging has to be before any filtering, then these member setpoints
which are essentially copies are not needed anymore.
2021-02-10 15:56:58 +01:00
c524e61b97
airspeed_selector: fix timeout check
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I think this check was the wrong way round which meant that we would end
up with an unsigned int overflow and trigger a reset.
2021-02-10 12:58:23 +01:00
236975c56c
astyle: excluded libcanard for uavcannode_gps_demo
2021-02-10 03:05:02 -08:00
a76e429b1a
calibration parameters volatile (offsets and scale factors)
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- anything set vehicle side should be volatile and excluded from the
param hash
2021-02-10 09:01:47 +01:00
bf29ec2da2
Update submodule ecl to latest Wed Feb 10 00:39:35 UTC 2021
...
- ecl in PX4/Firmware (afb692ecffccc3ba7ade39c5906c8c5660066121): https://github.com/PX4/PX4-ECL/commit/cd38621dd6a4ef0f42eb29a2b4145f58023e7910
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/602e65146c975c12482560fafab7e05bf43b0029
- Changes: https://github.com/PX4/PX4-ECL/compare/cd38621dd6a4ef0f42eb29a2b4145f58023e7910...602e65146c975c12482560fafab7e05bf43b0029
602e6516f664abb87778e9aa8d93e948b35c5663189c89fa3
2021-02-10 00:16:42 -05:00
3570e1b4da
nxp_fmuk66-e: Sync defconfig with latest V3 changes
2021-02-09 23:53:38 -05:00
df3e94bcff
nxp_fmuk66-e:Disabled icm42688p until load issue is resolved
2021-02-09 23:53:38 -05:00
4610692813
nxp_fmuk66-e:Set CONFIG_CDCACM_PRODUCTSTR
2021-02-09 23:53:38 -05:00
b4c17cc8e7
nxp_fmuk66-e:Set Rotation of bmi88
2021-02-09 23:53:38 -05:00
8c8f48530e
nxp_fmuk66-e:Fix missing line rc.board_defaults
2021-02-09 23:53:38 -05:00
264efde0c9
nxp_fmuk66-v3:SD enable Multi block
2021-02-09 23:50:58 -05:00
ef444da689
BUGFIX Hardfault Commander Calibration
2021-02-09 15:20:50 +01:00
2772022785
mavsdk_tests: disable mag stuck test
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The estimator sometimes diverges in vz after landing which makes the
test fail. This needs to be dealt with first before we can enable the
test again.
2021-02-09 11:32:41 +01:00
e592bed7d3
mavsdk_tests: use timestamp from attitude field
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The flight_information field was not updated often enough which lead
to timeouts.
2021-02-09 11:32:41 +01:00
f08804da07
workflows: update to MAVSDK 0.36.0
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This is required for the timestamp that comes with the attitude
information.
2021-02-09 11:32:41 +01:00
397fa84cd0
mavsdk_tests: add time in front of debug lines
2021-02-09 11:32:41 +01:00
dec353219d
FlightTaskManualAcceleration: smooth position unlock
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The velocity setpoint of the position controller
does a jump when unlocking position with a non-zero position error.
This is solved by using the velocity setpoint feedback to smoothly
take over.
2021-02-09 11:31:35 +01:00
c9eac29d25
StickAccelerationXY: access member setpoints directly
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This is a leftover from before converting the logic into
a completely separate class.
2021-02-09 11:31:35 +01:00
79739c5676
StrickAccelerationXY: name setpoints unambiguous
2021-02-09 11:31:35 +01:00
ab03cd8bb9
Unified tool for launching advanced configurations of HITL or SITL in Gazebo with gz_sim.sh, works with PX4-SITL_gazebo PR 651.
2021-02-09 10:29:23 +01:00
b0abc0c111
airframes: exclude from 1100, 4018 and 6003 px4_fmu-v2
2021-02-09 09:44:50 +01:00
5a1c60b5a1
component_information: switch from gzip to xz
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Improves compression, e.g. current params file: 62KB to 51KB
There's also a PRESET_EXTREME option, which reduces by another 2KB.
We can revisit that once needed, as it increases mem usage as well.
2021-02-09 09:44:50 +01:00
cedfae9e46
jenkins: upload params.json.gz to S3
2021-02-09 09:44:50 +01:00
f8989fe5aa
mavlink: speed up ftp transfers on POSIX
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Around 900 KB/s - not fast, but should be fast enough for the use-cases.
2021-02-09 09:44:50 +01:00
d0e35efe3a
parameters: remove uid from json output
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Got removed from the spec
2021-02-09 09:44:50 +01:00
4ca883f843
parameters: fix JSON output types
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All types were previously output as strings
2021-02-09 09:44:50 +01:00
5a244888cd
Tools: add validate_json.py
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Can be used to validate the schemas under
https://github.com/mavlink/mavlink/tree/master/component_information
2021-02-09 09:44:50 +01:00
1f8e7de824
mavlink: implement COMPONENT_INFORMATION
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- implement COMP_METADATA_TYPE_VERSION & add component_version.json.gz to
ROMFS for all targets.
- implement COMP_METADATA_TYPE_PARAMETER (only enabled for SITL currently)
2021-02-09 09:44:50 +01:00
9f00fd2796
move PWM params to lib
2021-02-09 08:57:00 +01:00
8a047c8965
Update submodule ecl to latest Tue Feb 9 04:48:03 UTC 2021
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- ecl in PX4/Firmware (24abafdfc91875020fd9ecc792f6989cf2058a77): https://github.com/PX4/PX4-ECL/commit/46251db4a11e1f80ce1cce226c7664f875260832
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/cd38621dd6a4ef0f42eb29a2b4145f58023e7910
- Changes: https://github.com/PX4/PX4-ECL/compare/46251db4a11e1f80ce1cce226c7664f875260832...cd38621dd6a4ef0f42eb29a2b4145f58023e7910
cd386219521e81ae0c0545aaa6c6
2021-02-09 00:50:36 -05:00
8f0918a16b
boards: remove unused linker __param section
2021-02-08 23:22:48 -05:00
76a447ed0f
fix StickAccelerationXY: avoid setpoint oscillations around 0
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With a higher responsiveness, after centering the stick, the velocity and
acceleration setpoints could oscillate around 0 and never reach 0, due to
discretization.
This also prevented position lock engagement.
2021-02-08 13:51:36 +01:00
77884bdd34
SITL boat: tune L1 and speed controllers ( #16784 )
2021-02-08 07:18:49 +00:00
8d0f96f22c
Update submodule libcanard to latest Mon Feb 8 00:39:35 UTC 2021
...
- libcanard in PX4/Firmware (0c6cf6cb99https://github.com/UAVCAN/libcanard/commit/cde670347425023480a1417fcd603b27c8eb06c1
- libcanard current upstream: https://github.com/UAVCAN/libcanard/commit/55938c51cf7da3096679933302693c9dae7a2b33
- Changes: https://github.com/UAVCAN/libcanard/compare/cde670347425023480a1417fcd603b27c8eb06c1...55938c51cf7da3096679933302693c9dae7a2b33
55938c5 2020-12-29 Pavel Kirienko - Merge pull request #160 from UAVCAN/readme-fix
1c91c49 2020-12-29 Pavel Kirienko - Improve the example in README, fix #159
2021-02-07 21:42:30 -05:00
05164d0a6a
Update submodule libcanard to latest Mon Feb 8 00:39:43 UTC 2021
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- libcanard in PX4/Firmware (fef2f1c150ee15ba430c2da74fb432483fd888d8): https://github/commit/cde670347425023480a1417fcd603b27c8eb06c1
- libcanard current upstream: https://github/commit/55938c51cf7da3096679933302693c9dae7a2b33
- Changes: https://github/compare/cde670347425023480a1417fcd603b27c8eb06c1...55938c51cf7da3096679933302693c9dae7a2b33
55938c5 2020-12-29 Pavel Kirienko - Merge pull request #160 from UAVCAN/readme-fix
1c91c49 2020-12-29 Pavel Kirienko - Improve the example in README, fix #159
2021-02-07 20:27:59 -05:00
0c6cf6cb99
Revert "boards: px4/fmu-v5 disable px4io in rc.board_defaults"
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This reverts commit d7b89ecc86
2021-02-08 00:21:32 +01:00
d03d46b8a3
Initialize MAVLink on v5X variants
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This will ensure that the different baseboard configurations are properly accounted for depending on HW variants.
2021-02-07 17:23:13 +01:00
8242968b2b
UAVCAN v1 GPS demo with MAVCAN autoconfigure
2021-02-07 17:18:45 +01:00
5f8ad65c40
FMUK66 NuttX 10 SocketCAN initialization
2021-02-07 17:18:45 +01:00
8b2d20df34
"MAVCAN" PNP & Register example implementation
2021-02-07 17:18:45 +01:00
e5d29d4079
UAVCANv1 demo UAVCAN146 <-> BMS-722 is working
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Fixed UAVCAN146 linker script that caused CXX initalization to wrong
Enabled uORB listener command
Updated UAVCANv1 msg definition
Known isssue: PX4 params are not working on the UAVCAN146
2021-02-07 17:18:45 +01:00
58ca575871
UAVCAN v1 bridge
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- NuttX stm32f4/stm32f7 uses character device driver
- NuttX kinetis and s32k uses socketcan
2021-02-07 17:18:45 +01:00
1848ac3bc7
mavlink: receiver accept ODOMETRY MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support
2021-02-07 09:51:05 -05:00
f461481548
Revert "mavlink: ODOMETRY handler accept all other estimator_types for now"
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This reverts commit b216714d56
2021-02-07 09:51:05 -05:00
b216714d56
mavlink: ODOMETRY handler accept all other estimator_types for now
2021-02-06 22:32:20 +01:00
d67a84d941
boards: holybro can-gps-v1 fix bosch bmm150 path
2021-02-06 15:56:11 -05:00
41b0f83c0c
drivers/magnetometer: Bosch BMM150 rewrite
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- same pattern as other new drivers (state machine, checked register mechanism, no sleeps, etc)
- self test has been rolled into regular startup sequence
- still I2C only, but will be expanded in the future
- configure to high accuracy preset
2021-02-06 12:50:23 -05:00
8834741be8
gps blending make test to work without templated gps_blending class
2021-02-06 12:59:04 +01:00
8087fac3fc
gps_blending add protection against accessing non-exist array item
2021-02-06 12:59:04 +01:00
a0d500b30a
changing gps_blending to be non-template class
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because there is no multiple instance types on singular machine
2021-02-06 12:59:04 +01:00
80d9f1c5fb
Update submodule sitl_gazebo to latest Sat Feb 6 00:38:25 UTC 2021
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- sitl_gazebo in PX4/Firmware (9e69b16c3chttps://github.com/PX4/PX4-SITL_gazebo/commit/e580bbcd1eb6902c658ed3ece3b3b28dfd57eb17
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/4f26815d4127e3af84e01bbc1f8683c4fe30521f
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/e580bbcd1eb6902c658ed3ece3b3b28dfd57eb17...4f26815d4127e3af84e01bbc1f8683c4fe30521f
4f26815 2021-02-05 Julian Oes - workflows: fix macOS build
2021-02-05 21:28:41 -05:00
b9034dbb5d
Update submodule ecl to latest Sat Feb 6 00:38:38 UTC 2021
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- ecl in PX4/Firmware (1e079d0142b813c3c65c6796576e79d5662a217b): https://github.com/PX4/PX4-ECL/commit/b919f3ddf41ab422d09af91eaea2b2f9729fab13
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/46251db4a11e1f80ce1cce226c7664f875260832
- Changes: https://github.com/PX4/PX4-ECL/compare/b919f3ddf41ab422d09af91eaea2b2f9729fab13...46251db4a11e1f80ce1cce226c7664f875260832
46251db
2021-02-05 20:38:49 -05:00
61e935105f
Update submodule mavlink v2.0 to latest Sat Feb 6 00:38:29 UTC 2021
2021-02-05 20:20:50 -05:00
df66c8580c
Update submodule CMSIS_5 to latest Sat Feb 6 00:38:34 UTC 2021
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- CMSIS_5 in PX4/Firmware (6f03b880f05d0a1d4015f5040054b61012725794): https://github.com/ARM-software/CMSIS_5/commit/4ed5730787a0f98e8858c9998e406c608ab10b28
- CMSIS_5 current upstream: https://github.com/ARM-software/CMSIS_5/commit/20285262657d1b482d132d20d755c8c330d55c1f
- Changes: https://github.com/ARM-software/CMSIS_5/compare/4ed5730787a0f98e8858c9998e406c608ab10b28...20285262657d1b482d132d20d755c8c330d55c1f
202852626 2021-02-01 Christopher Seidl - Updated CMSIS-Pack documentation
2021-02-05 20:18:25 -05:00
8167023dfb
holybro_can-gps-v1: Reorder Sensor Startup for reliabiltiy
2021-02-05 19:55:16 -05:00
9e834d26f8
holybro_can-gps-v1:Add Flash Based Parameters
2021-02-05 19:55:16 -05:00
7b3ce832d6
holybro_can-gps-v1: Add UAVCAN CAN2 Support
2021-02-05 19:55:16 -05:00
fe732930d2
holybro_can-gps-v1:Fix ver HW NAME
2021-02-05 19:55:16 -05:00
caba734d26
PR review AIs
2021-02-05 19:55:16 -05:00
6f78a5e201
holybro_can-gps-v1:Add to CI
2021-02-05 19:55:16 -05:00
9e1b13683f
Add hardware ver/rev to st32f4
2021-02-05 19:55:16 -05:00
41c9f085ef
holybro_can-gps-v1:Temparary LED support
2021-02-05 19:55:16 -05:00
0554755ed2
holybro_can-gps-v1:Added Support for holybro can gps
2021-02-05 19:55:16 -05:00
9e69b16c3c
ROMFS: Add new VTOL standard airframe 13015 using all MAIN outputs
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-02-05 19:00:26 -05:00
c1435c744c
px_uploader:Fixes breakage for real serial ports caused by 00e6d11
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The code was pitching an exception. It was invaild. That then left
the baud rate AFU
2021-02-05 20:15:20 +01:00
d4bea8323f
PreFlightCheck: Detect missing FMU SD card
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-02-05 20:14:48 +01:00
72e34e02ef
VTOL defaults: increase tracking tolerance for VTOL planes
2021-02-05 20:13:30 +01:00
44872807b3
MC auto: add parameter to set the trajectory slow-down
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In some cases e.g.: (VTOL in wind) a good tracking cannot be
achieved. This condition then needs to be relaxed, otherwise the
drone cannot land properly.
2021-02-05 20:13:30 +01:00
9d90529e7f
Jenkins hardware print vehicle_status and vehicle_status_flags
2021-02-05 20:11:13 +01:00
6633ff5089
commander: vehicle_status_flags add attitude and angular velocity
2021-02-05 20:11:13 +01:00
168027ac3d
NuttX apps with REJECTED commit
2021-02-05 10:07:03 -08:00
3b25790b06
px4_fmu-v2:Make room
2021-02-05 08:27:28 -08:00
a399bb9894
ekf2: fix mismatch between ecl and firmware flag definition
2021-02-05 14:30:09 +01:00
f13c3a7d44
state_machine_helper: stop mission on RC loss
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This allows to still fly missions completely without RC
but reacts if RC is lost during the mission because
the safety pilot expects to be able to take over.
2021-02-04 10:54:52 +01:00
f87dbe57c2
state_machine_helper: don't finish mission if all links are lost except for when no reaction is configured
2021-02-04 10:54:52 +01:00
cd51cf2996
state_machine_helper: handle zero failsafe_timestamp
2021-02-04 10:54:52 +01:00
b44b770972
commander: RC loss delay renaming/reordering
2021-02-04 10:54:52 +01:00
e2e5fc85f8
state_machine_helper: fix infinite delay with intermittent failsafes
2021-02-04 10:54:52 +01:00
1736be41cf
state_machine_helper: only apply delay on manual piloted rc loss cases
2021-02-04 10:54:52 +01:00
e65cc6bd6f
state_machine_helper: do failsafe delay for all modes
2021-02-04 10:54:52 +01:00
26d74bf57d
Commander: enable failsafe delay for position and mission mode
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Instead of directly doing the link loss reaction which by default is RTL a delay
can be configured such that the drone first switches to hold and waits
for the link to be regained.
2021-02-04 10:54:52 +01:00
fa45eacea3
Fix and unify the maximum allowed PDOP references
2021-02-04 10:20:22 +01:00
be3cdc0439
sensors: correct comment logic
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By removing the no the comment matches the implementation (which I think
makes sense).
2021-02-04 10:14:44 +01:00
3ab4213314
IO safety button: cleanup disabling safety
2021-02-04 06:25:43 +01:00
3fbd008c4e
FMU safety button: cleanup disabling safety
2021-02-04 06:25:43 +01:00
867b006861
IO safety button: Latch to disabled state
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As hardware buttons are not particularly reliable and the user flow is to disable safety then arm, then disarm via software / remote, it makes sense to make the button safety state itself sticky and require it to be reset via software.
2021-02-04 06:25:43 +01:00
7157584fe1
FMU safety button: Latch to disabled state
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As hardware buttons are not particularly reliable and the user flow is to disable safety then arm, then disarm via software / remote, it makes sense to make the button safety state itself sticky and require it to be reset via software.
2021-02-04 06:25:43 +01:00
3f1ca4dfc9
Update submodule mavlink v2.0 to latest Wed Feb 3 18:41:38 UTC 2021
2021-02-03 18:41:02 -05:00
e6f1812bae
ROMFS: Fix typo in S500 CtrlAlloc airframe
2021-02-03 15:29:10 -05:00
89878fcc88
clean up
2021-02-03 17:54:27 +01:00
4b4a9a925b
logger: Log takeoff_status
2021-02-03 17:44:12 +01:00
9d1de3118f
land_detector: Rework ground effect calculation for MC
2021-02-03 17:44:12 +01:00
88c68914a9
update uorb_rtps_message_ids.yaml for id: 30
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For some usecases like starting video recording on a companion computer or triggering a ROS based (offboard control) mission control execution the status of RC channel is needed in ROS(2). This allows the user to start/stop such functionalities from the RC transmitter.
Therefore InputRc to be changed accordingly.
add 'Set send: true' for id: 30
2021-02-03 08:52:44 -05:00
9a08c0f48e
NuttX: PX4 stm32f412 contrib
2021-02-03 05:22:04 -08:00
b2f0c149ec
Set cruise trottle to non-zero ( #16724 )
2021-02-03 04:39:30 +00:00
4dc44688a7
Update current year in LICENSE
...
2020 now is in the past.
2021-02-02 23:05:48 +01:00
1a428aa5c2
boards: Add support for PX4 FMUv6U
2021-02-02 10:50:26 -05:00
10d94e5981
update uorb_rtps_message_ids.yaml
2021-02-02 13:55:42 +01:00
701a585a81
RTPS: add check for IDs on multi-topics/alias messages as well
2021-02-02 13:55:42 +01:00
835e3258ed
uavcannode: use correct vertical position uncertainty
2021-02-02 11:56:07 +01:00
bb37fd2f29
Enabled LSE clock for RTC, set clk drive strength to 3. Else the quarzt on the fmuv5x does not socillate reliabel.
2021-02-02 09:58:47 +01:00
a2442ffb48
board: enable UAVCAN sensors by default on F7/H7
2021-02-02 09:01:12 +01:00
8b0ec5a78e
mavlink: ATTITUDE_TARGET thrust use thrust_body magnitude
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- vehicle_attitude_setpoint thrust_body is a vector, but mavlink ATTITUDE_TARGET thrust is only a magnitude
- this allows the stream to be correct for both MC & FW use cases
2021-02-01 21:31:36 -05:00
13e875645c
Revert "systemcmds/param: use PX4_INFO_RAW directly (delete qurt special case)"
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This reverts commit 470f24037e
2021-02-02 00:53:45 +01:00
cd148cda88
Revert "platforms: px4 log build string then print (fputs)"
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This reverts commit 9e112dd48b
2021-02-02 00:53:32 +01:00
0a58482e51
Align message names to avoid CRC mismatch with deployed units
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This will ensure that the CRCs will match with deployed units to avoid unnecessary incompatibilities while we are figuring out how to best standardize these between stakeholders.
2021-02-02 00:28:41 +01:00
0c74028976
FMUK66 Decrease telnetd ram usage
2021-02-01 11:50:43 -05:00
a9a8a95c44
drivers/distance_sensor: add drivers_rangefinder linking dependency
...
- fixes https://github.com/PX4/PX4-Autopilot/issues/16715
2021-02-01 09:25:23 -05:00
b9b9c55325
Navigator: change default of GF_ACTION to 2 (Hold)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-02-01 11:07:53 +01:00
c2154df2f6
ekf2checks: split GPS checks from AHRS checks - minor cleanup
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-02-01 09:02:19 +01:00
78dff6adcb
boards: add CONSTRAINED_MEMORY build option
...
- currently the main change is that it reduces the max number of ORB multi instances to 4, but usage will be expanded as needed
- limits number of EKF2 multi instances to 2.
- enabled on all cortex m4 boards
2021-02-01 08:56:22 +01:00
834ac38841
fix condition in ekf2Check
2021-02-01 08:55:41 +01:00
d1a3590aac
PWM: transition PWM_{MIN,MAX,DISARMED,RATE} -> PWM_MAIN
2021-02-01 08:53:33 +01:00
8b8adbf48e
Jenkins hardware reduce IMU_GYRO_RATEMAX on some boards
2021-01-31 21:26:26 -05:00
3b71e8e62d
boards: cubepilot fix BAT2_V_DIV param default typo
2021-01-31 21:16:42 -05:00
b1e85b0b04
Jenkins hardware add CUAV X7 Pro
2021-01-31 19:48:00 -05:00
61d7be82cc
Jenkins hardware add CubePilot CubeOrange
2021-01-31 18:51:32 -05:00
27138578f0
Disable unmaintained MAVROS tests
...
The overhead of the MAVROS setup means that most developers are not using it, leading to tests that are not suitable for day-to-day workflows. We are replacing these with MAVSDK tests that can be run locally pre-commit.
2021-01-31 17:03:04 -05:00
f833861fbb
Cleanup unsused rover mixers
...
This PR cleansup unused rover mixers from the ROMFS
2021-01-31 19:17:38 +01:00
f19f93eedf
MacOS: Disable OS tests
...
This is suboptimal but survivable since MacOS is not a deployment target. We still need to identify the root cause.
2021-01-31 10:45:43 -05:00
afd50acce2
Update submodule sitl_gazebo to latest Sun Jan 31 12:39:22 UTC 2021
...
- sitl_gazebo in PX4/Firmware (bb7dd0cf00https://github.com/PX4/PX4-SITL_gazebo/commit/46aef29718495d2f668c1648f4c0b0f43b9d9671
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/e580bbcd1eb6902c658ed3ece3b3b28dfd57eb17
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/46aef29718495d2f668c1648f4c0b0f43b9d9671...e580bbcd1eb6902c658ed3ece3b3b28dfd57eb17
e580bbc 2021-01-30 JaeyoungLim - Use include model syntax for bluerov (#702 )
663a553 2021-01-30 Tim - Added GPS and changed the Thruster config of the bluerov2 SDF file (#700 )
4674826 2021-01-29 Thies Lennart Alff - increased ODE solver iterations to avoid deflection of the thrusters (#701 )
2021-01-31 10:44:04 -05:00
5097d531bf
mavlink: send LINK_NODE_STATUS
2021-01-31 15:02:30 +01:00
4cbbd0ebf3
mavlink: receiver estimate total lost messages
2021-01-31 15:02:30 +01:00
f9d4bd53ef
Apply suggestions from code review
...
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
Apply suggestions from code review use stdout
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2021-01-31 14:42:09 +01:00
39c6229c37
Netman:Data in network order
2021-01-31 14:42:09 +01:00
d22eb76187
Add a simple network manager
...
This system command will display, set and save the network
settings.
netman show - Displays the current settings.
netman update - Will check for a net.cfg file on the SD card.
If present, it will update the paramaters,
delete the file, and reboot. Using the new settings.
netman save - Saves the current settings to net.cfg on the SD card.
This file shoulf be renamed to preserver it across
reboots or editited to chech networkin paramates.
File format is name<space>value:
echo DEVICE=eth0 > /fs/microsd/net.cfg
echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
echo IPADDR=192.168.0.4 >> /fs/microsd/net.cfg
echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
echo ROUTER=192.168.0.254 >>/fs/microsd/net.cfg
echo DNS=192.168.0.254 >>/fs/microsd/net.cfg
Valid values for `proto` are `dhcp`, `static`, `falback`
Both will try dhcp for CONFIG_NETINIT_FALLBACK times
and fall back to the static address.
NETMASK - is the network mask.
IPADDR - this nodes ip address for static or fall back.
ROUTER - The default route.
DNS - The address of the dns server.
2021-01-31 14:42:09 +01:00
ed996e2dd1
fmu-v5x:Add net monitoring an DHCP
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px4_fmu-v5x:Use Bin Net settigns
2021-01-31 14:42:09 +01:00
e9dabfbe28
Nuttx apps with rejected Network Monitor add a polled option
2021-01-31 14:42:09 +01:00
bb7dd0cf00
modules/sih: move to px4 work queue (wq:rate_ctrl)
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- respect IMU_GYRO_RATEMAX for configured interval
- optionally compile at higher optimization level per board (${MAX_CUSTOM_OPT_LEVEL})
2021-01-31 12:56:45 +01:00
c01d459011
Add support for STM32F42x/STM32F43x rev. 5/B ( #15407 )
...
* stm32_common: Add support for STM32F42x/STM32F43x rev. 5/B
According to ST, both 5 and B share the same REV_ID.
Signed-off-by: Alexey Rogachevskiy <sfalexrog@gmail.com >
* stm32_common: Change comment to match code, change enum names to match revisions
2021-01-31 12:34:16 +01:00
470f24037e
systemcmds/param: use PX4_INFO_RAW directly (delete qurt special case)
2021-01-31 11:43:47 +01:00
9e112dd48b
platforms: px4 log build string then print (fputs)
2021-01-31 11:43:47 +01:00
0c58d12216
mavlink: receiver estimate total lost messages
2021-01-31 11:41:56 +01:00
fbd64fbdd8
FlightModeManager: publish takeoff status
2021-01-31 11:37:00 +01:00
b30bd7f589
drivers: no longer any need to advertise immediately (baro, mag, rangefinder)
2021-01-31 11:35:46 +01:00
f80a422f9c
mavlink receiver: battery status - publish temperature
2021-01-31 11:20:42 +01:00
5f0a014595
mavlink receiver: battery status - publish cells voltage
2021-01-31 11:20:42 +01:00
6a4835bbcc
sensors: vehicle_magnetometer combine extra _vehicle_magnetometer_pub
2021-01-30 21:50:01 -05:00
ce76c84ce2
sensors: vehicle_magnetometer respect publication rate limit SENS_MAG_RATE
2021-01-30 21:50:01 -05:00
318c7e83b3
support up to PWM 14
...
- generate PWM_MAIN 1-14
- generate PWM_AUX 1-8
- generate PWM_EXTRA 1-8
- px4io and pwm_out directly read configuration parameters
- only available and active physical outputs are actually shown for configuration
- overall saves flash despite adding many new parameters
2021-01-30 15:55:53 +01:00
cdd6df4e27
VehicleGPSPosition: remove unused "using"
2021-01-30 11:32:47 +01:00
6abbbdeb4b
gps blend: add parameter to select the primary instance
2021-01-30 11:32:47 +01:00
889602ed5e
gps blend: always pass through GpsBlending class for selection
2021-01-30 11:32:47 +01:00
b4051b62a3
gps blend: add failover logic and unit test
...
also remove dependency to hrt library
2021-01-30 11:32:47 +01:00
9bff7a1c41
gps blend: add selector unit tests
2021-01-30 11:32:47 +01:00
1dbf4957df
vehicle gps pos: remove useless gps_updated array
2021-01-30 11:32:47 +01:00
b60bfb920c
gps blend: add initial working test
2021-01-30 11:32:47 +01:00
1cde5074ea
gps blend: move definition to header file
2021-01-30 11:32:47 +01:00
1333664a14
gps blend: move blending logic to class
2021-01-30 11:32:47 +01:00
075165699d
Update CMakeLists.txt
2021-01-30 11:29:42 +01:00
21e70381fe
Update default parameters.
2021-01-30 11:29:42 +01:00
42439829b0
use LPE estimator
2021-01-30 11:29:42 +01:00
6c839f9b02
add balloon defaults
2021-01-30 11:29:42 +01:00
1fea1a2822
Initial TF-B1 commit
2021-01-30 11:29:42 +01:00
c2a68debd9
add jamming_state to gps sensor module
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-01-30 11:26:42 +01:00
cadd2cf883
update gps submodule
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-01-30 11:26:42 +01:00
5eb4ab6d73
vehicle_gps_position: add jamming_state
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-01-30 11:26:42 +01:00
e7f2195a9b
ekf2: error if unable to copy every sensor publication
2021-01-29 22:12:29 -05:00
e30b8495b8
Enable x7pro and nora spi4 DMA
2021-01-29 21:30:12 -05:00
c1da999748
cmake: Limit color output to terminals
...
VIm's Quickfix is useless with escape sequences embedded in
compiler output.
2021-01-29 17:52:32 -05:00
1375221c56
srgbled_dma:Fix wrong timer init
2021-01-29 21:36:12 +01:00
85d8e74609
Navigator: yaw error from param and pos_ctl_status.acceptence_rad checks before using
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
4d6749edc2
mission_block: change loiter handling logic
...
- add ability of "heading wait" for NAV_CMD_LOITER_TIME_LIMIT
- For both LOITER_TIME and LOITER_TO_ALT in fixed-wing flight, unify logic:
--> reach position --> start loitering --> reach altitude --> start timer (if applicable)
--> reach exit heading (if applicable) --> declare mission item reached
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
5c9fac58c8
Mission: do not autocontinue if in multicopter mode and next wp has a hold time
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
f3adf6d67f
mission_block: rename altitude_amsl to mission_item_altitude_amsl to make clear it's a setpoint
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
ab9d5498bc
mavlink_mission: MAV_CMD_NAV_LOITER_TIME: set force_heading corresponding to param2
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
017567792b
Navigator: for loiter position acceptance, use L1 distance and loiter radius
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
acbada73dd
RTL: VTOL: do the land delay loitering (RTL_LAND_DELAY) in fixed-wing flight
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 15:46:33 +03:00
cc29754163
Update jsbsim bridge submodule
2021-01-29 09:41:32 +01:00
f0d1f1d679
boards: disable BDMA on STM32H7 for now
2021-01-28 21:16:23 +01:00
741c1da634
ARK Flow Basic Functionality
2021-01-28 08:56:10 -05:00
19576c5db3
logger: Correct max instances of actuator_outputs.
...
Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2021-01-28 14:22:55 +01:00
ce1157e398
Work around broken coverage interface
2021-01-28 12:02:06 +01:00
14cb98a6b4
Increase corridor check thresholds for mission tests
2021-01-28 12:02:06 +01:00
7fac2fe6cd
Consolidate uploading of coverage info for unit tests
2021-01-28 12:02:06 +01:00
e014954c91
Remove old matrix inversion routines
2021-01-28 09:14:08 +01:00
e96e028327
Refactor LM mag calibration routines
2021-01-28 09:14:08 +01:00
a9fc104387
Add inline to avoid double definition errors
2021-01-28 09:14:08 +01:00
c79bd033c0
mag test: add ellipsoid test
2021-01-28 09:14:08 +01:00
1da2cd5b4d
mag test: add magnetometer calibration unit tests
2021-01-28 09:14:08 +01:00
a8a8819060
mag cal: move sphere and ellipsoid regression algirithms
2021-01-28 09:14:08 +01:00
bf4ae81995
Device: Add MAVLINK bus type
2021-01-28 09:09:11 +01:00
a4745c6825
Simulator: Fix for arg count increase breaking remote host option.
...
The number of arguments was increased by one, see: https://github.com/PX4/PX4-Autopilot/commit/1719ff9892f3c3d034f2b44e94d15527ab09cec6
Because the above commit was merged before https://github.com/PX4/PX4-Autopilot/pull/15443 . It broke support for the remote host option.
This has been fixed in this commit by increasing all argv's by one.
Signed-off-by: Peter Blom <peterblom.mail@gmail.com >
2021-01-28 08:32:14 +01:00
cf43d07f70
uavcannode: refactor into separate publishers and subscribers
2021-01-27 20:57:23 -05:00
39ad84e069
drv_sensor.h: Add missing SRF05 devtype
2021-01-27 17:02:20 -05:00
e49717513c
simulator: Fix distance sensor device_id
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Also add DRV_DIST_DEVTYPE_SIM
2021-01-27 17:02:20 -05:00
a09e13631c
distance_sensors: Fix assignment of serial bus ID
2021-01-27 17:02:20 -05:00
01462ce627
Device: Add missing SERIAL enum to bus_string function
2021-01-27 17:02:20 -05:00
153756b933
drivers: Add support for SF30/[B,C] rangefinders (Serial)
2021-01-27 17:02:20 -05:00
7f2f0a04f1
uavcan: remove unused variables in gnss bridge
2021-01-27 17:02:20 -05:00
85796fbd84
Drivers: Distance Sensors: Add proper device IDs
...
Add new DeviceBusType_SERIAL to Device::DeviceId union
Add DRV_DIST_DEVTYPE's for all distance sensors
Change distance_sensor_s.id to distance_sensor_s.device_id
Modify all distance_sensor drivers to apply 'proper' device_id
2021-01-27 17:02:20 -05:00
adf2d2f73a
extend uuv_att_control module by thrust in y/z-direction ( #16642 )
...
* extend uuv_att_control
* add feedthrough thrust_y + thrust_z direction
* extend uuv_att_control
* add feedthrough thrust_y + thrust_z direction
* update formatting
* fix submarine sitl: indicate motor channel range 0..1 or -1..1 in simulation_mavlink.cpp (#16637 )
change motor_count variable to 'pos_thrust_motor_count'
This is more specific to what is actually happening in the code.
'pos_thrust_motors_count' indicates number of motor channels which are configured with 0..1 range (positive thrust) all other motors are configured for -1..1 range
submarine only have motors with -1..1 range.
Thus, pos_thrust_motor_count = 0
Co-authored-by: Thies Lennart Alff <33184858+lennartalff@users.noreply.github.com >
* extend uuv_att_control
* add feedthrough thrust_y + thrust_z direction
* update formatting
Co-authored-by: Thies Lennart Alff <33184858+lennartalff@users.noreply.github.com >
2021-01-27 22:35:24 +01:00
c033681c56
uavcannode: add parameter default value
2021-01-27 13:11:41 -05:00
1b9d68abd5
parameters: add new param_get_default_value()
2021-01-27 13:11:41 -05:00
2308cb8a40
CUAV CAN GPS support UAVCAN standard/indication/Button.uavcan
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-01-27 10:46:49 -05:00
5e79773275
Add signing of px4 binary into makefiles
...
When an environment variable "SIGNING_TOOL" is defined, the make will
call this with two filename arguments: <input> and <output>.
The SIGNING_TOOL will read in the binary from input, and append
signature to the output. For example:
SIGNING_TOOL=${PWD}/Tools/cryptotools.py make px4_fmu-v5_default
Will use the example "cryptotools.py" to sign the px4_fmu-v5.bin
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-01-27 08:36:08 +01:00
0f80296340
Modify cryptotools.py
...
- Append signature in the end of the signee
- Add parameters for output file and rd certificate
- Add a default test key
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-01-27 08:36:08 +01:00
5c9e7c2581
Add table of contents structure for px4_fmuv5 targets
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-01-27 08:36:08 +01:00
15ab477e73
Add header file describing px4 image table-of-contents
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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-01-27 08:36:08 +01:00
642d20cebe
Added cryptotools.py to support secure bootloader
2021-01-27 08:36:08 +01:00
124258fb18
Update submodule sitl_gazebo to latest Wed Jan 27 00:46:05 UTC 2021
...
- sitl_gazebo in PX4/Firmware (ab0f761e9fhttps://github.com/PX4/PX4-SITL_gazebo/commit/4048ae60ae4e8bc84840b4878d13e0e685e21b9a
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/46aef29718495d2f668c1648f4c0b0f43b9d9671
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/4048ae60ae4e8bc84840b4878d13e0e685e21b9a...46aef29718495d2f668c1648f4c0b0f43b9d9671
46aef29 2021-01-25 JaeyoungLim - Rename geotagged_images_plugin to camera_manager_plugin (#698 )
38224fb 2021-01-25 Pieter-Jan Dewitte - Pr liftdrag coefficients (#690 )
2021-01-27 06:24:22 +01:00
ab0f761e9f
uavcan:Beep Repeated tunes are OK
2021-01-26 19:22:14 -05:00
53a14e847d
drivers/rc_input: support RC_RSSI_PWM_CHAN
2021-01-26 18:19:52 -05:00
ab650373d6
cuav gps:Add Beep indication
2021-01-26 17:04:40 -05:00
3b26b7adaf
sensors: magnetometer preserve original mag cal offset for status message
2021-01-26 16:04:10 -05:00
15cbe8c09a
px4_work_queue: wq:nav_and_controllers increase stack 1730 -> 1760 bytes
2021-01-26 16:03:37 -05:00
b422da45ec
boot_app_shared automatically generate UAVCAN bootable image
2021-01-26 10:21:29 -08:00
347c185967
UAVCAN bootloader merge duplicate boot_app_shared
2021-01-26 10:21:29 -08:00
e656c9c13f
drivers/uavcannode: Add a simple parameter server (simpler version for merging) ( #16649 )
...
* drivers/uavcannode: Add a simple parameter server
Added a simple parameter server using the libuavcan ParamServer class.
The parameter server exposes a selection of PX4 parameters via UAVCAN.
Also, Increased the stack size of the uavcan work queue in order to
prevent a stack overflow.
* uavcannode: fetch all active PX4 parameters
Co-authored-by: Kenneth Thompson <ken@flyvoly.com >
2021-01-26 10:19:20 -08:00
525361cbc7
uavcannode:Add Indication Controller
2021-01-26 12:05:18 -05:00
d1dfa26903
consume all available queued vehicle_commands
2021-01-26 12:00:18 -05:00
d5c7e243a9
vehicle_command: increase queue depth 4 -> 8
...
- prevent slower modules from missing commands
2021-01-26 12:00:18 -05:00
350ebf5a1f
boards: CUAV CAN GPS flash based parameters
2021-01-26 08:06:54 -08:00
f45b67af59
re-add boolean attribute to the parameters xml
...
and small cleanup, make Volatile as bool in the internal variable
2021-01-26 08:24:59 +01:00
39ef2fd0b7
delete unused struct pwm_output_rc_config
2021-01-25 10:55:57 -05:00
75f02d64b6
delete unused PWM_SERVO_SET_SBUS_RATE
2021-01-25 10:55:57 -05:00
2b0a047f0c
delete unused DSM_BIND_POWER_UP
2021-01-25 10:55:57 -05:00
439c573242
delete unused PWM_SERVO_SET_TRIM_PWM
2021-01-25 10:55:57 -05:00
2ff69a4456
delete unused PWM_SERVO_SET_COUNT
2021-01-25 10:55:57 -05:00
f9e07337f8
fix submarine sitl: indicate motor channel range 0..1 or -1..1 in simulation_mavlink.cpp ( #16637 )
...
change motor_count variable to 'pos_thrust_motor_count'
This is more specific to what is actually happening in the code.
'pos_thrust_motors_count' indicates number of motor channels which are configured with 0..1 range (positive thrust) all other motors are configured for -1..1 range
submarine only have motors with -1..1 range.
Thus, pos_thrust_motor_count = 0
Co-authored-by: Thies Lennart Alff <33184858+lennartalff@users.noreply.github.com >
2021-01-25 14:17:24 +01:00
455f762516
px4_fmu-v6x:Support RC03 HW
2021-01-25 09:18:24 +01:00
43e1cda8ac
uavcan: add tune_control/beep
2021-01-25 08:38:15 +01:00
f571b29ae8
Update submodule matrix to latest Sun Jan 24 12:39:24 UTC 2021
...
- matrix in PX4/Firmware (92f2043d8bhttps://github.com/PX4/PX4-Matrix/commit/054f8b12f4da79767df6e05bb1d2cc8d679b99f3
- matrix current upstream: https://github.com/PX4/PX4-Matrix/commit/977cf52322ab3ca93125423a0f9e9b3eca0516d7
- Changes: https://github.com/PX4/PX4-Matrix/compare/054f8b12f4da79767df6e05bb1d2cc8d679b99f3...977cf52322ab3ca93125423a0f9e9b3eca0516d7
977cf524837316d540ca5
2021-01-24 09:21:02 -05:00
92f2043d8b
TECS: add EAS_sp to tecs_status.msg and rename other airspeeds to TAS
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-23 09:34:34 -05:00
5e32e9be5a
TECS: rename variables and methods to make clear which are EAS and which TAS
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-23 09:34:34 -05:00
4922659ef4
FW Position controller: specify in params that the airspeed setpoints are for calibrated airspeed
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-23 09:34:34 -05:00
8118886f63
updated roadmap link
2021-01-23 09:32:19 -05:00
1414c02471
msg:led_control Extend to support 8 LEDS
2021-01-23 09:30:59 -05:00
7800f94dcb
cuav_can-gps-v1 Use SK6812 Serial PWM LED Driver
2021-01-23 09:30:59 -05:00
2c4d1d8fe0
Add SK6812 Serial PWM LED DMA Driver
2021-01-23 09:30:59 -05:00
64531c4521
Add SK6812 Serial PWM LED Driver
2021-01-23 09:30:59 -05:00
0b85039882
Add Neopixel Driver
2021-01-23 09:30:59 -05:00
fdba8f1f23
cuav_can-gps-v1:Use corrected pinout
2021-01-23 09:30:59 -05:00
f7aea05b19
Nuttx with STM32F4412 corrected pinmap
2021-01-23 09:30:59 -05:00
fa5a6cf712
Add option for custom mavlink configuration
...
This commit enables a option for users to add a custom mavlink configuration through rc.mavlink_override
2021-01-22 17:03:09 +01:00
17ea6f68e2
fix variable name in EKF2Selector ( #16621 )
2021-01-22 15:32:32 +01:00
da7f6d06f3
AirspeedSelector: set default of ASPD_DO_CHECKS to 1 and ASPD_FS_INTEG to 5.
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That enables the sensor checks by default
The default for the innovation check integral of 5 is rather conservative, thus
makeing it less likely to be triggered by accidnet (e.g. due to bad wind estimate).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
28f9214e56
AirspeedSelector: parameter clean up and disable re-enabling if clear delay negative
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
98d057b8c9
AirspeedValidator: change logic for innovation checks
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Previously, the logic was not consistent with the description in the params.
It now, if the integral is enabled, declares innovation check failed if
integral is above threshold.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
0c2099e788
AirspeedSelector: improve messaging on airspeed sensor switches
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
aecc0aa0c3
AirspeedSelector: do checks for data stopped in airspeed selector, not validator
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
7132e674d6
AirspeedValidator: Simplify data missing check
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The data_stopped check should be independent of the innovation
and load factor check.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
083cd6f1c1
AirspeedValidator: remove unnecessary _checks_failing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
37a49dbb6a
AirspeedValidator: improve readability
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
061fb9ac07
AirspeedSelector: add const
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
cd2c366e22
AirspeedSelector: remove unnecessary reboot required and Experimental comments in params
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
11dbc7e17f
AirspeedSelector: improve description of ASPD_FALLBACK_GW
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
0f1207dd7e
AirspeedSelector: improve readability
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
1d8808183d
Update submodule ecl to latest Thu Jan 21 17:04:02 UTC 2021
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- ecl in PX4/Firmware (18bac6aff5https://github.com/PX4/PX4-ECL/commit/99575d73e10aad06eb7d5b6415ea2db4151c5045
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/b919f3ddf41ab422d09af91eaea2b2f9729fab13
- Changes: https://github.com/PX4/PX4-ECL/compare/99575d73e10aad06eb7d5b6415ea2db4151c5045...b919f3ddf41ab422d09af91eaea2b2f9729fab13
b919f3defb78de556a195
2021-01-21 12:33:25 -05:00
18bac6aff5
ROMFS: posix rcS set EXTRA_MIXER_MODE
2021-01-21 11:26:23 -05:00
e0b33ba842
mavlink: temporarily disable ACTUATOR_OUTPUT_STATUS stream by default
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- the presence of this stream appears to be causing the MAVSDK tests to fail and needs to be investigated
2021-01-21 11:25:42 -05:00
7cdb9e9412
MulticopterPositionControl: altitude comment typo
2021-01-21 09:43:12 -05:00
4ce4fe05c5
BlockLowPass: initialize state in definition
2021-01-21 09:43:12 -05:00
82d32c7f3f
mavlink: add ACTUATOR_OUTPUT_STATUS stream
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Co-authored-by: Lise Prunier <lise.prunier@aerialcoboticus.com >
2021-01-21 09:30:43 -05:00
4becf74cbc
.gitmodules: adapt submodule names to repo renaming
2021-01-21 11:52:14 +01:00
65884960fa
Remove ancient submodules
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that were accidentally added back without URL in #16471
2021-01-21 10:46:29 +01:00
bd00aec936
Parameter markdown use page css for layout
2021-01-21 09:08:26 +01:00
9a066959d4
delete empty src/lib/DriverFramework
2021-01-20 14:15:49 -05:00
64c857562d
Crazyflie v 21 ( #16502 )
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Build model name fix.
Co-authored-by: TheLegendaryJedi <goncalo.atanasio@gmail.com >
2021-01-20 19:51:45 +01:00
dd9b0ded0f
[UPDATE] - Remove duplicate syslink code
2021-01-20 19:51:45 +01:00
641665f2e9
[UPDATE] - Workflows and Jenkins CI builds CF21
2021-01-20 19:51:45 +01:00
b3d9efedfa
[UPDATE] - Code clean and format
2021-01-20 19:51:45 +01:00
e450c5a9d9
[UPDATE] - Crazyflie parameter config
2021-01-20 19:51:45 +01:00
40f971c082
[NEW] - bmi088 i2c drivers and crazyflie 2.1 conf
2021-01-20 19:51:45 +01:00
d7812f83f1
mag_cal: fix race condition causing invalid mag calibration
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In some cases, the fitness of the optimizer does not shrink at each
iteration, causing the "decreasing fitness check" to fail. This stops
the optimization and returns with sub-optimal, or unrealistic results.
2021-01-20 10:50:35 -05:00
b190d98d6d
Jenkinsfile: remove dev-guide metadata deployment
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dev guide got merged with the user guide.
2021-01-20 10:03:00 -05:00
8d8b58efc3
Add logging of mag calibration data (mag_worker_data)
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Co-authored-by: Julian Kent <julian@auterion.com >
2021-01-20 09:44:45 -05:00
6a32301ed5
Add NXP FMUK66E build to CI
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This build was not yet available in the CI. We just got the first hardware and are doing the first tests right now. So far most things seem to work.
2021-01-20 05:52:50 -08:00
59a1148aec
Modify airframe gen to use html.escape
2021-01-20 00:22:30 +01:00
d2eefbf2fb
Escape < and > in maintainer field
2021-01-20 00:22:30 +01:00
386b56fbce
drivers/imu/bosch/bmi088: Add BMI090L accel ID
2021-01-19 15:49:53 -05:00
d22eef9396
boards: mRo Control Zero F7 fix for voltage/current sensing
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* Rename GPIO_nVDD_BRICK1v to GPIO_VDD_BRICK1
2021-01-19 15:48:17 -05:00
bed77c2988
add notes
2021-01-19 20:42:58 +01:00
297a428cc0
Fix the case where the flight controller is connected to the battery (charge 100), QGC shows no battery
2021-01-19 20:42:58 +01:00
cea8ad4236
Control Zero F7 - RSSI Fix - SBUS Only/PPM Partial
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This fixes RSSI for the Control Zero F7 but I have noticed that while this works perfectly for SBUS receivers, for PPM receivers it does not decrease the RSSI visual value in QGC when removing the RC transmitter connection.
When a PPM receiver is connected and the connection is lost the autopilot goes into RC Scan Mode (in the RC Update Module) to determine what is connected (even though something already is connected).
The main issue with this is that PPM receivers don't go into RC Failsafe but I don't think it is an issue with this autopilot. It looks to be an issue with the RC Update Module and how it is handled at the module level for non I/O coprocessor autopilots.
Tested with an X8R (SBUS) and a Dragonlink (PPM) as well as a Dragonlink set to SBUS as the output. SBUS worked as intended. See screenshots below.
2021-01-19 20:42:28 +01:00
ac8f4e3c48
mc_pos_control: only update constraints if topic updated
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- update failsafe constraints
2021-01-19 14:44:42 +01:00
39b0c7b2bf
battery: report at least one cell for a connected battery
2021-01-18 17:53:17 +01:00
d9954ecaf0
lib/magnetometer_bias_estimator: Add library for online magnetometer calibration on the ground
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Co-authored-by: bresch <brescianimathieu@gmail.com >
2021-01-18 11:44:58 -05:00
36d15ada1c
vscode: do not enable smart case search
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in workspace settings. This comes down to user preference
and there's no particular reason to change this based on the workspace.
I found it confusing to have this non-default behavior
just for PX4 editing.
2021-01-18 11:33:21 -05:00
77b21680fb
sync ctrlalloc boards and add to CI
2021-01-18 11:25:37 -05:00
311a2bd3e8
update ctrlalloc airframe location
2021-01-18 11:25:37 -05:00
3e5e5ab1d5
control_allocator and angular_velocity_controller throttle parameter_update subscription
2021-01-18 11:25:37 -05:00
c36340d29a
ActuatorEffectivenessMultirotor: set effectiveness to zero when computing the matrix
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Just to be on the safe side.
2021-01-18 11:25:37 -05:00
212ec821b1
control_allocator: set unused actuators to trim instead of min
2021-01-18 11:25:37 -05:00
3606f86518
control_allocator: ensure unused outputs are initialized to min
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Mostly important in cases where the ouputs would change (e.g. param change)
2021-01-18 11:25:37 -05:00
3dad79d8f5
control_allocator: inline one-line setters & getters
2021-01-18 11:25:37 -05:00
164511a7b5
control_allocator: avoid vector copies and sqrt()
2021-01-18 11:25:37 -05:00
0e66b0876b
control_allocator: change SequentialDesaturation to existing MC mixer
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And limit the operations to the number of configured outputs.
Only using the number of configured actuators reduces CPU load by ~2% on
F7 @1khz.
2021-01-18 11:25:37 -05:00
308f614735
refactor control_allocator: directly get the effectiveness matrix when updated
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Reduces stack + RAM usage
2021-01-18 11:25:37 -05:00
38782029ad
fix control_allocator: set _last_run at the correct place
2021-01-18 11:25:37 -05:00
0e86ab47f6
fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory
2021-01-18 11:25:37 -05:00
066464c4e8
control_allocator: remove unused _task_start
2021-01-18 11:25:37 -05:00
25f3fe8456
fix control_allocator_status: torque_setpoint_achieved and thrust_setpoint_achieved are bool
2021-01-18 11:25:37 -05:00
343cf5603e
initial control allocation support
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- control allocation module with multirotor, VTOL standard, and tiltrotor support
- angular_velocity_controller
- See https://github.com/PX4/PX4-Autopilot/pull/13351 for details
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Roman Bapst <bapstroman@gmail.com >
2021-01-18 11:25:37 -05:00
fc6b61dad1
Try 'min' for units
2021-01-18 16:26:53 +01:00
d99d52960e
Fix default _rtl_xxx values
2021-01-18 16:26:53 +01:00
d965f1cbc0
Add rtl_flight_time message
2021-01-18 16:26:53 +01:00
5a9fe312b5
Fix test failure on rebase: set lpos valid
2021-01-18 16:26:53 +01:00
af8d178ae5
Fix spurious RTL triggers
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Two sources:
1. global to local conversion was sometimes giving issues, so do everything in global
2. on startup the RTL didn't check if the home position was valid before processing it
2021-01-18 16:26:53 +01:00
b5f0a7ea03
Fix RangeRTL test
2021-01-18 16:26:53 +01:00
5500a84b6a
Add timestamp to RTL message
2021-01-18 16:26:53 +01:00
f169247bc2
Add RTL topics to ulog default profile
2021-01-18 16:26:53 +01:00
67082ccb2b
Test the vehicle type parameter usage
2021-01-18 16:26:53 +01:00
100c64c790
Test the navigator side, and fix another trig edge case
2021-01-18 16:26:53 +01:00
a736ba2435
Minor tweak in wind handling
2021-01-18 16:26:53 +01:00
e847ef1a4d
Add trig tests for wind calculations, and fix bugs / edge cases
2021-01-18 16:26:53 +01:00
7482413005
Add Range-based RTL
2021-01-18 16:26:53 +01:00
e817fb83f5
pwm_extra: Add PWM_EXTRA parameters.
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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2021-01-18 15:43:28 +01:00
7a8203bf19
Enable third mixer when using UAVCAN for main mixer.
2021-01-18 15:43:28 +01:00
02c0f08060
flashfs: fix alignment ambiguity
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Instead of ignoring the warnings.
Thanks to @Ole2mail and @yuhaim for the suggestions.
2021-01-18 14:19:29 +01:00
920d6d84b5
rtps: increase non-alias ID range by reducing the alias space ID
2021-01-18 09:33:14 +01:00
54486b995e
uorb_rtps_message_ids: add required topics to enable offboard control from DDS
2021-01-18 09:33:14 +01:00
dab90f86a4
drivers/gps: limit to ublox only flash constrained targets
2021-01-18 09:30:01 +01:00
78c05275d2
tailsitter: Fix differential thrust in FW mode.
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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2021-01-18 09:04:27 +01:00
e4d223f098
boards: CUAV Nora fix BMI088 orientation
2021-01-17 23:19:18 -05:00
1ec10bfcc6
boards: disable CONFIG_ARMV7M_LAZYFPU again ( #16573 )
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- this was causing hard faults on the CUAV Nora and possibly other boards, disabling everywhere until we fully understand the root cause
2021-01-17 22:40:21 -05:00
3abe2e82d1
mpu9250: create dedicated i2c version and delete legacy driver
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- update crazyflie and bbblue usage
- eventually this should be merged with the SPI version after interface
changes are made
2021-01-17 16:11:19 -05:00
c9a7894230
boards: bitcraze crazyflie fix boot
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- add console to USART3 for now
2021-01-17 16:11:19 -05:00
2ed48f041c
mavlink: Templated SCALED_IMU mavlink stream
2021-01-17 12:32:51 -05:00
031bbb7f3e
FlightModeManager: handle commands all the time
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Moving the command handling to a separate function that gets called
whenever a vehicle command is available to always react on commands
and not just when already a task is running.
This solves e.g. commanding an Orbit when in Staibilized.
2021-01-17 15:46:30 +01:00
df54f938ef
FlightModeManager: correct setpoint struct initialization
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It is important that setpoints get initialized with NAN and not overwritten
if specifically set by a successful flight task execution. It's then
clear if any setpoints were intentionally and successfully set.
Crucial for the position controller's emergency failsafe and the
seamless setpoint handover to the next flight task.
2021-01-17 15:46:30 +01:00
63db61a700
FlightModeManager: correct acceleration setpoint feedback naming
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The variable was never renamed correctly in this in between layer when
we switched from normalized thrust to acceleration setpoints.
2021-01-17 15:46:30 +01:00
4d7b875ee2
flight_mode_manager: merge with flight_tasks
2021-01-17 15:46:30 +01:00
b1e442b830
vehicle_local_position: added bitfield for terrain estimate sensor info
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- indicate how the distance to the bottom is estimated as this is important
to know in the context
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-17 12:06:59 +01:00
eaa2ae9dc9
ekf2: add param to enable synthetic mag Z fusion mode
2021-01-17 12:06:59 +01:00
983234e29d
ekf2: add param to set rng check hysteresis
2021-01-17 12:06:59 +01:00
195a900ecf
change default of RTL_LAND_DELAY to 0
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-17 12:05:30 +01:00
037c821142
ROMFS: increase max distance between waypoints for VTOL and FW to 5km
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-17 12:05:30 +01:00
8e8497ff77
heater: px4io: Add support for heaters on IO MCU
2021-01-17 12:03:53 +01:00
653fef56de
Update sitl_gazebo
2021-01-17 11:18:11 +01:00
af1b4c473e
Start user camera plugin
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This commit starts the gazebo_user_camera_plugin together with the gzclient, so that it is always following the vehicle
2021-01-17 11:18:11 +01:00
8a7878f65c
arch.sh: update zsh support, latest ARM GCC, gazebo AUR
2021-01-17 10:58:39 +01:00
cee4016665
Preflight checks: Airspeed checks update
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-check for valid airspeed_validated (declared valid plus updated less than 1s ago)
-added param (COM_ARM_ARSP_EN) to enable/disable check for max airspeed for arming set max
airspeed limit to half of stall airspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-16 10:26:55 -05:00
ba9611621d
Retune Typhoon H480 PID
2021-01-16 09:32:09 +01:00
1c0ed74d6a
platforms/nuttx/NuttX/nuttx net backports
2021-01-15 11:44:21 -08:00
ade3871bee
adc: add support for multiple sensor voltage channels
2021-01-15 10:57:20 -05:00
e2337a34eb
system_power: add comp_5v_valid and can1_gps1_5v_valid
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And fill it in from the v5x GPIO expander.
2021-01-15 10:57:20 -05:00
704a82aaa6
gpio: extend support for /dev/gp* GPIO's
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Note that there's a small CLI interface change.
2021-01-15 10:57:20 -05:00
88fe047556
px4/v5x: enable mcp23009 GPIO driver
2021-01-15 10:57:20 -05:00
3e4b8763a5
nuttx: add mcp23009 gpio driver
2021-01-15 10:57:20 -05:00
e1983381e7
rcS: add SYS_PARAM_VER to param reset_all exception list
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Avoids an extra reboot when resetting the airframe
2021-01-15 10:57:20 -05:00
ba6a8080ea
mavlink: don't respond to MAV_CMD_REQUEST_MESSAGE if component doesn't match
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PX4 is responding with NACK to MAV_CMD_REQUEST_MESSAGE from a GCS to
payload-manager which confuses a GCS.
PX4 shouldn't respond to commands that are not broadcasted or specificaly
addressed to it.
2021-01-15 10:57:20 -05:00
26e8c231b0
v5x,v6x: move mtd_caldata after mtd_id partition
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to avoid losing factory calibration params on existing setups
2021-01-15 10:57:20 -05:00
a282f3df8d
CLI test: Disable by default on NuttX
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First target is to enable this for POSIX tests and then later to roll them out to NuttX.
2021-01-15 10:57:20 -05:00
03e9e10847
Add CLI tests for basic soak testing
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This is in no way a complete test suite but is intended as a starting point to get minimal
test coverage for CLI handling tests in. This is necessary to QA the CLI handling
(e.g. removal of commands) and to ensure that we are exercising these code paths in
stack check and alike tests.
2021-01-15 10:57:20 -05:00
5ae5c03c66
mavlink: handle param4/5 from mission_item_int
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It turns out that we did not properly handle param4 and param5 if they
are transferred using mission_item_int if the frame is
MAV_FRAME_MISSION.
2021-01-15 10:57:20 -05:00
12ebbd995d
bmp388: wait a bit longer to schedule first cycle after reset
2021-01-15 10:57:20 -05:00
529c3112ac
bmp388: quiet if startup fails (no sensor on bus)
2021-01-15 10:57:20 -05:00
1e7dfe227a
stm32_common:board_hw_rev_ver Use Analog resistor detection
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When the VER_DRIVE and REV_DRIVE are the same GPIO
we need to use Analog detection.
2021-01-15 10:57:20 -05:00
b87dd317d4
airframes: add new airframe for ThunderFly TF-G2 autogyro ( #16551 )
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Co-authored-by: Roman Dvorak <romandvorak@mlab.cz >
2021-01-15 13:54:17 +01:00
df41c99b61
make failsafe handling consistent over all VTOL types
2021-01-15 09:19:07 +03:00
38e46ff341
Rename VtolAttitudeControl::abort_front_transition(const char *reason) to VtolAttitudeControl::quadchute(const char *reason)
2021-01-15 09:19:07 +03:00
40fbfdc054
Undo make format change
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-01-15 09:19:07 +03:00
83ddb77a5f
delete excess empty lines
2021-01-15 09:19:07 +03:00
b90fafd5cd
Fix quadchute logic so that it also works during back transition
2021-01-15 09:19:07 +03:00
420ceb76fc
cmake: NuttX generated vscode launch.json requires DEBUG_DEVICE found
2021-01-14 10:32:26 -05:00
1ee98417f8
scumaker pilotpi updates
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* replace default mag with qmc5883l
* fix rotation and quiet startup
* fixedwing script & Multi-EKF cfg
* set default params only when initial startup
2021-01-14 09:16:13 -05:00
52b07a932a
github actions build and store cannode uavcan firmware
2021-01-14 08:52:38 -05:00
96dfa7fc71
ROMFS: set cruise throttle correctly for all gazebo vtol configs
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-14 09:58:37 +03:00
0633c3956f
ROMFS: improve tuning of tailsitter VTOL SITL
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-14 09:58:37 +03:00
6104fe8932
ROMFS: improve tuning of tiltrotor VTOL SITL
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-14 09:58:37 +03:00
2ce310925c
ROMFS: improve tuning of standard VTOL SITL
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-14 09:58:37 +03:00
e96571b45d
uavcannode: GPS working on cuav_can-gps-v1
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- use sensor_gps directly from sensor rather than vehicle_gps_position (aggregated value)
2021-01-13 22:06:46 -05:00
d8e8e23947
vscode: add cuav_can-gps-v1_canbootloader variant
2021-01-13 22:06:46 -05:00
58909b208d
boards: cuav can-gps-v1 add safety button and LED
2021-01-13 22:06:46 -05:00
a894ca30e8
cmake: add STM32F412CE debug helper
2021-01-13 22:06:46 -05:00
529841ba7c
make_can_boot_descriptor:Get padding math correct
2021-01-13 22:06:46 -05:00
1ac70cc72f
can-gps-v1:Correct Memory size used by app and bootloader size
2021-01-13 22:06:46 -05:00
d04216aa48
Nuttx with stmf412 fixes
2021-01-13 22:06:46 -05:00
618bd5978a
can-gps-v1:canbootloader SAFETY is GETNODEINFO_JUMPER
2021-01-13 22:06:46 -05:00
2deef30d12
canbootloader:Add 48Mhz CAN Clock Settings
2021-01-13 22:06:46 -05:00
177109a1af
can-gps-v1:LED Trimming
2021-01-13 22:06:46 -05:00
54abd997de
canbootloader:Update to use NuttX
2021-01-13 22:06:46 -05:00
271f87f8d2
canbootloader:Fixed Warning
2021-01-13 22:06:46 -05:00
238c28d458
SK6812 Led driver
2021-01-13 22:06:46 -05:00
85bd04f0c7
can-gps-v1:canbootloader Fixed
2021-01-13 22:06:46 -05:00
3e08fd6682
can-gps-v1: Removed GPIO_CAN_CTRL
2021-01-13 22:06:46 -05:00
c2c92cb2c8
can-gps-v1: Added LED pin
2021-01-13 22:06:46 -05:00
cdae8bf168
can-gps-v1:Fixed Clock
2021-01-13 22:06:46 -05:00
a0d8d5ac74
sensors/vehicle_gps_position: untangle and remove unnecessary state
2021-01-13 20:17:49 -05:00
bc8ec5d1f5
uavcannode: support optical_flow
2021-01-13 19:35:28 -05:00
47364ce8d6
updated tuning for gazebo plane airframe config
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
f05599caff
tecs: use speed derivative provided by local position
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
b230bbfe88
ROMFS: remove outdated TECS parameter from configs
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
e546584555
tecs: moved trivial getter methods to header file
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
701c105ab6
Update src/lib/tecs/TECS.cpp
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2021-01-13 21:21:07 +03:00
fa559aef43
TECS: stop learing integrator if airspeed is not available, but don't zero it
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
d4d1c0fe01
TECS: some cosmetics
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
97cc1e25dd
TECS: hande pitch and throttle integrator saturation consistently
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- don't decay integrator during saturation but prevent it from being learned
into the direction which causes more actuator saturation
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
77627a08ca
TECS: don't allow speed height weights to be larger than one
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
dca89763b3
TECS: apply FW_LND_THRTC_SC to altitude error time constant
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
3d3ff75495
TECS: update some params to latest results from flight testing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
3102b9f071
TECS: remove throttle integral limits
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
987c320825
TECS: removed unused parameter
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
5c4c2c240c
tecs: dot not clip throttle integrator during saturation but only allow
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it to propagate into a direction which does not saturate
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
2ca4269464
TECS: separate integral gains for throttle and pitch loops
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
72dfb2078a
TECS: adapt params to new control structure
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
01f891618b
TECS: move to new control loop architecture
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
447e14906c
TECS: log more TECS states to enable better analysis
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
8823f5e1ec
TECS: added method to get SKE weighting
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
d0e8b882a2
TECS: added alpha filter classes to energy rate and tas derivative
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
cabb50a67b
13001_caipirinha_vtol:Ensure that the max/min pwm changes take effect
2021-01-13 11:32:01 +01:00
be0f5a7fe4
Fix implicit float->double conversions in tests
2021-01-13 10:26:10 +01:00
2d6758a39d
Cleanup of dataman mocks and check interval definition
2021-01-13 10:26:10 +01:00
a97a4d8bb8
Fix enum and param update
2021-01-13 10:26:10 +01:00
c745c8bb45
Small navigator refactor/cleanup
2021-01-13 10:26:10 +01:00
04d859e36e
Fix test failure from parameter autosave starting WQ
2021-01-13 10:26:10 +01:00
f97dcde4e2
GeofenceBreachAvoidanceTest: added tests for max dist to home
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
3fa15cec91
GeofenceBreachAvoidance: improve behavior when using max dist to home option
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- ensure that the vehicle is loitering with sufficient clearance to the boundary
Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
a5dfa0c803
Add helper function for decel distances
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Co-authored-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 10:26:10 +01:00
0ac597fba8
Use new GeofenceBreachAvoidance from Navigator
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
e536868104
Add GeofenceBreachAvoidance class
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
8622c21496
Move VelocitySmoothing to new motion_planning library
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Co-authored-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 10:26:10 +01:00
3834690c4b
Add parameter to select the set of used GNSS systems
2021-01-13 08:33:07 +01:00
917fef546a
uavcan: Remove single-GNSS limitation from UavcanGnssBridge
2021-01-12 22:04:52 -05:00
a57b9f9381
delete drv_baro.h, drv_mag.h, drv_range_finder.h, drv_device.h and purge UAVCAN CDev usage
2021-01-12 22:04:52 -05:00
7f5fae91b0
boards: mro ctrl zero f7 fix default power module calibration
2021-01-12 16:51:05 -05:00
16b1b220fd
Fix roslaunch multivehicle regression caused by #16497
2021-01-12 21:19:36 +01:00
daaf8b61dc
drivers: remove ism330dlc
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not used anymore
2021-01-12 09:55:59 -05:00
9f5dee2ecf
v5x/v6x: update IMU sensors (remove ISM330DLC)
2021-01-12 09:55:59 -05:00
48f125f150
estimated IMU bias preflight checks
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- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
- ekf2 publish estimated bias limits in estimator_sensor_bias
- preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
2021-01-12 09:09:42 +01:00
7c95e99156
tools: make sure that uORB type names found as part of field names are not capitalized as ROS types
2021-01-12 09:05:59 +01:00
cb74cb8692
boards: enable CONFIG_ARMV7M_LAZYFPU everywhere
2021-01-12 09:04:38 +01:00
abec2bd8df
msg: estimator_status_flags shorten fields
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- previously this message exceeded the logger total field length (1500 bytes)
2021-01-11 11:49:51 -05:00
04f9ada500
ekf2: selector improve fallback selection when the primary becomes unhealthy
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- if an ekf instance becomes unhealthy prefer switching to the next best healthy instance on a different IMU
2021-01-11 09:38:26 -05:00
967d35a6b6
rate limit most parameter_update subscriptions
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- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
2021-01-10 21:09:15 -05:00
70e503cb91
rotation: use Dcmf for all rotations that aren't direct swaps
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- increase optimization to ${MAX_CUSTOM_OPT_LEVEL} (max per board)
2021-01-10 18:08:41 -05:00
06b733bb86
msg: rtps: improve verbosity when the the client is not capable of parsing a specific ID
2021-01-10 22:22:22 +01:00
3f1c303b16
msg: rtps: improve verbosity when the the agent is not capable of parsing a specific ID
2021-01-10 22:22:22 +01:00
9b9163813d
avoid re-initiate RTL or land in battery emergency
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if the mode is already running
2021-01-10 21:19:52 +01:00
6260c164e7
fmu v4: make starting mavlink on WIFI port configurable and make it start by default
2021-01-10 21:16:02 +01:00
653b7c0007
fmu v4: add option to run DShot telemetry on UART usually used for the ESP WIFI module
2021-01-10 21:16:02 +01:00
3cc8e7a210
commander_params: Make multicopter only COM_RC_OVERRIDE more visible
2021-01-10 21:12:09 +01:00
cef3d36af2
simulator: delete PublicationMulti ptrs for sensor_gps
2021-01-10 19:58:54 +01:00
f73d93ef6c
ekf2: selector improve status reporting
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- publish estimator_selector_status at minimal rate or immediately on change
- log all estimator_selector_status updates
2021-01-10 19:25:53 +01:00
2fc212e064
geofence_params: clarify EKF vs baro altitude source
2021-01-10 18:40:58 +01:00
d5c8d0a233
GF_ALTMODE: Update in line with Lorenz feedback
2021-01-10 18:40:58 +01:00
d43444fce7
geofence: GF_ALTMODE clarification
2021-01-10 18:40:58 +01:00
fe7908feb0
Simulator: Added remote host option ( #15443 )
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* Added an option to the Simulator module to connect to remote Gazebo servers.
This is usefull when the Gazebo simulation is running on a different host than the PX4 instance.
For example, we are running instances of PX4 with a companion application in multiple Dockers, for swarming simulations, which then connect to a remote Gazebo server.
A "-t" input argument has been added and can be called from the rcS startup script as: simulator start -t "192.168.178.122" $simulator_tcp_port
* _tcp_remote_ipaddr defaults to nullptr. This way testing against nullptr it can be determined if localhost or remote host is desired by the user.
* Documented the option in usage().
Signed-off-by: Peter Blom <peterblom.mail@gmail.com >
2021-01-10 18:37:37 +01:00
763c3b8fda
boards: start enabling multi-EKF by default on F7/H7
2021-01-10 17:56:34 +01:00
b3257c0bf2
Support relative altitude for offboard global position setpoints
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Previously the coordinate_frame flag for setpoint_target_global_int message was not handled, resulting in the vehicle to not handle altitude correctly. This commit handles the relative altitude correctly.
2021-01-10 17:54:53 +01:00
662f177830
ekf2: multi instance numbering consistent with uORB publication instances
2021-01-09 13:20:26 -05:00
c3fc96fd42
uORB::PublicationMulti add get_instance()
2021-01-09 13:20:26 -05:00
0398a936e3
Update submodule ecl to latest Sat Jan 9 16:06:23 UTC 2021
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- ecl in PX4/Firmware (c6af260a41https://github/commit/c212975abe83bf462bc512288ba30358f9a17865
- ecl current upstream: https://github/commit/99575d73e10aad06eb7d5b6415ea2db4151c5045
- Changes: https://github/compare/c212975abe83bf462bc512288ba30358f9a17865...99575d73e10aad06eb7d5b6415ea2db4151c5045
99575d7ff3c0a6c25c97f96418101b1c049dd259a23e1f2d8
2021-01-09 12:57:25 -05:00
c6af260a41
log_message increase queue depth 2->4
2021-01-09 11:04:32 -05:00
d42e57a066
Update sitl_gazebo to latest
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This PR updates sitl_gazebo to latest
2021-01-08 21:33:22 -05:00
b9a721726d
sensors/vehicle_magnetometer: respect calibration offset update success
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- the magnetometer calibration offset setter returns false if the new offset change is negligible
2021-01-08 15:34:48 -05:00
80dd841cad
Update launch files to enable multi-video stream in SITL ( #16497 )
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* Update launch files to support multi-video stream in SITL
* Pass extra args to jinja_gen.py inside gazebo_sitl_multiple_run.sh to enable multi-video streaming
2021-01-08 19:29:47 +01:00
706f806943
VTOL: standard VTOL and Tiltrotor manual MC throttle during transition
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This sets the throttle of the Multicopter actuators to the throttle stick position
while in Stabilized, Acro or Manual mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-08 10:28:00 +01:00
802c68a62e
Do not run transition flight task when not enable altitude control
2021-01-08 10:28:00 +01:00
bf330a51b2
sensors/vehicle_magnetometer: reduce offset update message length to fit
2021-01-08 01:22:31 -05:00
eb60479e4c
UUV introduce param to skip controller ( #15706 )
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* added skip_ctrl param to uuv
* fixed formatting
2021-01-08 06:50:40 +01:00
064511c2df
Update submodule flightgear_bridge to latest Fri Jan 8 00:39:45 UTC 2021
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- flightgear_bridge in PX4/Firmware (168468c12ahttps://github.com/PX4/PX4-FlightGear-Bridge/commit/44b51d5b1ccc6679e82090e24177ed73a3d4f5de
- flightgear_bridge current upstream: https://github.com/PX4/PX4-FlightGear-Bridge/commit/7c2c623da9f5dcb3f01d32830af1a2ed958de363
- Changes: https://github.com/PX4/PX4-FlightGear-Bridge/compare/44b51d5b1ccc6679e82090e24177ed73a3d4f5de...7c2c623da9f5dcb3f01d32830af1a2ed958de363
7c2c623 2021-01-06 slimonslimon - Switch Ign-math to Eigen3 (#5 )
2021-01-07 21:21:02 -05:00
168468c12a
Update submodule ecl to latest Thu Jan 7 12:50:52 UTC 2021
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- ecl in PX4/Firmware (c999734463c9b23c6b56670d5242ca4496f9e6ef): https://github/commit/03fed323ab950125114eb34309d3a79119e572ee
- ecl current upstream: https://github/commit/c212975abe83bf462bc512288ba30358f9a17865
- Changes: https://github/compare/03fed323ab950125114eb34309d3a79119e572ee...c212975abe83bf462bc512288ba30358f9a17865
c212975
2021-01-07 12:08:21 -05:00
88f8da27ef
save learned mag bias per sensor (Multi-EKF support)
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- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
- this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
- ekf2 reset mag mag bias on any magnetometer or calibration change
- use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor
Co-authored-by: Paul Riseborough <gncsolns@gmail.com >
2021-01-07 09:54:13 -05:00
537ee5b19b
FlightTaskOrbit: smooth yaw like in missions
2021-01-07 13:31:05 +01:00
44606ca872
FlightTaskOrbit: further simplify circling yaw setpoint calculation
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The whole angle adding and pi wrap was just necessary because the
correct atan2 arguments were never completely thought through.
2021-01-07 13:31:05 +01:00
f435bea57c
state_machine_helper: orbit failsafe just with data link loss
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RC is like the comment says not required.
2021-01-07 13:31:05 +01:00
6b8fa417e1
SlewRate: Add SlewRateYaw handling [-pi,pi] wraps
2021-01-07 13:31:05 +01:00
6c9072720e
invensense/icm42688p: use full 20 bit data, increase ODR, disable all filters
2021-01-06 17:03:39 -05:00
d2b0f63e1f
Handle offboard mode with acceleration setpoints
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The case when acceleration setpoints were being passed in offboard mode was triggering control_climbrate_mode. This prevented the vehicle from taking off, since it made the vehicle skip the rampup phase of the takeoff
This commit fixes this by handling the case properly
2021-01-06 20:38:18 +01:00
3fb8f5df62
drivers/lsm303agr: fixed bug incorrectly assembling signed 16 bit integer from bytes
2021-01-05 21:37:08 -05:00
01e3f0d586
Update submodule matrix to latest Tue Jan 5 12:40:51 UTC 2021
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- matrix in PX4/Firmware (fd97e28019fa9c665d9b3c6995098dd51b4ab022): https://github/commit/15e54ceda176f05e1ae38e71692d15cafb9e3a62
- matrix current upstream: https://github/commit/054f8b12f4da79767df6e05bb1d2cc8d679b99f3
- Changes: https://github/compare/15e54ceda176f05e1ae38e71692d15cafb9e3a62...054f8b12f4da79767df6e05bb1d2cc8d679b99f3
054f8b1
2021-01-05 19:24:42 -05:00
ff82911d86
Update submodule ecl to latest Tue Jan 5 12:40:47 UTC 2021
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- ecl in PX4/Firmware (824f78466ac4e32aecd6bda785e95eb348e1b31e): https://github/commit/78ce46f00777f07d24c31bdc5e2edb203be2c0f4
- ecl current upstream: https://github/commit/03fed323ab950125114eb34309d3a79119e572ee
- Changes: https://github/compare/78ce46f00777f07d24c31bdc5e2edb203be2c0f4...03fed323ab950125114eb34309d3a79119e572ee
03fed3231fca9cc65cf13211c84c
2021-01-05 19:23:25 -05:00
64ed96bd95
ekf2: Correct airspeed used by EKF for calibration errors
2021-01-05 19:22:53 -05:00
b94e346488
Update submodule sitl_gazebo to latest Tue Jan 5 12:40:40 UTC 2021 ( #16493 )
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- sitl_gazebo in PX4/Firmware (850d0bc588https://github.com/PX4/PX4-SITL_gazebo/commit/054e0a1be67b715ca1802397082e7814a1427f52
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/44de4acc3f9cf9e44db58006f99ea190d217017a
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/054e0a1be67b715ca1802397082e7814a1427f52...44de4acc3f9cf9e44db58006f99ea190d217017a
44de4ac 2021-01-02 Lorenz Meier - Update README.md
Co-authored-by: PX4 BuildBot <bot@px4.io >
2021-01-05 19:34:11 +01:00
850d0bc588
vtol_type: remvoe const from function declaration
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-04 15:32:00 +01:00
0871f0f52d
vtol: refactor of maximum pwm value settings for main and alternate motors
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- main motors are the ones which are meant to be used as propulsion in fw mode
- alternate motors are the ones usually meant to be switched off in fw mode
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 15:32:00 +01:00
bc1e9f72f7
Jenkins hardware temporarily remove px4_fmu-v2
2021-01-04 09:30:47 -05:00
92634e7549
RTL: during climb, set NAV_CMD_WAYPOINT for RW modes, NAV_CMD_LOITER_TO_ALT for FW
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Do not use LOITER_TO_ALT for rotary wing mode as it would then always climb to
at least MIS_LTRMIN_ALT, even if current clib altitude is below
(e.g. RTL immediately after take off)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-04 11:58:16 +01:00
0b86c11c66
FW POS: remove setting of curr_sp to LOITER if next wp invalid
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-04 11:58:16 +01:00
55a1d090a1
RTL: use NAV_CMD_LOITER_TO_ALT for Climb state
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-04 11:58:16 +01:00
68f27ba7b7
navigator: deactivate line following after backt-ransition and before landing
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- especially when there are strong winds it's better to just go straight
to the landing point instead of trying to follow the planned path
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
b63f756745
navigator: don't execute land pattern if vtol in rotary wing mode
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- if vtol and in rotary wing mode then don't execute the mission landing
because it's designed to be flow as a fixed wing
- if vtol and in rotary wing mode and mission land is available then fly directly
to landing point and don't go home!
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
6c3f413379
mission: reset work_item_type during mission inactivation
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- this fixes a race condition which happens when an RTL is triggered
during the final approach of a mission landing. In that case the mission inactive
method is never called.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
b63f202b3c
various fixed for bugs encountered during testing
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
cfb3cdc82f
rtl: use math namespace
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
94d3ab28ee
rtl: fixed computation of return altitude when mission landing is available
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
12875f7869
mission: when land start marker present, look for loiter to altitude item
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instead of using the previous waypoint as landing target
- the previous waypoint could be miles away
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
e0c394a00b
mission: fixed bug in computation of landing altitude
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
a4a03e86da
mission: be more intelligent about saying that we are on a mission landing
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- previously the decision of being on a landing pattern was taken by just
looking at the current mission index. However, even if the current mission
index indicates a landing pattern the vehicle could be at an arbitrary location, far
from being established on the pattern.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
29c3ce6d5d
reworked RTL cone implementation
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
dad5ce1e41
rtl: set proper acceptance radius for move_to_land item
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
6ff95ae645
RTL: implement proper RTL sequence for VTOL
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- descend to RTL descend altitude
- transition
- move to land waypoint
- loiter and then land
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
197a21a22e
rtl: for fixed wing (also vtol) make the descend state of RTL use type
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NAV_CMD_LOITER_TO_ALT
- this allows vtol to track the loiter circle during the transition instead
of trying to fly to the landing position
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
bb2826ad27
rtl: for vtol first desend down to RTL descend altitude before doing a transition
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
e81d5daa66
rtl: if very close to home then do not descend if higher than RTL_DESCEND_ALT
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before reaching home
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
7c727edc3f
Simple mixer: add output slew rate
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This adds the option to limit the rate of change (slew rate) of an output that's mixed by a simple mixer.
To enable it, a positive number has to be added at the end (6th number) of the output scaler line of the mixer,
specifying the min rise time of this output.
E.g. O: 10000 10000 0 -10000 10000 20000 for a rise time of 2s, resp. a max slew rate of 0.5s^-1.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-04 11:32:22 +01:00
98cff94702
px4_work_queue: directly support SITL lockstep
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- the purpose is to ensure that every WorkItem (and WorkItems scheduled
by WorkItems) is allowed to run to completion every step
- per workqueue register a lockstep component whenever a work item is
added (if not already registered)
- once the work queue is empty unregister component
2021-01-04 09:38:05 +01:00
8c71ecd97e
Update submodule ecl to latest Sat Jan 2 12:39:29 UTC 2021
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- ecl in PX4/Firmware (03925cc70fd13c15a5dfe8ecc5653b91098ac68d): https://github/commit/18f334f4dbca61e3bcd1743c22cf820b5a8ff7ef
- ecl current upstream: https://github/commit/78ce46f00777f07d24c31bdc5e2edb203be2c0f4
- Changes: https://github/compare/18f334f4dbca61e3bcd1743c22cf820b5a8ff7ef...78ce46f00777f07d24c31bdc5e2edb203be2c0f4
78ce46f
2021-01-02 11:54:56 -05:00
d502292d07
mission: for vtol takeoff don't use next waypoint as target during transition
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- this caused the navigator to use the next waypoint (after the vtol takeoff item)
to be used as target during the transition. If the altitude of that waypoint
was much higher than the takeoff altitude then there were FOH effects
after the transition which caused the vehicle to first descend before
climbing again.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-02 02:18:59 +01:00
a1b81df445
Update submodule sitl_gazebo to latest Fri Jan 1 12:39:16 UTC 2021
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- sitl_gazebo in PX4/Firmware (a444d2610ahttps://github.com/PX4/PX4-SITL_gazebo/commit/ca6c738fff30c516a5d2b9866ad268826a9ff0ff
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/054e0a1be67b715ca1802397082e7814a1427f52
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/ca6c738fff30c516a5d2b9866ad268826a9ff0ff...054e0a1be67b715ca1802397082e7814a1427f52
054e0a1 2021-01-01 pjdewitte - Jinja generation: add protection against accidental overwriting (#682 )
869225e 2020-12-31 JaeyoungLim - Fix lightsource for high fidelity worlds (#680 )
2021-01-01 21:57:05 +01:00
0bdae5745a
Update dsm.cpp
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Fix documentation comment (reported by @Roman-, thanks!)
2021-01-01 15:30:25 +01:00
9409122638
RC tests: Add new test file
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This file is using a PX4IO-bound receiver on a DX9
2021-01-01 14:26:36 +01:00
8d6239f11f
PX4IO: Use DSM frame drops
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These will now be reported the same as on SBUS.
2021-01-01 14:26:36 +01:00
47fcf97442
DSM: Report frame drops
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Frame drops were measured but not reported on PX4IO.
2021-01-01 14:26:36 +01:00
00e6d11dfa
PX Uploader: Disable windowed mode
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The windowed mode has been added for Windows targets originally. It gets very often incorrectly detected and slows down flashing considerably. This even applies to serial links. We are disabling it now in most circumstances.
2021-01-01 14:26:36 +01:00
95dd2f7e8d
rc/dsm: remove system field check, add new validity checks
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- unfortunately we can't depend on the system field due to potential
external binding and non-genuine Spektrum equipment
- reject any DSM frame with duplicate channels
- add 16 channel mask
- tighten valid PWM range 990-2010us (±100% travel is 1102-1898µs)
- update RCTest rejected frame count
2021-01-01 14:26:36 +01:00
d7b89ecc86
boards: px4/fmu-v5 disable px4io in rc.board_defaults
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- avoid keeping this kind of logic in the common rcS
2021-01-01 14:12:26 +01:00
a444d2610a
Spektrum passive power: Only use if present
2020-12-31 13:22:52 +01:00
641cc33d79
RC input: Always report DSM state
2020-12-31 13:22:52 +01:00
e85afb22a5
FMUv5: Default Spektrum power to passive
2020-12-31 13:22:52 +01:00
cc34d4601d
FMUv5: Support passive power controls
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This ensures that FMU-side power controls are not interfering with IO-side power controls of DSM receivers if they happen to be OR-ed in the schematics
2020-12-31 13:22:52 +01:00
6529e1444f
RC input: Better monitoring
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The output is now less confusing in terms of which protocol is currently active.
2020-12-31 13:22:52 +01:00
af28a298e5
DSM driver: Add option for passive power controls
2020-12-31 13:22:52 +01:00
4237c8be25
Commander: Do not acknowledge binding
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This is now done in the respective modules directly and based on implementation and execution state.
2020-12-31 13:22:52 +01:00
2d1551e5bf
PX4IO: Acknowledge binding
2020-12-31 13:22:52 +01:00
8445a08bff
RC input: Acknowledge binding (or indicate that feature is not implemented)
2020-12-31 13:22:52 +01:00
44bdd5456f
PX4IO: Bind if not armed
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DSM binding was disabled before if safety was off, which on a lot of multicopters is today the default. The logic is now checking instead for wether the system is armed.
2020-12-31 13:22:52 +01:00
a34e57a4cc
Simulator: Increase stack, publication affinity
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This commit increases the send thread stack size and changes the thread affinity of the lockstep clocking topic. It also improves verbosity in case error states occur.
2020-12-31 01:05:30 +01:00
fda63f802e
Tone alarm: Adjust log levels
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The earlier log levels represented normal operation scenarios as errors, this aligns the log levels.
2020-12-31 01:05:30 +01:00
3cc53f551d
MAVSDK tests: Use full system timeout off
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Depending on loop iterations for timeouts is not accurate, as usleep behavior depends on the system load and asking for a 0 ms sleep can potentially return immediately.
2020-12-31 01:05:30 +01:00
e27d80abc4
Camera feedback: Indicate success
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If the feedback module is loaded then we want to provide capture feedback.
2020-12-30 23:36:47 +01:00
404f74f996
boards: mro/pixracerpro add flight_mode_manager
2020-12-30 10:25:08 -05:00
fe2e299046
FlightModeManager: small rebase change
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-12-30 10:25:08 -05:00
e92795b474
Temporary logging addition to debug CI
2020-12-30 10:25:08 -05:00
fafbb687d8
FlightModeManager: fix integral reset on ground
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This information could also be used for yaw and integral
resets of the lower level controllers.
2020-12-30 10:25:08 -05:00
7de288877a
MulticoperPositionControl: 3rd pass get rid of zombie members
2020-12-30 10:25:08 -05:00
62ada2e2dc
FlightModeManager: restore weathervane calls
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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
aa888223f0
FlightModeManager: fix takeoff state in stabilized mode
2020-12-30 10:25:08 -05:00
8edb06e94f
FlightModeManager: make sure emergency failsafe works
2020-12-30 10:25:08 -05:00
8329208b84
FlightModeManager: fix takeoff ramp from zero
2020-12-30 10:25:08 -05:00
88c274b3cd
MulticopterPositionControl: 2nd pass to move to FlightModeManager
2020-12-30 10:25:08 -05:00
f52bad87e2
mc_pos_control: separate out flight_tasks (into FlightModeManager)
2020-12-30 10:25:08 -05:00
7545249215
Add flight_mode_manager to all targets with mc_pos_control
2020-12-30 10:25:08 -05:00
fa7170bc4f
Add FlightModeManager
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to separate out setpoint generation from controllers
2020-12-30 10:25:08 -05:00
49d4cc7d5b
commander: CMD_NAV_LAND/CMD_NAV_PRECLAND reply RESULT_ACCEPTED unless transition is denied
2020-12-30 12:05:41 +01:00
80068093d6
add esc_battery module to modalai/fc-v1 build
2020-12-29 23:41:22 -05:00
91f5f26618
commander: main_state_transition call trivial style fixes
2020-12-30 00:26:14 +01:00
4f62355dec
msg: new estimator_status_flags message for more accessible ekf2 status logging
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- 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
ddc1f964d2
Mac OS CI: Harden against intermittent install failures
2020-12-28 23:43:57 +01:00
565da15f2f
MAVSDK test: Increase timeout
2020-12-28 22:04:08 +01:00
7510e6ba0a
FMUv2: Exclude rarely used configurations
2020-12-28 21:02:03 +01:00
53711926ab
FMUv2: Exclude specialized fixed wing configs
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The FMUv2 users can default back to generic configs for those.
2020-12-28 21:02:03 +01:00
aa28c3bd3c
VTOL airframes: Exclude FMUv2
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This excludes FMUv2 targets, since VTOL is already disabled on FMUv2.
2020-12-28 21:02:03 +01:00
3d809134f5
Updating SITL gazebo (Mac OS fixes)
2020-12-28 20:41:48 +01:00
adb98d5702
mavlink: move HIL_ACTUATOR_CONTROLS to separate streams header
2020-12-28 11:09:46 +01:00
3b20310e9c
mavlink: move POSITION_TARGET_GLOBAL_INT to separate streams header
2020-12-28 11:09:46 +01:00
672a1c90aa
mavlink: move POSITION_TARGET_LOCAL_NED to separate streams header
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- position type_mask
2020-12-28 11:09:46 +01:00
6b1d02feb7
mavlink: move RC_CHANNELS to separate streams header
2020-12-28 11:09:46 +01:00
48be6962d1
mavlink: move MANUAL_CONTROL to separate streams header
2020-12-28 11:09:46 +01:00
629d03b684
mavlink: move TRAJECTORY_REPRESENTATION_WAYPOINTS to separate streams header
2020-12-28 11:09:46 +01:00
5762c3b356
mavlink: move NAV_CONTROLLER_OUTPUT to separate streams header
2020-12-28 11:09:46 +01:00
9f57df75e8
remove rotation 41 (ROLL_270_YAW_180)
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- duplicate of 31 (ROLL_90_PITCH_180)
2020-12-28 11:07:08 +01:00
a66cb0cbaf
mavlink: check TX buffer before processing command ack
2020-12-28 11:05:42 +01:00
8d5813994f
format smart battery serial number as string on mavlink
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according to change on mavlink protocol message
formatted as 'dd/mm/yy-123456'
2020-12-28 11:04:54 +01:00
ceadcd74d0
mavlink: CAMERA_TRIGGER stream check free tx buf before send
2020-12-28 11:03:53 +01:00
ae706537b8
mavlink: CAMERA_IMAGE_CAPTURED stream check free tx buf before send
2020-12-28 11:03:53 +01:00
27b631e827
mavlink: ADSB_VEHICLE stream check free tx buf before send
2020-12-28 11:03:53 +01:00
0d72b47571
mavlink: COLLISION stream check free tx buf before send
2020-12-28 11:03:53 +01:00
dcb897307d
mavlink: HEARTBEAT stream check free tx buf before send
2020-12-28 11:03:53 +01:00
e06d218ff2
commander: disable arm_auth request for prearm status continuous publication
2020-12-27 16:23:05 -05:00
02a08c42b7
tests: perf don't bother printing all perf counters
2020-12-27 15:29:45 -05:00
12bf035642
uORB: tests limit latency to only orb_test_medium and remove some unnecessary output
2020-12-27 15:29:45 -05:00
409ea2ac02
mavlink: parameters manually mark active minimal QGC set on first send
2020-12-27 13:54:03 -05:00
4b0d8efbc1
Commander: move static overload_start to class
2020-12-27 13:44:32 -05:00
4f30037980
Add yosemite world as SITL target for gazebo
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This commit adds yosemite world as a SITL target for gazebo
2020-12-27 12:53:25 -05:00
092060cde2
posix: improve error out for mlockall() and pthread_create
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- add strerror
- mlockall skipped in lockstep builds (ENABLE_LOCKSTEP_SCHEDULER)
2020-12-27 12:43:32 -05:00
48da0055a1
boards: add initial mRo Pixracer Pro (M10064C) support
2020-12-27 12:12:15 -05:00
Daniel Agar