d72d6ea28e
WIP: in tree Dockerfile and github actions push to github registry
2021-05-06 15:08:03 -04:00
e265ebabc5
Update submodule ecl to latest Thu May 6 12:39:12 UTC 2021
...
- ecl in PX4/Firmware (a300d32523e24df3f366a0d564b764261e1c1909): https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d
- Changes: https://github.com/PX4/PX4-ECL/compare/a7b8afe420f438554ad90bcba0f1f4872325e75b...29243ac5cbb5d27ac71744e88afcd786df6f748d
29243acaad4840
2021-05-06 13:53:40 -04:00
9419f9c5e8
Update submodule mavlink v2.0 to latest Thu May 6 12:39:02 UTC 2021
2021-05-06 13:52:43 -04:00
08dab18a8b
vtol_type: in FW, set min PWM to PWM_DEFAULT_MIN instead of PWM_MOTOR_OFF
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-05-06 10:20:24 +02:00
099c2d13f6
dshot: add 3D capability
2021-05-06 08:12:07 +02:00
177ee4cbca
drivers/optical_flow/paw3902: properly discard samples after mode change
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- respect mode 2 shutter requirements from datasheet (should not operate with Shutter < 0x01F4 in Mode 2)
- sensor reset is handled by mode change
2021-05-05 21:48:01 -04:00
b1ebd16c61
ekf2: improve selector reset handling
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- handle reset count rollover (uint8_t)
- compute full reset delta if primary estimator instance has changed or if we missed a reset
2021-05-05 21:45:13 -04:00
d1d5eba320
follow-me: log follow_target msg
2021-05-05 16:13:50 -04:00
48f3bd4078
follow-me: formatting
2021-05-05 16:13:50 -04:00
5f19eeaaa5
follow_target: copy also velocity fields from uorb
2021-05-05 16:13:50 -04:00
2d6bc9b6e0
follow_target: use actual velocity measurement
2021-05-05 16:13:50 -04:00
5d9b3504f7
follow-target: correctly set "updated" flag
2021-05-05 16:13:50 -04:00
f1fca0939f
follow-target: name variable correctly
2021-05-05 16:13:50 -04:00
3702140e24
PWMOut:Arm once all channels are initalized.
2021-05-05 20:48:06 +02:00
3d166d3279
PWM:Add Channel mask to up_pwm_servo_arm & up_pwm_servo_deinit
2021-05-05 20:48:06 +02:00
19fa5cfe25
px4_fmu-v6x: Disable OTG_ID_GPIO
2021-05-05 20:48:06 +02:00
baa37c1143
px4_fmu-v5x: Disable OTG_ID_GPIO
2021-05-05 20:48:06 +02:00
0385245ae1
px4_fmu-v5: Disable OTG_ID_GPIO
2021-05-05 20:48:06 +02:00
1f61dcfb06
modalai_fc-v1: Disable OTG_ID_GPIO
2021-05-05 20:48:06 +02:00
3779ff3690
holybro_pix32v5: Disable OTG_ID_GPIO
2021-05-05 20:48:06 +02:00
21cf26a69f
holybro_durandal-v1: Disable OTG_ID_GPIO
2021-05-05 20:48:06 +02:00
a654c37306
cuav_x7pro: Disable OTG_ID_GPIO
2021-05-05 20:48:06 +02:00
07e38563ba
cuav_nora: Disable OTG_ID_GPIO
2021-05-05 20:48:06 +02:00
d5b60f7002
NuttX with WIP OTG_ID
2021-05-05 20:48:06 +02:00
923af2c65b
spracing_h7extreme: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
2d3800fa25
px4_fmu-v6x: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
4f8c1ccfe8
px4_fmu-v6u: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
7dd57d55f6
px4_fmu-v5x: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
69bf437e9a
px4_fmu-v5: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
633fbe147a
nxp_fmuk66-v3: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
118839e75c
nxp_fmuk66-e: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
3f5a0e49a4
mro_pixracerpro: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
86360d076c
mro_ctrl-zero-h7: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
3820f761b1
mro_ctrl-zero-h7-oem: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
50d3af1ba1
mro_ctrl-zero-f7: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
867aa9d4bc
mro_ctrl-zero-f7-oem: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
310d166899
modalai_fc-v1: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
9c761d9ae5
holybro_pix32v5: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
b3b74eaaf6
holybro_kakutef7: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
4c8dca738c
holybro_durandal-v1: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
4da1ec1146
cubepilot_cubeyellow: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
1a5741f984
cubepilot_cubeorange: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
4d4d8ed887
cuav_x7pro: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
eae01a06e7
cuav_nora: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
d6a54910b4
av_x-v1: Initalize PWM as input with Pull Downs
2021-05-05 20:48:06 +02:00
362db92515
Define PX4_MAKE_GPIO_INPUT_PULL_DOWN
2021-05-05 20:48:06 +02:00
dd4ffb3c0c
PWMOut:Fix pwm status
2021-05-05 20:48:06 +02:00
44cdc52ef8
PWMOut:Use rates from single instance & init all instances channels
2021-05-05 20:48:06 +02:00
dcbfc9de2d
io_timer:Fixed imposible logic
2021-05-05 20:48:06 +02:00
9a085126fd
FMUK66 free up some RAM
2021-05-05 18:52:56 +02:00
ac6e7a1c6c
FlightTaskManualAltitude: Fix double->float conversion in initialization
...
This gives an error on some new compilers, e.g. riscv64-unknown-elf 10.2.0
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-05-05 09:31:07 +02:00
532f370e7d
Fix implicit float to double conversions
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The both results of ?: should be of same type, and some compilers give error
on this:
" implicit conversion from 'float' to 'double' to match other result of conditional"
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-05-05 09:31:07 +02:00
62dc926891
Add support for UCANS32K146B board revision
2021-05-04 22:13:24 -04:00
c1d3be4258
Makefile: keep git clean for submodules to resolve incomplete dependency problems
2021-05-04 21:22:56 -04:00
68a9e981b1
boards: px4_fmu-v5_optimized disable temperature_compensation to save flash
2021-05-04 21:20:32 -04:00
f5b6656a6c
cmake: set MAX_CUSTOM_OPT_LEVEL to -O3 if Release
2021-05-04 21:20:32 -04:00
3b7ce61901
px4_work_queue: increase wq:rate_ctrl stack slightly
2021-05-04 17:40:56 -04:00
3ec40a5956
collision_prevention: fix CP_GO_NO_DATA parameter type
2021-05-04 16:41:32 -04:00
24c2967511
legacy_data_types specify branch
2021-05-04 13:23:14 -04:00
ee87257a8d
FlightModeManager: move velocity control feedback into FlightTask
...
This was only handled outside because FlightTaks lived in the
multicopter position controller which produces the data that was
needed but now it doesn't make sense anymore to handle this
subscription separately.
It's better to have it inside the base task to have the data available
on task activation sucht that e.g. Altitude mode can take over smoothly
from Position mode.
2021-05-04 16:47:48 +02:00
c28533677d
MulticopterLandDetector: use setpoint generation to infer decend intent
...
For any normal use case where a downwards velocity setpoint is set
this works exactly the same as before.
E.g. autonomous landing, landing in Altitude or Position mode
The advantage is that the very common case where a vehicle tries
to hold a constant altitude but fails to do so e.g. during a hard brake
with too much lift the resulting downwards velocity was interpreted
as descend intent and since the vehicle already struggled to hold altitude
with low thrust and was not moving fast anymore because it was braking
this lead to a lot more false positives on certain vehicle types.
The disadvantage is that not setting a downwards velocity setpoint but
just moving the position setpoint into the ground does not result in
land detection anymore. We do not use this method of landing anymore for
quite a while. It's not recommended and I wonder if there's some rare use
case like offboard where this is done.
We could add an additional case for the specific case to land with a
position setpoint only.
2021-05-04 16:43:33 +02:00
2e292abfff
MulticopterLandDetector: Make land detection time configurable
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The tree stages used arbitrary 350, 250 300ms totally 900ms
So this changes it to each stage to a third of the parameter.
Default it is 1 second -> 333ms per stage.
2021-05-04 16:43:33 +02:00
269ce07cb5
land detector: log more states in order to facilitate debugging ground contact state
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-05-04 16:43:33 +02:00
3348869ae1
Makefile: git clean properly preserve project files (.project, .cproject, etc)
2021-05-04 09:49:50 -04:00
04b7ee43bc
protocol_splitter: Sp2Header defined as union ( #17511 )
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Aligned with agent_protocol_splitter to make byte access easier
for checksum generation
Co-authored-by: Nuno Marques <n.marques21@hotmail.com >
2021-05-04 10:09:24 +02:00
4e69952ee4
arch.sh: Syntax error fix
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Script failed for me with following error
PX4-Autopilot/Tools/setup/arch.sh: line 159: syntax error near unexpected token `else'
PX4-Autopilot/Tools/setup/arch.sh: line 159: ` else'
Seems like there is nothing to do in case of positive if case.
Changed code should maintain logic
2021-05-04 10:06:39 +02:00
cd4378b8c6
vtol: init boolean consistently
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-05-03 18:58:26 -04:00
ab10e68a40
update Quadchute trigger from mavlink PR 1569
2021-05-03 21:44:27 +03:00
bf9758247b
add VEHICLE_VTOL_STATE_QC and remove hardcoding
2021-05-03 21:44:27 +03:00
d3ddbe8db5
Allow quadchute from external command
2021-05-03 21:44:27 +03:00
ecc5154a44
Reflect dynamically allocate block pointers instead of using heap
2021-05-03 14:04:02 -04:00
cd2aceb363
stm32_common:board_reset Fix reboot -b broke by canbootloader
2021-05-03 05:21:25 -07:00
2c6b3eeb02
Navigator: NAV_CMD_DO_VTOL_TRANSITION: accept once in correct vtol state
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-05-03 08:40:54 +02:00
5579a1d789
Navigator: remove WORK_ITEM_TYPE_CMD_BEFORE_MOVE
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It was used to make the vehicle needing to accept the waypoint after a VTOL transition in the new VTOL mode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-05-03 08:40:54 +02:00
3c4b0c1b8c
tiltrotor: only allow increasing tilt during first part of transition
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-05-02 21:51:09 -04:00
fa9fdce6e6
sensors/vehicle_gps_position: Fix raw_dt and present_dt calculation in gps_blending
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If the GPS data is passed from companion computer, there may be inaccuracies
with timesync. This may cause time deltas to overflow.
Make the time delta calculation using floats directly, wich results in negative
numbers in case there are such inaccuracies.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-05-02 13:59:50 -04:00
e78a4287f9
parameters: attempt import multiple times
2021-05-02 13:48:16 -04:00
3b24abaa1b
Makefile: clean use git clean to delete all gitignore files recursively
2021-05-02 13:47:54 -04:00
feebb24106
logger: skip multi-EKF logging if CONSTRAINED_MEMORY
2021-05-02 13:47:28 -04:00
783a780207
drivers/gps: add femtomes gps driver protocol
2021-05-02 13:46:39 -04:00
abee13df1a
mavlink: improve rx stats printf
2021-05-02 13:45:39 -04:00
d96ba2d88a
mavlink: use 4s for HITL
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This is more inline with SITL.
2021-05-02 13:45:39 -04:00
e9a1599355
mavlink: clang-tidy fix
2021-05-02 13:45:39 -04:00
aa0752ad86
mavlink: fix pthread usage
2021-05-02 13:45:39 -04:00
5784f1d951
mavlink: add detailed stats about rx messages
2021-05-02 13:45:39 -04:00
370d9ee409
mavlink: use px4::atomic instead of volatile
2021-05-02 13:45:39 -04:00
4498509426
mavlink: move thread handling into MavlinkReceiver
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In my opinion this makes it much cleaner and will allow mavlink main to
directly call the receiver.
2021-05-02 13:45:39 -04:00
71bd35fcaa
mavlink: keep track of seq for any component
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Instead of only keeping track of the sequence ID of specific "supported"
components, we now keep track of any sysid/compid of an incoming
message. Before this change, unknown components (such as jMAVSim) would
completely screw up the mavlink message stats and create confusion (at
least in my case).
With this change we currently keep track of up to 8 other components.
Once we reach the limit, we will print a warning.
2021-05-02 13:45:39 -04:00
6ae23e7b7b
mavlink: fix HITL battery status publication
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Without these fields the pre-arm check would complain and fail.
Also, the voltage is adjusted to be at around 70% rather than 30% which
would almost start to trigger warnings.
2021-05-02 13:45:39 -04:00
cfcc074e9d
mavlink: remove unused methods
2021-05-02 13:45:39 -04:00
b4e0a8396e
Tools/process_sensor_caldata.py - median filter sensor data
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- this makes it a bit easier to see what's going on now that the raw sensor data (sensor_accel, sensor_gyro) is completely unfiltered
2021-05-02 13:42:09 -04:00
5ec5a12f5e
Tools/setup: update ubuntu.sh with current NuttX dependencies
2021-05-02 13:10:47 -04:00
18dc0e4900
update submodule micro-CDR
2021-05-02 13:05:16 -04:00
6e2343a485
Jenkins: fix new px4io/px4-dev-nuttx-focal container tag
2021-05-02 12:34:48 -04:00
514d4fd57b
drivers/distance_sensor: GY-SR04 sonar range finder driver
2021-05-02 12:09:35 -04:00
32d354e5fe
Update submodule ecl to latest Sun May 2 12:39:08 UTC 2021
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- ecl in PX4/Firmware (cb999f37d4891ebfbbc21b4ce9b3851888b39ad4): https://github.com/PX4/PX4-ECL/commit/5d34d7a24ef72b826c320a3259ee0ec68b1936df
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b
- Changes: https://github.com/PX4/PX4-ECL/compare/5d34d7a24ef72b826c320a3259ee0ec68b1936df...a7b8afe420f438554ad90bcba0f1f4872325e75b
a7b8afe#994 ) (#999 )
4ac57d3
2021-05-02 11:47:36 -04:00
92dc1a71a6
github actions delete MAVROS avoidance tests
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- these aren't currently running properly on github actions, but continue to use build resources
2021-05-02 11:44:06 -04:00
165420598e
Update submodule mavlink v2.0 to latest Sat May 1 00:38:27 UTC 2021
2021-05-01 19:17:28 -04:00
8ef10c9b38
Update submodule public_regulated_data_types to latest Sat May 1 12:41:36 UTC 2021
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- public_regulated_data_types in PX4/Firmware (bb5225ddae32f3a85f6c01fa5957f1b30cb73a14): https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e
- public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae
- Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/309b251a7e8d713d6bf428e18e28d91d5f07b73e...1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae
1337b1c 2021-04-23 Pavel Kirienko - Update the `nominal_voltage` in battery parameters (#114 )
2021-05-01 19:17:02 -04:00
199db72d5f
Update submodule public_regulated_data_types to latest Sat May 1 12:41:39 UTC 2021
...
- public_regulated_data_types in PX4/Firmware (d052cf4a6963d576e0e108b6c95b6fa4fab57584): https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e
- public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae
- Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/309b251a7e8d713d6bf428e18e28d91d5f07b73e...1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae
1337b1c 2021-04-23 Pavel Kirienko - Update the `nominal_voltage` in battery parameters (#114 )
2021-05-01 19:16:42 -04:00
4eb758edf0
Alphabetize flight_mode_manager CMakeLists.txt list, and group/format types in FlightTask.cpp/hpp.
2021-05-01 10:46:27 -04:00
759a60ac82
Update rc.vtol_defaults
...
based on our experience with VTOL it makes sense to change the yaw mode default. You always want your VTOL to yaw in transition direction before starting the transition.
2021-05-01 10:45:14 -04:00
dd0465070c
Update submodule jMAVSim to latest Sat May 1 12:41:22 UTC 2021
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- jMAVSim in PX4/Firmware (d2a118ee86https://github.com/PX4/jMAVSim/commit/358b6cca4093646eb96e0cb075e45efa8f4a0c48
- jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/2b610caab81726ab79019de0f2fa8cff5e341bd5
- Changes: https://github.com/PX4/jMAVSim/compare/358b6cca4093646eb96e0cb075e45efa8f4a0c48...2b610caab81726ab79019de0f2fa8cff5e341bd5
2b610ca 2021-04-21 Julian Oes - Merge pull request #126 from PX4/pr-forwarding
75f2aa3 2021-04-21 Julian Oes - Serial/TCP/UDP ports: mark messages as forwarded
2021-05-01 10:31:43 -04:00
186bc2bda4
Update submodule GPSDrivers to latest Sat May 1 00:38:31 UTC 2021
2021-05-01 10:31:09 -04:00
d2a118ee86
Update submodule sitl_gazebo to latest Sat May 1 00:38:24 UTC 2021
...
- sitl_gazebo in PX4/Firmware (283138e87d46e573ce101033e01a59b273430928): https://github.com/PX4/PX4-SITL_gazebo/commit/05e2cd9c03ffa77f0c0d5bd3e788d33e06480b25
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/4c27fc7dd659c262257abeea2308e2f1c54e9029
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/05e2cd9c03ffa77f0c0d5bd3e788d33e06480b25...4c27fc7dd659c262257abeea2308e2f1c54e9029
4c27fc7 2021-04-20 JaeyoungLim - Update mavsdk versions for firmware SITL tests (#741 )
2021-04-30 21:04:25 -04:00
92344b96b3
CI Update to 2021-04-29
2021-04-30 14:32:40 -04:00
4f52c0b6da
mavsdk_tests: unused var and index fix
2021-04-29 21:08:33 -04:00
f16913c175
mavsdk_tests: fix timeout at 1x speed
2021-04-29 21:08:33 -04:00
e7fcfbf658
mavsdk_tests: use global position instead of local
...
We are currently not testing with flow only anyway, so we might as well
remove this for now.
2021-04-29 21:08:33 -04:00
43fccece61
mavsdk_tests: check installed version
...
Starting with MAVSDK 0.39.0 we can specify the version required. This
way we can fail at configure time instead of later during compilation or
linking.
2021-04-29 21:08:33 -04:00
14e51098e5
workflows: use MAVSDK_VERSION in sitl_tests
2021-04-29 21:08:33 -04:00
7384bd2675
mavsdk_tests: specify required MAVSDK version
...
This way it can be better picked up by CI scripts.
2021-04-29 21:08:33 -04:00
64688b04d8
boards: mro pixracerpro set BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT instead of RC_SERIAL_SINGLEWIRE
2021-04-29 21:06:39 -04:00
96bc58f0eb
CMake Bloaty add static ram usage breakout
2021-04-29 10:16:43 -04:00
4f098a01bc
drivers: protocol_splitter: some style updates
2021-04-29 11:57:35 +02:00
9980d2a556
Utilize header struct instead of control bytes directly
2021-04-29 09:37:48 +02:00
757f1df068
Protocol_splitter: 4-byte header with checksum
2021-04-29 09:37:48 +02:00
d62204856c
ROMFS/px4fmu_common/init.d-posix/rcS: split and source data from files in PATH
2021-04-28 09:00:47 +02:00
b898aabfed
Fix the repeated configuration of PWM rate after initialization
2021-04-28 00:22:07 +02:00
b2d73dca26
uavcan_v1: cmake: nunavut generation message
2021-04-27 10:30:33 -04:00
925213db8f
requirements: bump nunavut minimum version
2021-04-27 10:30:33 -04:00
38c1ec6a9c
ekf2: check if ChangeInstance succeeded
2021-04-27 10:29:09 -04:00
0a98c5a7f4
Subscription: fix ChangeInstance
2021-04-27 10:29:09 -04:00
1a89f165fd
fix bmi088: set correct accel scale
...
This affected the clipping limit, which was set too low
2021-04-27 10:27:57 -04:00
171c26373b
land_detector: robustify land detection by using distance to ground info
...
- if distance to the ground is available then hysteresis times will be increased
by a factor of 3 if vehicle is higher than 1m above ground
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-04-27 08:19:19 +02:00
f6a34e1e80
vtol_type: reset accel to pitch integrator
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-04-27 07:43:38 +03:00
cbf34109d1
paw3902: Default to using SENS_FLOW_ROT rotation
...
This restores the behavior to what it was previous to #16338 (74083d6alex@corvus-robotics.com >
2021-04-26 15:14:17 -04:00
c266c3e43a
parameters: remove unnecessary param_get_system_default_value() locking
2021-04-26 09:49:15 +02:00
3664d9e4ce
rover: publish actuator controls with rate of gyro
...
Some ESC's with DShot don't initialize otherwise (as the 200Hz of the vehicle attitude rate is too low).
2021-04-26 08:53:20 +02:00
cc81c7d49e
poor-mans-profiler: Add documentation
...
Now sets the GDB serial device to the path of a DroneCode Probe by
default, with option command-line option override.
A few usage instructions added to the top of the file.
2021-04-26 08:47:49 +02:00
6e9e503ee6
sensors/vehicle_imu: accel clipping warning minor improvements
...
- no warning if accel is disabled
- threshold increased 100 -> 1000 (only warn if severe ongoing clipping)
- more generic warning message (vehicle isn't necessarily in air flying)
2021-04-25 17:03:43 -04:00
8478d1ea37
sensors/vehicle_angular_velocity: properly handle filter reset on FIFO data scale changes
...
For the sake of efficiency (at 8 kHz) all filtering is performed on the raw data before the calibration and rotation is applied to only the final output. As a result we have to be a bit more careful when switching between sensors or in cases where the gyro scale factor changes (eg icm42688p 20 bit data rescaled to fit in int16 output).
2021-04-25 14:20:32 -04:00
ed0fa99198
icm42688p: limit to 8 kHZ for now
2021-04-24 20:23:19 -04:00
59b70a881d
commander: temporarily increase worker thread stack substantially
2021-04-23 22:13:12 -04:00
5416679735
check_code_style_all.sh: remove ignored xargs parameter
...
to suppress the warning message:
`xargs: warning: options --max-args and --replace/-I/-i are mutually exclusive, ignoring previous --max-args value`
when running make format.
2021-04-23 22:09:16 -04:00
6df299738e
FlightTask: reactivate tasks on ground with empty setpoint
...
Such that they properly reset and don't try to take over smoothly from
their own setpoints generated in the last loop iteration.
2021-04-23 21:57:27 -04:00
9e2375ab91
FlightTaskManualAcceleration: change reset order, check all components for NAN
...
Just cleanup and completeness.
2021-04-23 21:57:27 -04:00
5e75f17680
StickAccelerationXY: fix acceleration reset using x component instead of y
...
This entire feature only has an impact if the last mode set
a huge acceleration and we have to take over as smooth as possible.
But it's stil lworth fixing.
2021-04-23 21:57:27 -04:00
fee4728b1f
StickAccelerationXY: change function name feasibility limit -> jerk limit
...
for clarity because it's more accurate.
2021-04-23 21:57:27 -04:00
c71a228f15
Tools/setup: macos use pip as python3 module
2021-04-23 16:47:49 -04:00
112fc5c9cd
log battery status every 0.2sec instead of 0.3sec
...
Battery status is logged every 0.3Sec.
but BMS data published every 0.25Sec, so there are many drops of data.
2021-04-23 16:46:02 -04:00
51f527d845
param: update 'param show-for-airframe' to use set-default
2021-04-23 16:44:55 -04:00
1730cd1971
param: avoid warning for 'param show -c' or 'param show -a'
2021-04-23 16:44:55 -04:00
d631a5d39f
Commander: checking COM_ARM_CHK_ESCS param for ESCs telemetry
...
COM_ARM_CHK_ESCS set to 0. The user will need to enable it manually.
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2021-04-22 13:46:08 +02:00
bff99f9794
Commander:esc_checks minor improvements
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-04-22 13:46:08 +02:00
371fa98579
Commander/preflight checks: Add monitoring to ESC failures
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-04-22 13:46:08 +02:00
1c624d20f5
srcparser support for vectored 6 dof uuv airframe added
2021-04-22 08:30:11 +02:00
789d91900d
commander_params: lower COM_DISARM_PRFLT but disable for fixed-wing
2021-04-21 14:55:04 +02:00
f9d8c613b0
px4_work_queue: increase nav_and_controllers stack
2021-04-21 07:34:13 +02:00
8b3aa46c01
[UAVCANv1] Publisher default timeout, has to be tuned further for all publishers
2021-04-20 21:44:40 +02:00
1804cea92c
[UAVCANv1] TX deadline fix and other fixes
2021-04-20 21:44:40 +02:00
02a4d93c74
[UAVCANv1] snprintf and cleanup ram usage ~4KB
2021-04-20 21:44:40 +02:00
399815469f
[UAVCANv1] Subscriber multi topic subscription
...
reg.drone.bms full support
legacy.equipment.bms support
2021-04-20 21:44:40 +02:00
5e7ebbe47c
FlightTask: correct comment about setpoints
2021-04-20 18:18:21 +02:00
45ada2dd4c
MulticopterLandDetector: remove unnecessary newline
2021-04-20 18:18:21 +02:00
4865d027f9
StickAccelerationXY: factor in stricter tilt limit on takeoff
2021-04-20 18:18:21 +02:00
29e07b1e52
MulticopterPositionControl: publish stricter tilt limit during takeoff
2021-04-20 18:18:21 +02:00
ff67da1bb4
SlewRate: add getter for current state without update
2021-04-20 18:18:21 +02:00
3d8a35288e
Rename Snapdragon Spektrum RC
...
The previous name was confusing because it did not clarify that this driver was specific to the Snapdragon platform.
2021-04-18 18:35:03 +02:00
38bc46fd1a
re-add RC_MAP_RATT_SW (unused) and mark active for QGC
2021-04-16 13:07:02 -04:00
3b72f3b641
Create publish_status() method in the heater driver, add a status field to indicate if the temperature setpoint has been met within 2.5C, breakout update_params() method from the Heater::Run() method and simplify logic.
2021-04-16 08:09:51 -04:00
3dad16bc40
RTPS client remove redundant baudrate check
2021-04-16 14:01:27 +02:00
42108eb4af
Fix microRTPS_client_main.cpp format
2021-04-16 14:01:27 +02:00
76e15b4a21
RTPS client get baudrate parameter if requested, and mark the device baud rate parameter as used so it shows up in QGC
2021-04-16 14:01:27 +02:00
2492fb35e4
rc_update: require consecutive valid input_rc before publishing
2021-04-15 16:40:54 -04:00
96c7fe4978
Update submodule matrix to latest Thu Apr 15 12:39:10 UTC 2021
...
- matrix in PX4/Firmware (501b463b36b07481181c15b734861704d9f27020): https://github.com/PX4/PX4-Matrix/commit/1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3
- matrix current upstream: https://github.com/PX4/PX4-Matrix/commit/b8568a89db8455d0ab2e2e391e2149ba2e5e10dd
- Changes: https://github.com/PX4/PX4-Matrix/compare/1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3...b8568a89db8455d0ab2e2e391e2149ba2e5e10dd
b8568a8
2021-04-15 13:27:07 -04:00
5c4582ccce
rc: dsm allow full range
2021-04-15 18:27:33 +02:00
bd4839e855
commander: changed msg "connection to GCS lost" from critical to info
...
update
2021-04-15 11:29:02 -04:00
2219e096d7
cmake: embed param metadata if not CONSTRAINED_FLASH and not "test" LABEL
2021-04-15 08:16:51 +02:00
592dc65bae
Update submodule matrix to latest Thu Apr 15 00:39:06 UTC 2021
...
- matrix in PX4/Firmware (d9ebf2a842f611976d7ba5078d3f31ad8cde55a7): https://github.com/PX4/PX4-Matrix/commit/3679f7fd5160c7d2a8271b1134ca1e601f1a4254
- matrix current upstream: https://github.com/PX4/PX4-Matrix/commit/1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3
- Changes: https://github.com/PX4/PX4-Matrix/compare/3679f7fd5160c7d2a8271b1134ca1e601f1a4254...1d0e7f1ca1187c90c70a9dac92ca6294a320b1d3
1d0e7f11344ce0
2021-04-14 23:11:41 -04:00
b99e597a73
flashparams: Fix a null-pointer dereference crash
...
Fix a potential crash caused by calling erase_sector with a null
sector_descriptor (current_sector == 0).
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-04-14 07:55:33 -07:00
58b40fbbb9
boards: move testing to dedicated test variants
2021-04-14 09:21:31 +02:00
047fb13922
IMU_GYRO_RATEMAX: enforce reasonable constraint and update metadata
2021-04-13 20:26:57 -04:00
7053919a9f
fixed micrortps_agent usage description
2021-04-13 21:28:27 +02:00
2d15c96b9b
ekf2: Multi-EKF let new instance schedule itself immediately on successful init
...
- this is to minimize missed sensor data (and unnecessary error output) between EKF2 construction and once it actually starts running
2021-04-13 14:24:46 -04:00
6a4c589c62
examples/work_item: add ModuleParams and more uORB::Subscription example usage
2021-04-13 14:23:36 -04:00
bf09089a26
PWM out: Collect settings for all outputs
...
There are settings that have to be the same for a split output across multiple instances, like for example the PWM mask and rate configurations. This change collects them for all outputs of the same underlying driver structure and applies the complete set.
2021-04-13 18:39:27 +02:00
6bc11596fe
VTOL mixer: Correct alt rate channels
...
The baby shark config did mark main rate outputs (50 Hz) as alt rate, resulting in the alt rate being set to 50 Hz.
2021-04-13 18:39:27 +02:00
aa22407d87
drivers/pwm_out: only print rates if changed
2021-04-13 09:55:21 +02:00
a07bccc046
boards: modalai simplify defaults with new parameter defaults mechanism (AUTOCNF replacement)
2021-04-12 21:27:53 -04:00
f44f497e3f
parameters: better handle export failures and retry
2021-04-12 21:26:50 -04:00
edc445a1b2
parameters: tinybson fill total document length for bson compatibility
2021-04-12 21:26:50 -04:00
b9e0a16594
Update submodule public_regulated_data_types to latest Mon Apr 12 12:45:35 UTC 2021
...
- public_regulated_data_types in PX4/Firmware (9101f5707a251c33048289249bd565eba5d3a848): https://github.com/UAVCAN/public_regulated_data_types/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1
- public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e
- Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/53a7dbbf85554e11517c13ad91b9efb871599ad1...309b251a7e8d713d6bf428e18e28d91d5f07b73e
309b251 2021-04-11 Peter van der Perk - reg.drone Battery parameters add nominal voltage (#113 )
2021-04-12 19:51:35 -04:00
991c07eef9
Global: Allow users to arm with USB
...
This change reflects the medium-term experience with users using USB as data link or power source in R&D setups. While we still discourage this for volume products, not allowing it seems like a major hurdle and blocker in R&D setups.
2021-04-12 19:11:22 -04:00
3a004ffd68
PWM Out: Simplify startup logic
...
The simpler logic is more robust towards future refactoring.
2021-04-12 19:11:22 -04:00
5f6b8fcb9f
Update submodule sitl_gazebo to latest Mon Apr 12 12:45:32 UTC 2021
...
- sitl_gazebo in PX4/Firmware (8acdb8ca3fhttps://github.com/PX4/PX4-SITL_gazebo/commit/5761bd66cd36ded2d0dccf8127e30a1522fe1ac6
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/05e2cd9c03ffa77f0c0d5bd3e788d33e06480b25
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/5761bd66cd36ded2d0dccf8127e30a1522fe1ac6...05e2cd9c03ffa77f0c0d5bd3e788d33e06480b25
05e2cd9 2021-04-10 Manuel Galliker - Removed unused computation of CoG (#737 )
2021-04-12 14:22:14 -04:00
f0f16b9cc5
mavlink: streams fix SCALED_IMU size reporting
2021-04-12 13:02:10 -04:00
faaee0f077
fix pwm_out: avoid race condition when setting mode
...
Bootup failed in some cases with:
ERROR [mixer] can't reset mixers on /dev/pwm_output1
The reason was the mode change was not applied yet.
2021-04-12 18:39:51 +02:00
18f17dcb96
Update submodule public_regulated_data_types to latest Mon Apr 12 12:45:37 UTC 2021
...
- public_regulated_data_types in PX4/Firmware (9f25ac4175fd81259b11cfe79f0f875a21562d3d): https://github.com/UAVCAN/public_regulated_data_types/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1
- public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e
- Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/53a7dbbf85554e11517c13ad91b9efb871599ad1...309b251a7e8d713d6bf428e18e28d91d5f07b73e
309b251 2021-04-11 Peter van der Perk - reg.drone Battery parameters add nominal voltage (#113 )
2021-04-12 09:58:48 -04:00
381c97d3c6
Commander: baro check: only report failure of mandatory instances
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-04-12 09:27:12 -04:00
8acdb8ca3f
Update .gitmodules
2021-04-12 08:18:16 -04:00
45b9e18195
UAVCANv0: add CUAV smart battery support
2021-04-11 21:27:31 -04:00
96d0755afd
NuttX with SDMMC Backport
2021-04-09 15:53:26 -04:00
1520805a20
README: remove redundant autogyro, add High altitude balloons
2021-04-09 08:48:17 +02:00
39c96a8884
gps add device_id
2021-04-08 08:27:07 +02:00
1f4960d480
boards: cubeorange enable pwm_input
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Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com >
2021-04-07 21:34:44 -04:00
0c3e64a7f5
Fix support for Cube Black Heater
2021-04-07 10:23:02 -04:00
9b7eae4043
rc: enable crsf and ghst telemetry on supported boards
...
Co-authored-by: Benjamin Linne <benjamin.linne.civ@mail.mil >
2021-04-07 08:51:49 +02:00
6fbb409e43
Param markdown - fix sensor param table
2021-04-07 08:46:11 +02:00
b46e505b0d
Handle velocity fields in follow_target message
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The mavlink message FOLLOW_TARGET has additional
fields that are not being parsed here. See
https://mavlink.io/en/messages/common.html#FOLLOW_TARGET
for more details.
2021-04-06 22:11:23 -04:00
aa94a60043
COM_ARM_WO_GPS - values round the wrong way
2021-04-06 22:10:02 -04:00
a7e920d276
Updated MavlinkReceiver::handle_message_landing_target to warn users when they provide a landing target with an unsupported coordinate frame.
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Updated Simulator::handle_message_landing_target to warn users when they provide a landing target that is not relative to a captured image.
2021-04-06 16:02:54 -04:00
31b9efdaeb
sensors/vehicle_imu: increase threshold for clipping warning
2021-04-06 15:42:26 -04:00
f33fee99c1
ROMFS: init.d-posix/airframes migrate EKF2_GPS_MASK -> SENS_GPS_MASK
2021-04-06 13:48:40 -04:00
bb0fe9ee61
mavsdk_tests: losen time limit for VTOL mission
2021-04-06 11:35:18 -04:00
2eaf677de3
mavsdk_tests: correctly locate plan
2021-04-06 11:35:18 -04:00
cd66a79747
mavsdk_tests: move waypoints to vehicle position
...
This way it shouldn't matter where the test is run.
2021-04-06 11:35:18 -04:00
9eadabcb02
sitl_tests: update MAVSDK to v0.38.0
2021-04-06 11:35:18 -04:00
d714c2faec
mavsdk_tests: add VTOL mission tests
...
This adds VTOL mission tests to the CI integration tests.
This depends on MAVSDK v0.38.0.
2021-04-06 11:35:18 -04:00
1e88939605
mavsdk_tests: report speed factor every second
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This helps in debugging slow CI.
2021-04-06 11:35:18 -04:00
e05a4badf8
ROMFS: rcS start uavcan earlier
...
- starting this earlier is a minor improvement for things like lights and buzzers on UAVCAN or parameter sync over mavlink
2021-04-06 09:48:11 -04:00
4189eb11f5
simulator: GPS populate all sensor_gps fields (alt_ellipsoid, etc)
2021-04-06 09:44:18 -04:00
015849b402
mathlib: LowPassFilter2p and NotchFilter add magnitude response getter
2021-04-05 22:47:30 -04:00
f9460107d0
cleanup PWM param naming inconsistencies
2021-04-05 22:41:06 -04:00
f741606c60
Update submodule sitl_gazebo to latest Tue Apr 6 00:39:03 UTC 2021
...
- sitl_gazebo in PX4/Firmware (2a0a747598https://github.com/PX4/PX4-SITL_gazebo/commit/e703e2726a4cd82cf3c57614e9c33d6354310885
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/5761bd66cd36ded2d0dccf8127e30a1522fe1ac6
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/e703e2726a4cd82cf3c57614e9c33d6354310885...5761bd66cd36ded2d0dccf8127e30a1522fe1ac6
5761bd6 2021-04-05 Jaeyoung-Lim - Switch tailsitter sdf version to 1.6
2021-04-05 22:28:47 -04:00
436a6fce38
Update submodule mavlink v2.0 to latest Tue Apr 6 00:39:07 UTC 2021
2021-04-05 22:28:10 -04:00
997abf382d
Update submodule public_regulated_data_types to latest Tue Apr 6 00:39:10 UTC 2021
...
- public_regulated_data_types in PX4/Firmware (5e242d366f2e266e8226f7baa33e5973783e2045): https://github/commit/7f5489e6e916cc8b13db0582dcf9930e225594b9
- public_regulated_data_types current upstream: https://github/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1
- Changes: https://github/compare/7f5489e6e916cc8b13db0582dcf9930e225594b9...53a7dbbf85554e11517c13ad91b9efb871599ad1
53a7dbb 2021-03-31 Pavel Kirienko - Change wording in uavcan.pnp.NodeIDAllocationData to reflect the less static nature of UAVCAN v1 (#111 )
c3aa82f 2021-03-23 Pavel Kirienko - Update Readiness as discussed at the DS-015 call
fcc1062 2021-03-16 Pavel Kirienko - Doc amendment for uavcan.register.Access: mapping between registers and environment variables (#109 )
342f358 2021-02-22 Pavel Kirienko - Remove misleading comment in battery.Status.0.2
1baa9cb 2021-02-22 Pavel Kirienko - Add link to Nunaweb and synchronize the description with the front page (#108 )
2021-04-05 21:23:06 -04:00
2a0a747598
boards: modalai-fc-v1 add rtps.cmake add to ci
2021-04-05 17:01:35 -04:00
a1bc520df8
boards: modalai-fc-v1 add rtps.cmake add to ci
2021-04-05 17:01:35 -04:00
3261118538
boards: modalai-fc-v1 add rtps.cmake
2021-04-05 17:01:35 -04:00
54438140e1
ROMFS: posix airframes update to new parameter defaults mechanism (AUTOCNF replacement)
2021-04-05 15:29:34 -04:00
565c644b2e
boards: CUAV keep Nora and X7pro in sync
2021-04-05 12:54:41 -04:00
695adbc037
Jenkins: hardware skip AUTOCNF, don't force px4io update, show configured parameters
2021-04-05 12:30:55 -04:00
357b322eb5
ROMFS: tune_control stop if px4io update fails
2021-04-05 11:49:55 -04:00
74e848d57e
Update submodule public_regulated_data_types to latest Mon Apr 5 12:40:16 UTC 2021
...
- public_regulated_data_types in PX4/Firmware (1557f3a23461a144dd75edae4595665e5684597d): https://github.com/UAVCAN/public_regulated_data_types/commit/7f5489e6e916cc8b13db0582dcf9930e225594b9
- public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1
- Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/7f5489e6e916cc8b13db0582dcf9930e225594b9...53a7dbbf85554e11517c13ad91b9efb871599ad1
53a7dbb 2021-03-31 Pavel Kirienko - Change wording in uavcan.pnp.NodeIDAllocationData to reflect the less static nature of UAVCAN v1 (#111 )
c3aa82f 2021-03-23 Pavel Kirienko - Update Readiness as discussed at the DS-015 call
fcc1062 2021-03-16 Pavel Kirienko - Doc amendment for uavcan.register.Access: mapping between registers and environment variables (#109 )
342f358 2021-02-22 Pavel Kirienko - Remove misleading comment in battery.Status.0.2
1baa9cb 2021-02-22 Pavel Kirienko - Add link to Nunaweb and synchronize the description with the front page (#108 )
2021-04-05 11:26:01 -04:00
e8d98c1f8a
uavcan: skip beep if CBRK_BUZZER circuit breaker set
2021-04-05 11:25:37 -04:00
8e8826c516
Makefile: uorb_graphs exclude src/lib from graph_full
2021-04-05 11:03:43 -04:00
186e987efb
Jenkins: fetch all tags before generating Airframe & Parameter documentation (master only)
2021-04-05 09:51:18 -04:00
2e390009f0
Jenkins: fetch all tags before make documentation (master only)
2021-04-05 09:24:21 -04:00
8720655683
sitl_gazebo: update submodule
...
This fixes the airspeed sensor orientation for tailsitter.
2021-04-05 14:14:31 +02:00
8400f2c9bc
FW attitude controller: add protection against division by zero in airspeed scaling
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-04-04 21:22:28 -04:00
436258c1c5
config: cleanup ethernet configuration
2021-04-04 21:20:36 -04:00
ad934b4911
icm20948 i2c passthrough driver for ak09916 magnetometer (Here+ GPS/compass)
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- include icm20948 on most boards by default
- create more test variants for default boards near flash limit (cuav_nora_test, cuav_x7pro_test, holybro_durandal-v1_test)
2021-04-04 21:18:16 -04:00
c6a0161047
commander: COM_PREARM_MODE disable by default
2021-04-03 20:15:05 +02:00
bbf27d6960
boards: mro pixracerpro Add remaining SRAM4 & DTCM to heap
2021-04-03 14:13:23 -04:00
43da43ddc6
boards: cubepilot cubeorange Add remaining SRAM4 & DTCM to heap
2021-04-03 14:13:23 -04:00
fffa10ade4
boards: px4_fmu-v6u sync with other stm32h7 boards
2021-04-03 14:13:23 -04:00
825d81dd57
boards: px4_fmu-v6x sync with other stm32h7 boards
2021-04-03 14:13:23 -04:00
dcfa3c97ba
px4 fmu-v6x:Add remaining SRAM4 & DTCM to heap
2021-04-03 14:13:23 -04:00
38485a5d41
px4 fmu-v6u:Add remaining SRAM4 & DTCM to heap
2021-04-03 14:13:23 -04:00
961bac759a
mro pixracerpro:Add remaining SRAM4 & DTCM to heap
2021-04-03 14:13:23 -04:00
2f9a57c604
mro ctrl-zero-h7:Add remaining SRAM4 & DTCM to heap
2021-04-03 14:13:23 -04:00
5c7a9204a2
mro ctrl-zero-h7-oem:Add remaining SRAM4 & DTCM to heap
2021-04-03 14:13:23 -04:00
f63f1f3969
holybro durandal-v1:Add remaining SRAM4 & DTCM to heap
2021-04-03 14:13:23 -04:00
55ed76522e
cuav x7pro:Add remaining SRAM4 & DTCM to heap
2021-04-03 14:13:23 -04:00
df201342bb
cuav nora:Add remaining SRAM4 & DTCM to heap
2021-04-03 14:13:23 -04:00
5e73fe588e
NuttX with SRAM4-heap-bp
2021-04-03 14:13:23 -04:00
01083cecfc
Enable adis16448 with parameter
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This commit adds enabling adis16448 with a parameter
2021-04-03 13:58:25 -04:00
01d8c3da3d
vtol_att_control: occasional tailsitter forward transition failure issue solved
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Tailsitter VTOLs very occasionally gets stuck with zero roll and pitch angle in multicopter mode after
a forward transition command is issued.
This very rare behavior is triggered by the following events:
1> a forward transition is triggered either in auto or manual mode.
2> in the vtol_att_control main loop, if multicopter and fixed wing attitude setpoints are not updated, transition state is not updated
3> the commander changes the vehicle status to transition mode.
4> multicopter pos controller initiated Transition flight task. This results in zero roll and pitch setpoint due to zero acceleration setpoint
5> now vtol_att_control executes and updates the transition state. Specifically, _q_trans_start and _q_trans_sp are set with zero roll and pitch sp
6> tilt is evaluated to be NaN, despite _q_trans_sp being normalized. This happens for 25% of all yaw angles when using float datatype. This can be
verified using the matrix library
7> once tilt is evaluated to be NaN, _q_trans_sp is never updated again and is stuck in this state for ever.
This has been fixed by constraining the cos(tilt) within +1 to -1 range
Further, _q_trans_start and _q_trans_sp are immedietly initialized after a transition event is triggered.
2021-04-03 19:19:48 +02:00
b30f3917d3
sensors/vehicle_imu: periodically send mavlink critical message if clipping
2021-04-03 10:32:16 -04:00
588883f663
uavcan: quiet server output
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- remove verbose UAVCAN command bridge prefix
- disable many normal PX4_INFO messages entirely (kept as PX4_DEBUG)
- properly exit when arming (silently)
2021-04-03 10:07:50 -04:00
2fcdadfbd1
holybro_durandal-v1:Enable UAVCAN
2021-04-03 12:47:20 +02:00
003ef59019
px4_fmu-v6x:Enable UAVCAN
2021-04-03 12:47:20 +02:00
c96ca0434e
Update README.md
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Sort autopilot generations according to relevance to potential users (latest first)
2021-04-03 12:21:02 +02:00
9a02141d0d
Update submodule ecl to latest Fri Apr 2 12:39:10 UTC 2021
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- ecl in PX4/Firmware (744cd1182e183b62a0ab4b2f3e4e3c4aa6f5c15f): https://github.com/PX4/PX4-ECL/commit/6f2dec726adeedcb53aad9a77a8fcdfc8f7b3054
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/5d34d7a24ef72b826c320a3259ee0ec68b1936df
- Changes: https://github.com/PX4/PX4-ECL/compare/6f2dec726adeedcb53aad9a77a8fcdfc8f7b3054...5d34d7a24ef72b826c320a3259ee0ec68b1936df
5d34d7a#994 )
da06f2585fcf93
2021-04-02 11:46:19 -04:00
1ec8ce58c7
Commander: Increase auto-disarm timeout to 25 seconds after arming
2021-04-02 09:37:40 +02:00
278633c980
boards: cuav x7pro include correct adis IMU
2021-04-01 17:13:54 -04:00
c017f76a36
github actions add all NuttX builds
2021-04-01 10:21:14 -04:00
82f319a84a
Commander: Add support for pairing via commandline
2021-04-01 09:56:09 -04:00
e789124bd9
Remove duplicated line in 50003_aion_robotics_r1_rover
2021-04-01 09:36:20 -04:00
369d375417
holybro_can-gps-v1_debug: disable ekf & listener due to flash overflow
2021-04-01 08:35:36 -04:00
9171a84324
IMU_DGYRO_CUTOFF increase default 10 -> 20 Hz
2021-04-01 08:30:09 -04:00
19c4fdd7c5
Add support for 3D body thrust setpoint for offboard attitude control
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This adds support for filling up the 3D thrust setpoint using SET_ATTITUDE_TARGET message
Update mavlink submodule
2021-04-01 13:58:04 +02:00
8d3335906a
v5x: use low bandwidth mavlink mode
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This changes the default mavlink message set from onboard to
onboard_low_bandwidth, which drastically reduces the bandwidth required to get a
usable connection.
2021-04-01 07:28:43 +02:00
846695f986
ekf2: replace vehicle_imu lost error message with perf count
2021-03-31 22:07:32 -04:00
00f86eb895
drivers/uavcan: silence redundant exit message
2021-03-31 22:01:35 -04:00
292a66ce41
Add support for simulators running on a different host than the PX4 instance
2021-03-31 20:56:38 -04:00
b66ae5f2d4
tecs: use raw inertial acceleration for true airspeed complementary filter
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-03-31 20:12:40 -04:00
9dd6bef7f9
autostart scripts: remove SYS_PARAM_VER
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With the airframe defaults there's no use for that anymore
2021-03-31 20:12:05 -04:00
aec63eacbe
mavlink_receiver: avoid spamming 'unsupported component id'
2021-03-31 20:10:15 -04:00
5f4802a239
SlewRate: add back dummy file for mac build
2021-03-31 15:50:16 +02:00
8fec39ad39
MulticopterPositionControl: readd takeoff ramp fix
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added in #14821 and accidentally removed in #14665
2021-03-31 15:21:42 +02:00
752bc9ebce
startup scripts: fix rc.mavlink_override
2021-03-31 14:05:24 +02:00
5c5ec1a0ea
Receive telemetry_status, send vehicle_trajectory_waypoint_desired
2021-03-31 13:26:00 +02:00
b5a64f957e
Update RTPS messages to match what is needed for PX4/Avoidance
2021-03-31 13:26:00 +02:00
c1cb964c2a
RTPS timesync don't use MONOTONIC_RAW
2021-03-31 13:25:27 +02:00
1011382098
Clamp RTPS -> uorb timestamps to system time
2021-03-31 13:25:27 +02:00
eca4d90a91
init.d-posix: adjust COM_OBC_LOSS_T when using PX4_SIM_SPEED_FACTOR
2021-03-31 13:25:01 +02:00
7abce87ae4
commander: add COM_OBC_LOSS_T for setting onboard computer loss time-out
2021-03-31 13:25:01 +02:00
e9370c658a
nuttx cmake: include upload.cmake if it exists (same as on posix)
2021-03-31 11:25:11 +02:00
5b08362ba3
position_controller_status message: added comments regarding NAN
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-03-31 11:23:33 +02:00
c06b5a1de9
MulticopterPositionControl: improve tilt limit readability and scope
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according to @bresch's review comment.
2021-03-31 10:03:08 +02:00
94469d84ae
MulticopterPositionControl: fix twitch on tilt limit relaxation
2021-03-31 10:03:08 +02:00
34a5948692
Adapt SlewRate includes to convention
2021-03-31 10:03:08 +02:00
c16b937221
Takeoff: switch internally to use a ramp progress
2021-03-31 10:03:08 +02:00
8ca76feaba
Takeoff: remove updateRamp() early return
2021-03-31 10:03:08 +02:00
b7600f4e4d
Commander: check_posvel_validity use return value
2021-03-30 22:33:01 -04:00
29e1e0905c
Commander: switch main_state functions to pass by reference
2021-03-30 22:33:01 -04:00
531de5c588
Commander: switch all state_machine_helper functions to pass by reference
2021-03-30 22:33:01 -04:00
d97fba67e5
Commander: switch helper functions to pass by reference
2021-03-30 22:33:01 -04:00
0fa91f7cb0
commander: centralize main_state strings and simplify main state change attempts
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* commander: centralize main_state strings and simplify main state change attempts
2021-03-30 17:56:28 +02:00
18be1bacdc
state_machine_helper: automatically initialize to assist mode if using mavlink manual control
2021-03-30 17:56:28 +02:00
b001865e5c
Commander: clean up logic for flight mode transitions and add joystick mode initialization
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-03-30 17:56:28 +02:00
9a35756cd1
ekf2: enable range aid by default
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- this is to help more users get the benefit (by default) and perhaps circumvent the common mistake of setting EKF2_HGT_MODE to range sensor
- this should be safe to enable as the range aid defaults are fairly conservative (max horizontal velocity 1 m/s, and range aid gate 1 SD)
2021-03-30 10:23:18 -04:00
6874e9fba0
boards: NuttX disable all NSH memory debug commands (mb, mh, mw) by default
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- closes https://github.com/PX4/PX4-Autopilot/issues/17062
2021-03-30 09:23:43 -04:00
f9af1bbe2d
PreFlightCheck: Check if SD card is present only once and store the result
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statfs accesses the file-system and can be blocking for an extended period. Since the SD card check is part of the preflight checks in the main thread of commander, it could block its execution and cause various issues. The SD card is only mounted in rcS during boot so the state will not change after the first check.
2021-03-30 08:20:49 +02:00
c2350c06c1
commander: ManualControl avoid unnecessary copy
2021-03-30 08:19:07 +02:00
416a663d11
params: add build dependency for *parameters.c
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Makes sure changes to these files trigger metadata rebuild
2021-03-30 08:18:49 +02:00
42a865f349
param json: ensure category is set to Standard if not set
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For xml this was previously done on the QGC side.
2021-03-30 08:18:49 +02:00
2d2799b739
IMU_GYRO_CUTOFF: add 800 (used by SITL)
2021-03-30 08:18:49 +02:00
346f269d8f
IMU_INTEG_RATE: add 250 (used by SITL)
2021-03-30 08:18:49 +02:00
6a7688cbca
component_information: rework to reflect mavlink message changes
2021-03-30 08:18:49 +02:00
0f29b87101
[uorb-graph][squash][refactor] Rework of uorb-graph script -- Greatly expands handled test cases
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- Source processing now happens on original source files:
- processing to line-by-line
- required overhaul of regex match patterns + processing
- pros:
- enable tracing of ambiguous parsing sites -- reports (module, file, line-number, line-contents)
- simplifies code
- reduces computational complexity
- cons:
- certain declarations are harder to parse: multiline declarations
- refactors:
- added specific subclasses for each: Publications, Subscriptions, Ambiguities
- added a "Scope" class to represent either a module ('ModuleScope') or a library ('LibraryScope')
- regexes:
- added cases for C++-style classes
- expanded C++-style regex cases to accommodate templates
- `ORB_ID::` is accepted wherever `ORB_ID(` is accepted
- adds 'orb_copy' regex to the subscription cases
- emit ambiguous-line warning for declarations with `ORB_ID` on the same line
- emit ambiguous-line warning for `ORB_ID` with a declaration on the same line
- changed 'module whitelist' to 'scope-whitelist'
- whitelist may now apply to libraries
- libraries are optionally merged with their depending modules (but not by default)
- may be merged with their depending modules with the `--merge-depends` cli flag
- eliminates some redundant 'special-case' handling code
- debug output
- raises exception and aborts if a topic is found outside of a scope
- debug output is now printed & filtered with the python 'logging' standard module
- alphabetizes topic output in debug logging
- fixes debug output if package dependencies are missing
- now warns on ambiguous matches
- prints a list of ambiguous source sites (aka warnings) on completion
- (still) emits a warning if we find ORB_ID outside of a scope
- adds warnings if any of the source paths are invalid
- do not emit debug output for modules outside of the module/scope whitelist
- Expand script's CLI parameters
- added 'none' output options: undocumented debugging option to silence file output while debugging
- added the `--merge-depends` cli flag -- merges output of modules & their dependee libraries
2021-03-29 09:36:34 +02:00
3d667b1675
delete unused drivers/lights/blinkm
2021-03-28 19:21:29 -04:00
631d1647d3
boards: minimize unnecessary differences in default variants
2021-03-28 14:46:47 -04:00
fcc4153c26
drivers/gps: explicitly link libm
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- needed on stripped down builds
2021-03-28 12:39:22 -04:00
7314b69adc
cmake: fix jlink_flash_uavcan_bin helper
2021-03-28 12:39:22 -04:00
f5c7f89a76
vscode add holybro can-gps-v1 variants
2021-03-28 12:39:22 -04:00
e58af90bac
boards: holybro can-gps-v1 create separate default and debug variants
2021-03-28 12:39:22 -04:00
86b831b019
Update submodule GPSDrivers to latest Sun Mar 28 12:39:06 UTC 2021 ( #17253 )
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- devices in PX4/Firmware (22b74424d42fa89ebc4df84422ca7ea633843878): https://github.com/PX4/PX4-GPSDrivers/commit/e7f0b23f47d65490b72e9bacaff191bda2d99496
- devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/f2eb62c2c78a2ec47bccfe993ff59acc94155e7e
- Changes: https://github.com/PX4/PX4-GPSDrivers/compare/e7f0b23f47d65490b72e9bacaff191bda2d99496...f2eb62c2c78a2ec47bccfe993ff59acc94155e7e
f2eb62c 2021-02-21 chenhui.yu - sbf: fix #430 longitude judgement bug
Co-authored-by: PX4 BuildBot <bot@px4.io >
2021-03-28 11:13:58 -04:00
f65781025e
boards: mRo x21 enable mpu9250 mag (only internal)
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- fixes #17244
2021-03-26 21:02:30 -04:00
b1c913244f
boards: CUAV X7pro restore lights
2021-03-26 18:25:39 -04:00
e77bffe582
boards: STM32H7 remove CONFIG_MM_REGIONS=3
2021-03-26 17:40:44 -04:00
a260ddd8ff
posix-configs: rpi multi-EKF defaults
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- the ekf2 frontend typically runs in the background for up to 30 seconds waiting for all instances to appear, but this isn't supported by the legacy posix launcher
2021-03-26 14:24:34 -04:00
a9b47558b1
magnetometer/lsm9ds1_mag: fix register typo and refactor to new style with state machine and configuration monitoring
2021-03-26 14:23:25 -04:00
a124426541
ecl: apply same GNSS speed accuracy for EKF2 and yaw estimator
2021-03-25 12:57:36 -04:00
ace6f81c93
commander: report estimator mag fault detection to ground station
2021-03-25 12:57:36 -04:00
2c5342acd4
commander: increase nav_test_failed hysteresis time
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This is to avoid race condition with the yaw emergency estimator having
the same trigger delay of 1 second. Commander will now give more time to
EKF2 to reset itself before switching to altitude mode.
2021-03-25 12:57:36 -04:00
beadae6dfc
process_sensor_caldata.py: Fix 2nd barometer plot
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fixed the figure numbers to avoid plot conflicts
2021-03-25 09:53:15 -04:00
5a1eb3f9ef
Update submodule GPSDrivers to latest Thu Mar 25 00:41:54 UTC 2021
2021-03-25 00:25:29 -04:00
98e1e25d93
Update submodule sitl_gazebo to latest Thu Mar 25 00:41:48 UTC 2021
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- sitl_gazebo in PX4/Firmware (7f2566dd8ahttps://github.com/PX4/PX4-SITL_gazebo/commit/1f339cdf5c5da27097e58ec2beb2793bf6057c7d
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/3e5fed04d8e574b10e17e446d2938346bc6152ca
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/1f339cdf5c5da27097e58ec2beb2793bf6057c7d...3e5fed04d8e574b10e17e446d2938346bc6152ca
3e5fed0 2021-03-22 JaeyoungLim - Multiple airspeed sensors in SITL with multi HIL_SENSOR instances (#731 )
2021-03-24 23:54:49 -04:00
7f2566dd8a
NuttX STM32H7 16 bit SPI fixes + ADIS16470 updates for proper 16 bit mode in burst
2021-03-24 19:29:40 -04:00
92910de81d
gyro_fft: silence initial sensor selection attempt
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- early in startup the selected gyro may not be published yet
2021-03-24 18:58:18 -04:00
d9d832c568
NuttX with BACKPORT libc/stdio: Preallocate the stdin, stdout and stderr
2021-03-24 18:27:30 -04:00
2d6deb4f1c
drivers/rc_input: don't accept RX_PAIR cmd when armed
2021-03-24 15:13:38 -04:00
435ef38eda
RC Input: Reset lock state when switching to a new protocol
2021-03-24 15:13:38 -04:00
3502ba53ba
Update submodule mavlink v2.0 to latest Wed Mar 24 12:38:18 UTC 2021
2021-03-24 11:25:00 -04:00
c4ae667157
generate_board_targets_json.py: exclude uavcanv1 for now
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px4_fmu-v4_uavcanv1 fails to build:
../../src/drivers/uavcan_v1/Uavcan.cpp: In static member function 'static int UavcanNode::start(uint32_t, uint32_t)':
../../src/drivers/uavcan_v1/Uavcan.cpp:140:29: error: 'interface' was not declared in this scope
140 | _instance = new UavcanNode(interface, node_id);
2021-03-24 10:08:41 -04:00
c46c6e63ae
px4/fmu-v4/uavcanv1: remove non-existing tap_esc module & gyro_fft example
2021-03-24 10:08:41 -04:00
f528c5d206
github ci: push parameter metadata to s3
2021-03-24 10:08:41 -04:00
c3985709e4
version: add optional oem version tag (ext/oem-<version>) and log it
2021-03-24 10:08:41 -04:00
be3849f0b2
px4_mkfw.py: fix byte to string conversion
2021-03-24 10:08:41 -04:00
bac2a02a65
git: ignore git tags starting with 'ext/' when getting the version tag
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Allows for external/extra tags
2021-03-24 10:08:41 -04:00
ae010ea55c
sensors/vehicle_angular_velocity: unify filtering for both FIFO and regular use cases
2021-03-24 09:23:40 +01:00
8c173b2e7f
Update submodule ecl to latest Wed Mar 24 00:38:46 UTC 2021
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- ecl in PX4/Firmware (a730f0f5ce7a2cc909cb3d0dfab5f0106a9b3aeb): https://github.com/PX4/PX4-ECL/commit/bb950a1550ba55de36ed66877817ec7f2f47b349
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/e3d1ade66092d47478488c89e4a6f6d21f0435a4
- Changes: https://github.com/PX4/PX4-ECL/compare/bb950a1550ba55de36ed66877817ec7f2f47b349...e3d1ade66092d47478488c89e4a6f6d21f0435a4
e3d1ade
2021-03-23 22:17:11 -04:00
b2faea7f43
pwm_out: check PWM_OUT_MAX_INSTANCES with conditional
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- PWM_OUT_MAX_INSTANCES is a constant (static constexpr) not available to the preprocessor
2021-03-23 22:13:18 -04:00
3983f0b833
ROMFS: add new VTOL config and mixer (generic quadplane tiltrotor VTOL)
2021-03-23 19:55:19 -04:00
2dace0c9ea
param: limit short description lenght to 150 for existing, 70 for yaml
2021-03-23 12:55:11 -04:00
629f7ba15b
params: ensure short description is only a single line
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So a UI can display it properly
2021-03-23 12:55:11 -04:00
2ab276f5ca
ROMFS: disable MAVLink broadcast by default
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I don't think we should be broadcasting by default as we haven't done
that in the past. This suddenly spams the network with a lot of
messages, and leads to confusing situations in offices where there are
multiple PX4 SITL and QGC intances are open.
2021-03-23 12:54:46 -04:00
ea902e7f38
systemcmds/tests: split out individual module test commands
2021-03-23 11:39:14 -04:00
9b1cf98474
drivers/pwm_out: fix launch for non-multi case
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- skip _objects[1] access if only 1 possible instance
- command line request new mode via atomic
2021-03-23 10:40:22 -04:00
06cd3eded5
Revert "boards: CUAV Nora don't start icm20649 on SPI6 by default"
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This reverts commit bcae99e34a
2021-03-23 05:52:27 -07:00
644794d134
Revert "boards: CUAV x7pro disable SPI6 IMU until NuttX BDMA is fixed"
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This reverts commit 0b4006ae86
2021-03-23 05:52:27 -07:00
817d21bb39
px4 fmu-v6x:Properly configure BDMA
2021-03-23 05:52:27 -07:00
5f28ea10c0
px4 fmu-v6u:Properly configure BDMA
2021-03-23 05:52:27 -07:00
bbdb671dd2
mro pixracerpro:Properly configure BDMA
2021-03-23 05:52:27 -07:00
a8ece584e5
mro ctrl-zero-h7-oem:Properly configure BDMA
2021-03-23 05:52:27 -07:00
4eabee00d6
holybro durandal-v1:Properly configure BDMA
2021-03-23 05:52:27 -07:00
e813385f12
cuav x7pro:Properly configure BDMA
2021-03-23 05:52:27 -07:00
344be233cf
mro ctrl-zero-h7:Properly configure BDMA
2021-03-23 05:52:27 -07:00
ba3a099775
cuav nora:Properly configure BDMA
2021-03-23 05:52:27 -07:00
3581099c09
Revert "boards: disable BDMA on STM32H7 for now"
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This reverts commit f0d1f1d679
2021-03-23 05:52:27 -07:00
55abe48925
NuttX with BDMA enable fix backpork
2021-03-23 05:52:27 -07:00
8c5e51dba6
Add nxp_ucans32k146_canbootloader to CI archive to distribute UCANS32K146 bootloader
2021-03-23 04:43:56 -07:00
5802dce699
mavlink: ignore self published UTM_GLOBAL_POSITION msgs in simulation using sys id ( #17193 )
2021-03-23 10:32:21 +01:00
5f6832e101
px4_work_queue: increasae UART stack
2021-03-22 22:48:58 -04:00
e2cd39bf6c
micro_hal: use inline methods instead of #define's
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Fixes errors in the form of 'error: statement has no effect'
2021-03-22 15:38:21 -04:00
e57aaaaa5e
rotate accel/gyro FIFO before publish and fix angular velocity filter resets
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- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
- to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
- fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
- in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
2021-03-22 12:01:12 -04:00
d4dd019578
removing hardcoded units from parameter descriptions throughout land_detector_params
2021-03-22 11:39:53 +01:00
32012cb3ee
for cmake option GENERATE_ROS_MODELS to make ROS sdf models
2021-03-22 08:59:48 +01:00
48219ab1e6
fixed typo in description of RWTO_PSP parameter
2021-03-22 00:37:18 -04:00
7563438558
sensors/vehicle_angular_velocity: fix dynamic notch ESC in FIFO case
...
- last timestamp sample must be set in FIFO case for ESC RPM dynamic filter update
- slightly relax thresholds for dynamic notch FFT apply or reset
2021-03-21 20:46:54 -04:00
1e507f41ca
Update submodule sitl_gazebo to latest Sun Mar 21 12:39:01 UTC 2021
...
- sitl_gazebo in PX4/Firmware (6e9f745809https://github.com/PX4/PX4-SITL_gazebo/commit/b195315b869a5e86e31bcb934ca85172d4f5f33f
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/1f339cdf5c5da27097e58ec2beb2793bf6057c7d
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/b195315b869a5e86e31bcb934ca85172d4f5f33f...1f339cdf5c5da27097e58ec2beb2793bf6057c7d
1f339cd 2021-03-20 Dongoo Lee - Pass ros_distro in CMakeLists.txt instaed of checking it in jinja_gen.py (#712 )
1b1afca 2021-03-18 David Jablonski - gst camera: add RTMP streaming and nvidia encoding (#727 )
2021-03-21 10:43:26 -04:00
e79b3930f3
Update submodule ecl to latest Sun Mar 21 12:39:12 UTC 2021
...
- ecl in PX4/Firmware (81e811997b8e611aff08fa25c81322e4b956425f): https://github.com/PX4/PX4-ECL/commit/4df005487379436dcdde10402d3cea7b78d76c19
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/bb950a1550ba55de36ed66877817ec7f2f47b349
- Changes: https://github.com/PX4/PX4-ECL/compare/4df005487379436dcdde10402d3cea7b78d76c19...bb950a1550ba55de36ed66877817ec7f2f47b349
bb950a1ab69681
2021-03-21 10:42:43 -04:00
6e9f745809
PWM out: Robustify initialization
...
This ensures that all PWM outputs get correctly inialized on targets that only support one.
2021-03-21 00:21:10 +01:00
f6eae08597
[uorb_graph][fix][doc] FIxes type around regex definition
...
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2021-03-20 08:11:41 +01:00
e7b1ffbd4c
[uorb_graph][fix] broadens regex for ambiguous subscription arrays
...
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2021-03-20 08:11:41 +01:00
1dce38a8fe
[uorb_graph][fix] fixes typo in Graph class __init__
...
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2021-03-20 08:11:41 +01:00
711422d755
[uorb-graph][squash][refactor] Rework of uorb-graph script -- Greatly expands handled test cases
...
- debug output is now printed & filtered with the python 'logging' standard module
- changed 'module whitelist' to 'scope-whitelist'
- whitelist may now apply to libraries
- libraries are not included by default
- may be merged with their depending modules with the `--merge-depends` cli flag
- eliminates redundant 'special-case' handling code
- greatly expands debugging output
- fixes debug output if package dependencies are missing
- still crashes on error matches
- now warns on ambiguous matches
- prints a list of ambiguous source sites (aka warnings) on completion
- adds warnings if any of the source paths are invalid
- do not emit debug output for modules outside of the module/scope whitelist
- Expand script's CLI parameters
- added 'none' output options: undocumented debugging option to silence file output while debugging
- added the `--merge-depends` cli flag -- merges output of modules & their dependee libraries
- Source processing now happens on original source files:
- processing to line-by-line
- required overhaul of regex match patterns + processing
- pros:
- enable tracing of ambiguous parsing sites -- reports (module, file, line-number, line-contents)
- simplifies code
- reduces computational complexity
- cons:
- certain declarations are harder to parse (multiline arrays)
- refactors:
- added specific subclasses for each: Publications, Subscriptions, Ambiguities
- added a "Scope" class to represent either a module ('ModuleScope') or a library ('LibraryScope')
2021-03-20 08:11:41 +01:00
8c87ef4272
[refactor][uorb-graph] add a pythonic __main__ idiom to the uorb-graph tool script
2021-03-20 08:11:41 +01:00
aef3c474e2
cmake: add install_python_requirements helper
...
- this is useful because it installs the python requirements using the
python interpreter found and used by cmake
2021-03-19 23:58:16 -04:00
a13459858d
commander: improve logic for ekf2 preflight check
...
With this change we prevent the case where arming silently fails within
the first 10 seconds after boot.
Also, we now set the sensors as healthy as soon as the ekf is healthy,
and don't wait 10 seconds without actually checking.
2021-03-19 15:58:14 -04:00
2f024a9a8a
commander: pass in correct time since boot
...
This fixes the case where the preflight check fail right after the start
and report "sensors unstable".
2021-03-19 15:58:14 -04:00
19533377b3
drv_hrt: Fix hrt_abstime literal argument names
...
The user-defined literals for milli- and microseconds
should have argument names matching their units. The
current argument names 'seconds' is probably an oversight.
2021-03-19 16:36:36 +01:00
0d4f48a8d2
spracing h7extreme:Enable ADC3 in support of temperature sensing
2021-03-19 15:48:47 +01:00
cdcff35760
cubepilot cubeorange:Enable ADC3 in support of temperature sensing
2021-03-19 15:48:47 +01:00
2373ba47a2
mro pixracerpro:Enable ADC3 in support of temperature sensing
2021-03-19 15:48:47 +01:00
6780428a9d
mro ctrl-zero-h7:Enable ADC3 in support of temperature sensing
2021-03-19 15:48:47 +01:00
fa5dfb29cb
mro ctrl-zero-h7-oem:Enable ADC3 in support of temperature sensing
2021-03-19 15:48:47 +01:00
216959e221
holybro durandal-v1:Enable ADC3 in support of temperature sensing
2021-03-19 15:48:47 +01:00
7bc2393936
cubepilot cubeorange:Enable ADC3 in support of temperature sensing
2021-03-19 15:48:47 +01:00
a67edf229a
cuav x7pro:Enable ADC3 in support of temperature sensing
2021-03-19 15:48:47 +01:00
4f3d74b9d3
cuav nora:Enable ADC3 in support of temperature sensing
2021-03-19 15:48:47 +01:00
833501dee6
stm32h7:adc fix temperature sensing
2021-03-19 15:48:47 +01:00
cc098f9dff
netman:Fix setting on first boot
2021-03-19 15:48:25 +01:00
19fc33a66e
boards: ark/can-flow add debug build and reduce default
2021-03-19 15:44:57 +01:00
6fda6e43af
StickAcceleration: synchronize XY acceleration profiles
2021-03-19 13:51:15 +01:00
c8c3f57ba1
mc_pos_control_params: correct cruise speed description
...
It is used in autonomous modes only and has no influence
on Position mode.
2021-03-19 13:35:17 +01:00
2360c50713
boards: spracing/h7extreme remove temperature_compensation and differential_pressure sensors to save flash
2021-03-18 19:34:51 -04:00
b74bdb0250
sensors/vehicle_angular_velocity: RPM filter add harmonics
2021-03-18 19:34:51 -04:00
8f242ec444
cmake: add jlink_flash_uavcan_bin helper
2021-03-18 19:33:19 -04:00
a86e854a3b
boards: CUAV CAN GPS enable safety button
...
- the circuit breaker was changed to set by default (disabling the safety button)
2021-03-18 19:33:19 -04:00
e9409e59e6
NuttX with flexcan CTRL1 fixes backports
2021-03-18 21:38:56 +01:00
395519ac66
uavcan_stm32h7:can driver preserve ordering
...
Refering to the refernece manual:
Tx queue operation is configured by programming FDCAN_TXBC.TFQM to 1. Messages
stored in the Tx queue are transmitted starting with the message with the lowest message
ID (highest priority). **In case that multiple queue buffers are configured with the same
message ID, the queue buffer with the lowest buffer number is transmitted first**
Tx FIFO operation is configured by programming FDCAN_TXBC.TFQM to 0. Messages
stored in the Tx FIFO are transmitted starting with the message referenced by the get index
FDCAN_TXFQS.TFGI. After each transmission the get index is incremented cyclically until
the Tx FIFO is empty. The Tx FIFO enables transmission of messages with the same
message ID from different Tx buffers in the order these messages have been written to the
Tx FIFO
The issue will be cancelation:
The FDCAN supports transmit cancellation. To cancel a requested transmission from a
dedicated Tx buffer or a Tx queue buffer the Host has to write a 1 to the corresponding bit
position (= number of Tx buffer) of register FDCAN_TXBCR. Transmit cancellation is not
intended for Tx FIFO operation.
But there is nothing preventing it. This seems to indicate it will
work. When a transmission request for the Tx buffer referenced by the get index is canceled, the
get index is incremented to the next Tx buffer with pending transmission request and the Tx
FIFO free level is recalculated. When transmission cancellation is applied to any other Tx
buffer, the get index and the FIFO free level remain unchanged.
2021-03-18 18:31:05 +01:00
52a29ac6cf
uavcan_stm32h7:can driver add proper timeouts
2021-03-18 18:31:05 +01:00
4bf894a35d
Update platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/micro_hal.h
...
Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com >
2021-03-18 06:13:24 -07:00
44b2e0b729
As David request
2021-03-18 06:13:24 -07:00
7c8b7fa44d
Fixed typo and added support for H7 temperature sense on ADC3
2021-03-18 06:13:24 -07:00
6d04a67b02
Moving define to microhal.h files, for each ST architecture. Correct channels were verified with ST_CUBE header files. For the H7 its a simplification for the current used H7x3. Other devices in that family expect the temperarture on channel 18.
...
F1: channel 16
F3: channel 16
F4: channel 18
F7: channel 18
H7: channel 17, on STMf32Hx3
2021-03-18 06:13:24 -07:00
528dc41822
changed #elif to #else, to build on all targets
2021-03-18 06:13:24 -07:00
3c77ef7eb3
Fixed adc config, to read internal reference to get cpu temperature
2021-03-18 06:13:24 -07:00
7c2b945c21
ROMFS: posix rcS add gyro_fft and gyro_calibration start
2021-03-18 10:04:04 +01:00
8000e6feba
gyro_fft: reduce default max
...
- we're mainly looking for lower frequencies that may be an issue for control
2021-03-18 10:04:04 +01:00
c7c6122bfd
gyro_fft: manually inline subset of arm_rfft_init_q15 to save flash
2021-03-18 10:04:04 +01:00
1429423876
gyro_fft: support sensor_gyro (non-fifo)
2021-03-18 10:04:04 +01:00
69e57b22ac
Add LEDs to ARK Can Bootloader
2021-03-17 18:10:22 -04:00
38ce892582
ARK Flow sensor rotations
2021-03-17 18:06:38 -04:00
e660b50021
uavcan: add IMU sensor support
2021-03-17 18:04:12 -04:00
d35ce21594
PWM out: Ensure correct loading on single-bank targets
2021-03-17 22:03:18 +01:00
9490c64ad4
PWM out: provide running state
...
Important to know if the app is running.
2021-03-17 22:03:18 +01:00
33c5f4210a
X7 disable FFT
...
This depends on the IMU driver supporting queue
2021-03-17 22:03:18 +01:00
935cc05c47
FMU PWM OUT: Start driver in interface
2021-03-17 22:03:18 +01:00
dd400e9562
Modal: Fix tabs in start script
2021-03-17 22:03:18 +01:00
8cc3247d21
PWM command: Switch default to status, leave info
2021-03-17 22:03:18 +01:00
0efa7556fe
VTOL airframe: Remove spurious tab
2021-03-17 22:03:18 +01:00
595b3a05fb
Draco airframe: Remove tabs
2021-03-17 22:03:18 +01:00
4af42be3f3
IFO-S airframe: Remove tabs
2021-03-17 22:03:18 +01:00
e887aa902f
IFO airframe: Remove tabs
2021-03-17 22:03:18 +01:00
06f7c49d3a
Baby-shark airframe: Remove spurious tabs
2021-03-17 22:03:18 +01:00
3c19853f6c
ROMFS pruner: Detect spurious tabs
...
This is necessary to make sure that users cannot insert tabs into shell commands.
2021-03-17 22:03:18 +01:00
21f5f9fba0
Param: Print failing param name
...
This is important for any sort of boot logs to know which parameter failed.
2021-03-17 22:03:18 +01:00
c4e86f69c6
X7: Correct RGB led configuration
...
This removes unused modules and keeps the currently used ones in place.
2021-03-17 22:03:18 +01:00
dc1e7335a3
UAVCAN: Lower debug print level
2021-03-17 22:03:18 +01:00
9fe2f84db5
CUAV X7 Pro: Remove unneeded drivers.
2021-03-17 22:03:18 +01:00
13e0b74782
MAVLink: Increased stack size
...
This is needed for MAVLink shell and UAVCAN.
2021-03-17 22:03:18 +01:00
c904767f1d
Always start airspeed
...
This ensures we get readings in the log and in the telemetry even if the sensor is disabled.
2021-03-17 22:03:18 +01:00
891b231215
Ensure that AUX mixer is loaded when 2nd bank is present
2021-03-17 22:03:18 +01:00
38f306908d
Remove PWM14 VTOL airframe
2021-03-17 22:03:18 +01:00
e7722b11eb
pwm_out multi-instance support
...
PX4 uses banks of 8 outputs as a logical structure. Boards that have
more outputs than 8 get multiple instances. This is an arbitrary choice
that helps with overall structure and enables the mixing of different
device classes (like FMU, IO or UAVCAN).
2021-03-17 22:03:18 +01:00
c1c0a62be5
drivers/gps: log automatic gain control (AGC) monitor
2021-03-17 15:11:43 -04:00
385512aead
uORB: test multi timestamp requirement only applies per topic instance
2021-03-17 12:35:53 -04:00
205beb9526
boards: revert remaining CONFIG_ARMV7M_LAZYFPU
2021-03-17 09:58:23 -04:00
25dd12382a
FlightTaskOrbit: default center at exact vehicle location
2021-03-17 09:50:11 -04:00
ef774578e1
FlightTaskOrbit: NACK command if coordinates could not get applied
2021-03-17 09:50:11 -04:00
bffa83bd47
Reverting LAZYFPU for v1.12 beta1 Compatibility
...
Without reverting this a constant boot loop occurs.
Prior to merging, why this occurs on some F7 boards and not this one should be looked at.
With LazyFPU enabled, v1.12.0 beta1 will not boot but without it removed it works fine.
2021-03-17 06:10:02 +01:00
ccee36bb68
sd_bench and logger use aligned buffers
2021-03-17 05:27:53 +01:00
45d0603627
micro_hal:Fixed DCACHE_LINESIZE abuse
2021-03-17 05:27:53 +01:00
e9725a5fa7
Merge pull request #17089 from garfieldG/pr-safety_switch_status
...
send safety switch status to ground
2021-03-17 05:23:31 +01:00
5ad8ed6994
Update submodule devices to latest Wed Mar 17 00:38:33 UTC 2021
...
- devices in PX4/Firmware (dd479f9ccahttps://github.com/PX4/PX4-GPSDrivers/commit/d7100ddc3dfdbe9702d0d21542a9ca3f4ea42652
- devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/0acaf6185245382389f7f6019cee6537d8f5a8e6
- Changes: https://github.com/PX4/PX4-GPSDrivers/compare/d7100ddc3dfdbe9702d0d21542a9ca3f4ea42652...0acaf6185245382389f7f6019cee6537d8f5a8e6
0acaf61 2021-02-26 Beat Küng - output mode: add GPS+RTCM output for PPK
2021-03-17 05:21:20 +01:00
dd479f9cca
drivers/imu/analog_devices/adis16470: Analog Devices ADIS16470 IMU driver for CUAV x7pro
2021-03-16 18:00:06 -04:00
4092f87390
paw3902: fixes and improvements
...
- fully respect datasheet quality and shutter metrics for mode changes
- use MOTION pin for scheduling if available
- log light mode
- refactor common enable LED code
- respect read and write time delays
2021-03-16 15:52:03 -04:00
34ea056bd2
Update submodule mavlink v2.0 to latest Tue Mar 16 12:39:08 UTC 2021
2021-03-16 15:50:23 -04:00
c368aa180a
Update submodule sitl_gazebo to latest Tue Mar 16 12:39:03 UTC 2021
...
- sitl_gazebo in PX4/Firmware (00016e53fahttps://github.com/PX4/PX4-SITL_gazebo/commit/6b6f4749a74215b9a4fb81cfaa99a3950f13464d
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/b195315b869a5e86e31bcb934ca85172d4f5f33f
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/6b6f4749a74215b9a4fb81cfaa99a3950f13464d...b195315b869a5e86e31bcb934ca85172d4f5f33f
b195315 2021-03-16 JaeyoungLim - Revert "Pr liftdrag coefficients (#690 )" (#730 )
2021-03-16 15:49:58 -04:00
243adf5250
NuttX with SDMMC back ports
2021-03-16 15:37:41 -04:00
853459c21b
Tools/setup/ubuntu.sh: Update to allow multiple host architectures
2021-03-16 13:33:48 -04:00
00016e53fa
boards: holybro/kakutef7 disable CONSTRAINED_FLASH to increase optimization
2021-03-16 10:30:32 +01:00
c67d85945b
[commander] more detailed print_status
2021-03-16 01:00:55 -04:00
29d4ad1848
fw_pos_control_l1: OFFBOARD fully populate position_setpoint_triplet
2021-03-16 00:58:04 -04:00
bcf93304c7
Board ID Update
...
Needed for updating firmware (due to boot loader).
2021-03-16 00:51:17 -04:00
8e6987d480
Board ID update
...
Needed for firmware to update.
2021-03-16 00:51:17 -04:00
5d63306427
Update submodule GPS drivers to latest Tue Mar 16 00:40:31 UTC 2021
2021-03-16 00:50:13 -04:00
be58db1ec9
boards: cubepilot_cubeorange_console add gyro_fft
2021-03-16 00:49:45 -04:00
8261ee5fd7
boards: px4_fmu-v5_stackcheck add gyro_fft
2021-03-16 00:49:45 -04:00
ed8f6aa8fe
gyro_fft: fix bucket_index size
...
- needed for larger FFT lengths (eg 1024, 2048, etc)
2021-03-16 00:49:45 -04:00
0eac534b80
geo: purge globallocal_converter
2021-03-15 16:16:19 -04:00
ae67c53b1e
boards: px4_fmu-v6u_default address flash shortage
...
- create separate px4_fmu-v6u_test variant for onboard testing code
2021-03-15 14:19:00 -04:00
4b99bd2077
boards: remove optional external ADIS IMUs to save flash
2021-03-15 13:37:24 -04:00
b20949e664
mission feasibility: Fix first wp too far message overflow
...
Co-authored-by: Sander Smeets <sander@droneslab.com >
2021-03-15 12:40:52 -04:00
6cdc034f08
camera_trigger: cleanup
...
- add copyright headers and update year
- move initializers to header
- add PX4_DEBUG messages
2021-03-15 12:35:41 -04:00
517a1d0116
battery_status: factor in total current consumption in battery remaining estimation
2021-03-15 12:32:45 -04:00
82a2126f97
TECS: add feedforward gain for total energy balance rate
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-03-15 11:47:07 -04:00
edd42cfa86
boards: px4/fmu-v5x disable optional external IMU drivers
2021-03-15 11:16:38 -04:00
0b4006ae86
boards: CUAV x7pro disable SPI6 IMU until NuttX BDMA is fixed
2021-03-15 10:54:43 -04:00
20d8de2dca
gyro_fft: reduce run frequency (still consuming all queued data)
2021-03-15 09:42:35 -04:00
3c80db9796
boards: stm32f7 run gyro_fft by default
2021-03-15 09:42:35 -04:00
a5151f92ea
Merge pull request #17065 from PX4/pr/fix-mavlink-shell
...
MAVLink shell: Ensure that nothing is written to the file handles during shell creation.
2021-03-15 09:47:58 +01:00
2257c3767e
simple gyro auto calibration module
2021-03-15 09:46:47 +01:00
01c9a4f24d
ghst: fix warning generated on PR (Clang Tidy)
...
Fix warning generated on PR (Clang Tidy).
2021-03-15 09:42:53 +01:00
6f5efbeab5
ghst_telemetry: send battery status
...
Send battery status (ghst_telemetry). Apply factors to show correct values of volts, amps and mAh. Change ghost protocol code to follow more MISRA C++ guidelines.
2021-03-15 09:42:53 +01:00
af3573e464
gyro_fft: log peak frequency magnitudes
2021-03-15 09:42:08 +01:00
3665f9a3c4
gyro_fft: increase default range and length to improve test data
2021-03-14 20:17:41 -04:00
893eee4cb8
logger: double sensor_gyro_fft logging rate
2021-03-14 20:17:41 -04:00
cfb3099870
boards: mRo pixracer pro restore USART6, but RX only
2021-03-14 16:32:22 -04:00
72ca6902f0
Updated README - general refresh
2021-03-14 14:56:24 +01:00
6b4ccaa53e
Handle invalid yaw rate setpoints
2021-03-14 00:01:57 +01:00
06e3d38bbd
Fix yaw rate ignore flag for attitude setpoints
...
This PR fixes the yaw rate ignore case handling for offboard control using the SET_ATTITUDE_TARGET message
2021-03-14 00:01:57 +01:00
28681405ae
nxp_fmuk66-v3:Disable CONFIG_MMCSD_MULTIBLOCK (_DISABLE=y)
2021-03-12 20:45:45 +01:00
3e443f7dcc
nxp_fmuk66-e:Disable CONFIG_MMCSD_MULTIBLOCK (_DISABLE=y)
2021-03-12 20:45:45 +01:00
528127c372
fw_att_ctrl: remove unused variable
2021-03-12 12:19:29 -05:00
f150e1e7aa
sih: time constant added on thrusters, and minor cleanup
2021-03-12 12:04:14 -05:00
1d8c55db4a
mavlink: fix yaw and yaw_rate ignore mask check
2021-03-12 16:34:41 +01:00
7fb43559f8
gyro_fft: run by default on STM32H7
2021-03-12 07:50:31 -05:00
9ceef80e06
param: remove set-default print's during bootup
2021-03-12 13:44:10 +01:00
af8c3215f2
logger: add airframe and system-wide default parameters
...
- adds new ulog message & compatibility flag
- separately add airframe and system-wide defaults
- log only non-volatile defaults that are different from the current value
- additional size is ~3KB for 100 params
2021-03-12 13:44:10 +01:00
b512a3d8f7
param: add param_get_system_default_value
2021-03-12 13:44:10 +01:00
c356181f90
px4_work_queue: increase wq:rate_ctrl stack
2021-03-11 22:35:25 -05:00
0079cb708c
gyro_fft: don't update FFT length while running
...
- this is used for the length of dynamically allocated buffers that
aren't resized while running
2021-03-11 21:53:59 -05:00
ee7b6c0e9f
mavlink: delete fake CAMERA_CAPTURE stream
2021-03-11 23:00:00 +01:00
d98e1ded6b
mavlink: mavlink main report lost vehicle_command_ack
2021-03-11 15:04:53 -05:00
b0a4f35024
mavlink: mavlink main vehicle_commands only handled in iridium mode
2021-03-11 15:04:53 -05:00
eef304110d
uavcan: uavcan_servers only acknowledge supported commands
2021-03-11 15:04:53 -05:00
c13266ad26
Tools: add env variable to disable follow mode
...
This adds the env variable PX4_NO_FOLLOW_MODE to disable the follow mode
in Gazebo.
2021-03-11 20:02:16 +01:00
4a7b2c490a
mavlink: messages cleanup remaining headers
2021-03-11 11:46:14 -05:00
3f872ebf20
mavlink: move HEARTBEAT to separate stream header
2021-03-11 11:46:14 -05:00
0c138b7e03
mavlink: move CAMERA_TRIGGER to separate stream header
2021-03-11 11:46:14 -05:00
b955c41a63
mavlink: move COMMAND_LONG to separate stream header
2021-03-11 11:46:14 -05:00
801202f208
mavlink: move BATTERY_STATUS to separate stream header
2021-03-11 11:46:14 -05:00
dc1418a3b4
mavlink: move SYS_STATUS to separate stream header
2021-03-11 11:46:14 -05:00
5a025cfa28
mavlink: move SMART_BATTERY_INFO to separate stream header
2021-03-11 11:46:14 -05:00
ec6758f5af
mavlink: move HIGHRES_IMU to separate stream header
2021-03-11 11:46:14 -05:00
248978b25e
mavlink: move SCALED_PRESSURE to separate stream header
2021-03-11 11:46:14 -05:00
477d8c3738
mavlink: only include HIGH_LATENCY2 stream on non flash constrained builds
2021-03-11 11:46:14 -05:00
c6311324d2
mavlink: move VFR_HUD to separate stream header
2021-03-11 11:46:14 -05:00
d46ae7983f
mavlink: move GPS_RAW_INT to separate stream header
2021-03-11 11:46:14 -05:00
67a204206a
mavlink: move GPS2_RAW to separate stream header
2021-03-11 11:46:14 -05:00
e2f7427679
mavlink: move AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to separate stream header
2021-03-11 11:46:14 -05:00
462d67f2b6
mavlink: move TIMESYNC to separate stream header
2021-03-11 11:46:14 -05:00
849000ebeb
mavlink: move SYSTEM_TIME to separate stream header
2021-03-11 11:46:14 -05:00
af06adecd3
mavlink: move ADSB_VEHICLE to separate stream header
2021-03-11 11:46:14 -05:00
ecfbd79a90
mavlink: move UTM_GLOBAL_POSITION to separate stream header
2021-03-11 11:46:14 -05:00
e04252151c
mavlink: move GIMBAL_DEVICE_ATTITUDE_STATUS to separate stream header
2021-03-11 11:46:14 -05:00
c9d44d5741
mavlink: move GIMBAL_MANAGER_INFORMATION to separate stream header
2021-03-11 11:46:14 -05:00
aaf7b41dda
mavlink: move GIMBAL_MANAGER_STATUS to separate stream header
2021-03-11 11:46:14 -05:00
581e28eb33
mavlink: move GIMBAL_DEVICE_SET_ATTITUDE to separate stream header
2021-03-11 11:46:14 -05:00
ddca669852
mavlink: move CAMERA_IMAGE_CAPTURED to separate stream header
2021-03-11 11:46:14 -05:00
50bd757037
mavlink: move GLOBAL_POSITION_INT to separate stream header
2021-03-11 11:46:14 -05:00
ede01e8f1a
mavlink: move ODOMETRY to separate stream header
2021-03-11 11:46:14 -05:00
7daa97f279
mavlink: move LOCAL_POSITION_NED to separate stream header
2021-03-11 11:46:14 -05:00
5f7d577e04
mavlink: move ESTIMATOR_STATUS to separate stream header
2021-03-11 11:46:14 -05:00
a1a557cfe3
mavlink: move VIBRATION to separate stream header
2021-03-11 11:46:14 -05:00
239ed19827
mavlink: move ATT_POS_MOCAP to separate stream header
...
- now only available on non flash constrained boards
2021-03-11 11:46:14 -05:00
3964cfb3a7
mavlink: move HOME_POSITION to separate stream header
2021-03-11 11:46:14 -05:00
f7ee6b3c5e
mavlink: move SERVO_OUTPUT_RAW to separate stream header
2021-03-11 11:46:14 -05:00
5eef9358d9
mavlink: move ACTUATOR_CONTROL_TARGET to separate stream header
2021-03-11 11:46:14 -05:00
7d78cf8505
parameters: param_value_is_default() add note about params_changed bitset usage
2021-03-11 11:30:43 -05:00
a991e78e18
parameters: fix runtime default edge case
2021-03-11 11:30:43 -05:00
ceb445caa0
Run mc_pos_control for acceleration control mode flag
2021-03-11 10:37:03 -05:00
6a6352577c
cmake: nuttx error if GCC <= 7
2021-03-11 03:36:34 -08:00
f725813128
add bootloader flash helper target (jlink_flash_bootloader)
2021-03-11 09:03:42 +01:00
8816601efb
FlightTaskManualAcceleration: fix velocity setpoint initialization
2021-03-11 00:40:27 +01:00
89b502b9a0
FlightModeManager: remove switching out of a task for every mode change
...
This was an idea to be able to reinitialize on mode change e.g. from
Holde mode to Land mode which are currently all still handled by
FlightTaskAuto and don't require a task switch.
But I found out it leads to issues because the last setpoint and the
ekf reset counter state from the previous task are lost and as a result
the setpoint transition cannot be handled consistently anymore.
2021-03-11 00:40:27 +01:00
63a35ccabd
StickAccelerationXY: fix losing the internal velocity setpoint state
...
because of a failing position unlock with NAN velocity setpoint feedback.
2021-03-11 00:40:27 +01:00
54fe0ae98c
FlightModeManager: rename updateVelocityController{IO} to {Feedback}
2021-03-11 00:40:27 +01:00
02abb760a3
SITL: add iris with fog-simulating lidar
2021-03-11 00:39:09 +01:00
f8eaa6e46b
ROMFS handle bl_update generically
...
- include all available legacy bootloaders
2021-03-11 00:38:18 +01:00
3ad0da51c4
Makefile: wipe incomplete ninja build generation
2021-03-10 17:16:19 +01:00
6914ebef4e
added messages required by offboard_control example
2021-03-10 08:42:33 -05:00
1d66b033a4
Append mixer with aux outputs
2021-03-10 07:15:53 +01:00
0db29866f1
Add standard_vtol drop
2021-03-10 07:15:53 +01:00
d2b63f137e
Update submodule ecl to latest Wed Mar 10 00:59:16 UTC 2021
...
- ecl in PX4/Firmware (557d8f65d89cd3da4a0e88af2a7bb1a16ebf3ff9): https://github.com/PX4/PX4-ECL/commit/4bad2a272cfbcfd2ef2c77bb4af788f5b569aaaa
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/b3c1bd6d40952a9d467497162f91f28400ae0a3d
- Changes: https://github.com/PX4/PX4-ECL/compare/4bad2a272cfbcfd2ef2c77bb4af788f5b569aaaa...b3c1bd6d40952a9d467497162f91f28400ae0a3d
b3c1bd6
2021-03-09 23:19:22 -05:00
684424bf73
parameters: delete unused BSON_BINDATA handling
2021-03-09 19:29:42 -05:00
4d288512b5
add board architecture specific init defaults
2021-03-09 19:59:41 +01:00
e53e001de1
Airspeed Selector: do not run checks during landing
...
Stall speed check would otherwise trigger during landing if airspeed falls below
stall speed before landing is detected.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-03-09 19:23:48 +01:00
440e72e697
boards: cuav nora/x7pro don't have low speed external (LSE) oscillator
2021-03-09 10:49:57 -05:00
a11d2207e4
commander: simplify failure detector is attitude stabilized check
2021-03-09 10:47:00 -05:00
dff975698e
mc_rate_control: delete unused _landing_gear_pub
2021-03-09 10:47:00 -05:00
cc3c6f63e5
mc_rate_control: simplify manual_control_setpoint update
2021-03-09 10:47:00 -05:00
bb12fce66c
delete RATTITUDE flight mode
2021-03-09 10:47:00 -05:00
d37510a43d
update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields
2021-03-09 10:36:34 -05:00
a0b9b44ff6
boards: stm32h7 set CONFIG_SDMMC1 consistently
2021-03-09 09:37:05 -05:00
bd1c575ce8
lib/sensor_calibration: add simple offset and scale sanity checks
2021-03-09 09:27:21 -05:00
c4ab2797eb
Added the notion of BaseSubscriber which allows to
...
subsscription for services responses and request and helps the usage of fixed
port subscribers Furthermore move register autconfigure logic from Uavcan.cpp
to NodeManager
2021-03-09 14:35:50 +01:00
9f9b01504d
Modify the way to clear Data
2021-03-09 11:00:03 +01:00
063bb75891
simulator: fix lidar sensors
2021-03-08 21:27:39 -05:00
c96d9a79b8
mc_att_control_params: remove frequency unit from attitude gains
2021-03-08 11:14:01 -05:00
c792879612
Nuttx: PX4 Contrib Ethernet Hardening
2021-03-08 10:37:08 -05:00
cbb2fa440b
sensors/vehicle_angular_velocity: only allocate dynamic notch perf counters if enabled (IMU_GYRO_DYN_NF)
2021-03-08 10:35:48 -05:00
68c171fd4f
land_detector: continue respecting hover thrust throughout descent
2021-03-08 11:33:36 +01:00
1fa08c3997
Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR
...
Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR
2021-03-07 20:31:24 -05:00
4465c4fbf6
ekf2: Publish and log EKF warning and information events (NEW msg estimator_event_flags)
...
* msg: Add estinator information and warning events message (estimator_event_flags)
* ekf2: publish information and warning events
* logger: log estimator_event_flags
* update ecl submodule to latest
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-03-07 16:16:48 -05:00
18a8d89fa4
PNP fixed allocation scheme
...
Fixed register scheme
Incrased wq:uavcan stack since it overflowed when sending register response
2021-03-07 21:49:05 +01:00
28c76663cd
UAVCANv1 Move PNP from UAVCAN.cpp to NodeManager.cpp
2021-03-07 21:49:05 +01:00
d5e468a19e
change typhoon_h480 roll-/pitchrate P gain to reduce oscillations ( #17044 )
2021-03-07 18:18:00 +01:00
35488337d3
mc_pos_control: add OFFBOARD takeoff intent
2021-03-07 11:04:17 +01:00
22abe1619b
Update submodule mavlink v2.0 to latest Sat Mar 6 00:39:07 UTC 2021
2021-03-05 21:00:39 -05:00
1eff1aa83c
Update submodule sitl_gazebo to latest Sat Mar 6 00:39:04 UTC 2021
...
- sitl_gazebo in PX4/Firmware (263b00b65fhttps://github.com/PX4/PX4-SITL_gazebo/commit/bebb9a95f0b61bf9e4c3de345fab70985c1329b3
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/c7524aa977539d8cc972d9336355bc82e2f2cfa5
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/bebb9a95f0b61bf9e4c3de345fab70985c1329b3...c7524aa977539d8cc972d9336355bc82e2f2cfa5
c7524aa 2021-02-28 Jaeyoung-Lim - Fix MAVSDK SITL tests
f4d5594 2021-02-28 JaeyoungLim - Increase rover model realtime factor (#715 )
2021-03-05 21:00:07 -05:00
263b00b65f
ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage
...
- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
2021-03-05 18:25:14 -05:00
12a4b0334f
px4_fmu-v6u:Use Auto LSE Drive setting
2021-03-05 15:40:09 -05:00
2af106d888
px4_fmu-v6x:Use Auto LSE Drive setting
2021-03-05 15:40:09 -05:00
d94ff14e6b
px4_fmu-v5x:Use Auto LSE Drive setting
2021-03-05 15:40:09 -05:00
f44a299e3b
px4_fmu-v5:Use Auto LSE Drive setting
2021-03-05 15:40:09 -05:00
c2a5b5ed88
holybro_durandal-v1:Use Auto LSE Drive setting
2021-03-05 15:40:09 -05:00
9d0a8928bd
Update chip type
...
Update chip type from NI to II.
2021-03-05 21:28:36 +01:00
0958b30804
Fix i2c4 bus
...
Fix i2c4 bus (and subsequent CI errors)
2021-03-05 21:28:11 +01:00
2bf508061a
Update i2c bus
...
Change internal bus 2 to external.
2021-03-05 21:28:11 +01:00
17b48102f4
Update i2c mapping and i2c clock source
...
i2c4 was mapped incorrectly and i2c4 clock source wasn't present.
2021-03-05 21:28:11 +01:00
7525722b1a
Add support for specifying spawn location in Gazebo multi sim
...
This commit adds support for specifying the spawn location of vehicles
in the Gazebo multi-vehicle simulator script (frame:number:x:y).
Behavior when x and y are not specified remains the same as before.
2021-03-05 21:26:54 +01:00
daf744c678
MRO Control Zero F7 OEM Fixes ( #16977 )
...
* Update i2c 4 pinmap on F7 OEM
Update i2c 4 pinmap
* Fix i2c Internal to External on F7 OEM
Fix i2c Internal to External on F7 OEM
* Add Can2 Silent Pin
Add Can2 Silent Pin
2021-03-05 21:26:15 +01:00
66beffa2f3
Enable pre-arm checks in HIL modes
...
by airframe parameters HIL mode will still disable:
- usb check
- power checks
- safety switch
2021-03-05 21:23:31 +01:00
b4b424bf7d
tecs: also fix the bug in update_vehicle_state_estimates()
2021-03-05 19:44:20 +01:00
0f461f7f60
TECS: Fix internal state init if dt is large
2021-03-05 19:44:20 +01:00
114e85d260
MultiCopterPositionControl: hotfix emergency failsafe
...
that prevents the vehicle from crashing with invalid setpoints or
states.
This broke with #16869 when the scheduling of the position control module
and the setpoint generation got independent. The failsafe mechanism assumed
the setpoint is overwirtten by the possibly infeasible input on every loop
iteration which is not the case anymore. As a result the failsafe reset its
histeresis based on the failsafe setpoint from the last loop iteration.
Keeping the failsafe_setpoint separate solves this issue. Note that
these setpoints to the bare minimum to keep the vehicle safely in the air
and do not suffer from sideffects ignoring the EKF reset.
2021-03-05 11:29:36 -05:00
fddcb73802
sensors/vehicle_angular_velocity: dynamic notch filter support ESC RPM (untested)
2021-03-05 10:56:54 -05:00
573034aa8e
Jenkins hardware print ORB_ID(sensor_selection)
2021-03-05 10:56:54 -05:00
d5d5b7d82e
sensors/vehicle_angular_velocity: add perf counters
2021-03-05 10:56:54 -05:00
19de1e57e3
gyro_fft promote to modules and include on all boards
2021-03-05 10:56:54 -05:00
00b3b3678b
sensors/vehicle_angular_velocity: gyro dynamic notch filters updated from onboard FFT
2021-03-05 10:56:54 -05:00
ed6269b9a5
STMx7 LSE backports
2021-03-05 10:10:19 -05:00
077afdf9aa
commander: extend reliant on opt flow to ALTCTL (degraded from POSCTL)
...
If you're flying in manual position control mode and lose position the state machine will put you in altitude control mode. Extending the reliant on optical flow relaxed position validity thresholds allows you to potential get back into position control mode with flow alone.
2021-03-05 10:07:36 -05:00
d0c9a5fc93
OFFBOARD mode architecture overhaul ( #16739 )
...
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
2021-03-05 09:39:46 -05:00
5233737a86
adjust some limits to prevent divide-by-zero
2021-03-05 10:42:19 +01:00
9f6c882d2a
boards: crazyflie v2.1 Default to EKF2 with no MAG
...
Co-authored-by: TheLegendaryJedi <goncalo.atanasio@gmail.com >
2021-03-04 19:30:17 -05:00
5bbc66f3af
ManualControl: name, message, comment, const qualifier improvements
...
addressing review from @bresch, @julianoes and @JonasVautherin
2021-03-04 10:41:21 +01:00
2f39651f77
ManualControl: use current sample for timeout check
2021-03-04 10:41:21 +01:00
a43a829fdf
Commander: gate manual control setpoint processing on new data
2021-03-04 10:41:21 +01:00
935423b563
ManualControl: start to distinguish rc arming methods
2021-03-04 10:41:21 +01:00
c16b48fd2c
Commander: Replace manual_control_setpoint use
2021-03-04 10:41:21 +01:00
49c240f49e
Commander: simplify rc arming disabling logic
2021-03-04 10:41:21 +01:00
ca3bfb5ea1
ManualControl: simplify multicopter manual thrust logic
2021-03-04 10:41:21 +01:00
a796903e21
ManualControl: fix arm button use case
2021-03-04 10:41:21 +01:00
37ea78a7ff
Commander: move rc arming to ManualControl class
...
Separating the different arming methods is the next step.
2021-03-04 10:41:21 +01:00
00a4133042
ManualControl: make members private again
2021-03-04 10:41:21 +01:00
ee2d408edc
Commander: move rc availability to ManualControl
2021-03-04 10:41:21 +01:00
0e1f1a9f57
Commander: use parameters directly in ManualControl
2021-03-04 10:41:21 +01:00
dda895c94b
Commander: split out rc override logic into ManualControl
2021-03-04 10:41:21 +01:00
a4da15edf5
Commander: RC override back to stick change
...
Instead of deflection mainly because:
- Spring loaded throttle -> bad user experience
- Stale RC data -> Vehicle not savable
2021-03-04 10:41:21 +01:00
3d87982bba
Commander: reintroduce last stick position
2021-03-04 10:41:21 +01:00
cdadfabccc
Bring back RC throttle override with a parameter to disable it
2021-03-04 10:41:21 +01:00
b7ff54b034
add label option for various airframes using same model ( #17003 )
2021-03-04 09:29:38 +01:00
bc8d9af23e
Add Lazy FPU
...
Reported that LAZYFPU interact with the MTD (FRAM) driver.
https://github.com/PX4/PX4-Autopilot/issues/16548
2021-03-03 14:43:40 -05:00
0047e518aa
Add Lazy FPU to Defconfig
...
Reported that LAZYFPU interacts with the MTD (FRAM) driver.
2021-03-03 14:43:17 -05:00
28b89b024f
MulticopterPositionControl: fix Takeoff ramp use
...
- guard against NAN speed_up limit as input to ramp see #14339
- allow negative speed_up limit for ramp to work
2021-03-03 18:53:56 +01:00
0eb327743e
move min/max distance to ground limits to FlightTask ManualAltitude
2021-03-03 18:53:56 +01:00
ecd5e57ab5
remove debug
2021-03-03 18:53:56 +01:00
0ada59e57b
ekf reset remove NAN checks
2021-03-03 18:53:56 +01:00
7a7d316a32
Update src/modules/mc_pos_control/PositionControl/CMakeLists.txt
...
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-03-03 18:53:56 +01:00
87f835710b
Update src/modules/flight_mode_manager/FlightModeManager.hpp
...
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-03-03 18:53:56 +01:00
c891db19f9
Update src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
...
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-03-03 18:53:56 +01:00
266ea377da
move takeoff state machine flight_mode_manager -> mc_pos_control
2021-03-03 18:53:56 +01:00
823c6078d9
Add rtps build to workflows
2021-03-03 04:55:53 -08:00
72a3c05ffc
nxp_fmuk66-e:Add rtps build
2021-03-02 15:49:03 -05:00
6542c6e58b
nxp_fmuk66-e:Add rtps build
2021-03-02 15:49:03 -05:00
c9a2d0ed34
IMU_GYRO_RATEMAX set system default to 400 Hz
...
- MC default is still 800 Hz
2021-03-02 10:08:49 -05:00
16af63e99c
v6x: fix icm20649 rotation
2021-03-02 05:27:31 -08:00
b257f9d1fd
actuator: add support for MAV_CMD_DO_SET_ACTUATOR
...
Adds support for using the MAVLink command MAV_CMD_DO_SET_ACTUATOR to
update the actuator values on control group 3 aux{1, 2, 3}. A simple
deconfliction with rc_update is implemented: when a MAVLink command is
sent, RC is disabled for that channel until a major stick movement is
detected.
2021-03-02 12:41:02 +01:00
ada05165f1
mc_pos_control_params: fix param descriptions for negative values
2021-03-02 08:29:58 +01:00
4d9e88141e
px4_work_queue: increase wq:nav_and_controllers stack
2021-03-02 00:03:17 +01:00
0ba1bc0ce1
MPC_POS_MODE remove old metadata and explicitly handle invalid configuration
2021-03-01 09:10:11 +01:00
d01806a0c6
lib/battery: Fix cell voltages with >10S
...
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com >
2021-02-28 22:10:23 -05:00
9d0c966b15
sensors: publish sensor_selection initially regardless of SENS_IMU_MODE
...
- in multi-EKF mode the EKF selector becomes repsonsible for sensor
selector rather than the sensors module
- this updates the sensors module to still make the initial primary IMU
selection on startup before the EKF selector (including if the
estimators never fully initialize)
2021-02-27 20:19:05 +01:00
9d47f7ecda
simulator: make first accel/gyro simulated FIFO
2021-02-26 18:40:37 -05:00
0e796fc17b
boards: emlid navio2 enable ADIS16448
2021-02-26 17:56:14 -05:00
6b1e7ffdb8
rc_input: fix possible string truncation (-Werror=stringop-truncation)
2021-02-26 17:56:14 -05:00
e0ade94d25
platforms: add px4_udelay and px4_mdelay
...
- NuttX: up_udelay and up_mdelay
- Linux: usleep and msleep
2021-02-26 17:56:14 -05:00
f1f396e338
uORB: PublicationMulti get_instance() advertise if not already advertised
...
- fixes UAVCANv0 sensor bridge uORB usage, but also a reason thing to do in general
2021-02-26 17:55:30 -05:00
33d12db580
cmake: sitl_target sort lists and trim a few options
2021-02-26 16:14:19 -05:00
da61938792
Jenkinsfile-compile:Fix breakage
2021-02-26 15:15:45 -05:00
52bb99688f
Optimize number of logical cores used during sitl builds.
2021-02-26 14:14:52 -05:00
be9b3404a2
lpf test: test several sampling frequencies
2021-02-26 14:06:45 -05:00
3277648959
lpf test: move to common function
2021-02-26 14:06:45 -05:00
844602c961
Add unit tests for Butterworth 2nd order low-pass filter
2021-02-26 14:06:45 -05:00
2345d3ac4a
NuttX:FlaxCan Backports
2021-02-26 09:48:14 -08:00
c2151cb4fa
Commander: remove unused arm mode command residue
2021-02-26 07:38:02 -05:00
94bcda7c57
navigator: poll mission to run feasibility checks immediately
2021-02-26 10:28:49 +01:00
7393d5d761
delete aerotenna ocpoc
2021-02-26 08:38:45 +01:00
5f9a98e316
drivers/gps: update RTC only if time drift for 5s
...
Add interrupt pause comment to help future code archeologists
2021-02-26 08:36:41 +01:00
143ebbad98
Update submodule mavlink v2.0 to latest Fri Feb 26 00:40:09 UTC 2021
2021-02-25 21:25:47 -05:00
fd1fff89d4
dataman: remove flash backend
2021-02-26 00:28:48 +01:00
321df7ed84
delete remaining intel aero references
2021-02-25 17:46:18 -05:00
3bed87e4bd
platforms/posix: try increasing sitl_gazebo build parallelism
...
- this was limited to single threaded due to CI issues and even
developer machines with limited resources
2021-02-25 16:57:24 -05:00
ac5167b459
init.d-posix: delete rc.mavlink_override
2021-02-25 13:44:19 -08:00
a63e25f581
mavlink: GPS_GLOBAL_ORIGIN on by default, but only send on change or when requested
2021-02-25 12:43:30 -05:00
8db37225d6
Added rc.mavlink_override to test the new parameters with sitl
2021-02-25 08:52:38 -08:00
3cd9b3c2cf
Added support in Mavlink Ethernet channel parameters
...
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
2021-02-25 08:52:38 -08:00
b66a9629e0
ekf2: update to latest ecl with new global origin helpers
2021-02-25 10:43:07 -05:00
e5b689e33c
Add TCBP001TA Barometer Driver ( #14774 )
2021-02-25 07:11:58 -08:00
6482120d9a
sensors/vehicle_angular_velocity: use full raw FIFO data (sensor_gyro_fifo) if available
2021-02-25 10:06:17 -05:00
8f625e5744
Revert "cmake: Limit color output to terminals"
...
This reverts commit c1da999748
2021-02-25 09:34:02 -05:00
0e8c73f4af
drivers: remove snapdragon_pwm_out
...
- it would need to be refactored to use mixer_module
- rather than having a separate driver it should use linux_pwm_out
2021-02-25 09:28:37 -05:00
3fa825bf88
boards: remove intel/aerofc-v1
...
it's discontinued
2021-02-25 09:28:37 -05:00
7e33d03470
drivers: remove tap_esc
...
- it's not used anymore
- it would need a refactoring to use mixer_module
2021-02-25 09:28:37 -05:00
8986264feb
airframes: remove aerofc as it's discontinued
2021-02-25 09:28:37 -05:00
f0cc8a344b
linux_pwm_out: refactor to run on a work queue and use mixer_module
2021-02-25 09:28:37 -05:00
439fb00aed
linux_pwm_out: move protocols to board-specific directories
...
This also removes the pca9685 output, which was unused, and there's also
pca9685_pwm_out.
2021-02-25 09:28:37 -05:00
b0a5d431d3
optical_flow/thoneflow: update the data timespan
2021-02-24 21:28:29 -05:00
45ba9d1dd5
add all mRo ctrl zero variants to CI
2021-02-24 13:23:21 -05:00
4cca86b5d6
uavcan_v1: Apply feedback from Pavel Kirienko
...
Co-authored-by: Pavel Kirienko <pavel.kirienko@gmail.com >
2021-02-24 19:22:11 +01:00
a7a7e33614
uavcan_v1: Rename Subscription --> Subscriber
2021-02-24 19:22:11 +01:00
b5ac6f1eb8
uavcan_v1: Refactor Pub/Sub class constrctors
...
Each class now sets the 'subject name', and the base class looks for a
parameter following the format uavcan.pub/sub.SUBJECT_NAME.INSTANCE.id
2021-02-24 19:22:11 +01:00
c8e66a2f5c
uavcan_v1: Rename Publication --> Publisher
2021-02-24 19:22:11 +01:00
d1eda5ee84
uavcan_v1: Add missing uavcanv1.cmake for fmu-v4
2021-02-24 19:22:11 +01:00
e654fe71f5
uavcan_v1: Fix 'unset' port ID (use 65535)
2021-02-24 19:22:11 +01:00
935bf75b61
uavcan_v1: Fix bugs in MixingOutput / EscClient
...
Also add commented-out code for use with PR-16808
(MixingOutput + output_control)
Bench-tested PWM output on a Pixracer via UAVCANv1 ESC commands from a
Pixhawk 4.
2021-02-24 19:22:11 +01:00
04ea1cf5c6
uavcan_v1: Add to EscClient implementation
...
Add outline of EscServer implementation
Add some comments and cleanup
2021-02-24 19:22:11 +01:00
4b73566b76
uavcan_v1: Add Publisher base; Gnss Publisher
2021-02-24 19:22:11 +01:00
216a66b535
uavcan_v1: Remove unused vars
2021-02-24 19:22:11 +01:00
35f822fca6
uavcan_v1: Working ESC setpoint pub/sub
2021-02-24 19:22:11 +01:00
170345040a
uavcan_v1: Add rough ESC Client; Reorg Subscribers
2021-02-24 19:22:11 +01:00
00814815f4
uavcan_v1: Reorganize uavcan params and Subscriber
2021-02-24 19:22:11 +01:00
088014c2e1
uavcan_v1: Basic subscriber working
2021-02-24 19:22:11 +01:00
b88e8b6684
uavcan_v1: Increase stack size
...
Also increases stack frame size limit, which was what the compiler was
throwing an error on.
2021-02-24 19:22:11 +01:00
70ff6703b7
uavcan_v1: More work on subscribers and reg access
...
Now running into issues with running out of stack frame memory
For now I'm going to leave the relevant code in so it's at least
readable, but in its current state it will not compile
2021-02-24 19:22:11 +01:00
7d2a6afb79
uavcan_v1: More work on Subscriber class
2021-02-24 19:22:11 +01:00
c5184f3b46
uavcan_v1: Update UAVCANv1 DSDL submodule
2021-02-24 19:22:11 +01:00
e267dc0206
uavcan_v1: Start adding framework for Subscribers
2021-02-24 19:22:11 +01:00
e5cf92f20d
uavcan_v1: Refactor RX handling into functions
...
Cleans up the main transfer-handling loop
2021-02-24 19:22:11 +01:00
9fd7eb5944
canbootloader:Per UAVCAN call display Percentage not KB
2021-02-24 19:20:15 +01:00
a1be559978
canbootloader:Remove Rate limiting on FW update
2021-02-24 19:20:15 +01:00
fd0494555c
canbootloader:stm32_boarddeinitialize->board_deinitialize
2021-02-24 19:20:15 +01:00
944536fa50
canbootloader:Remove duplicated file from bring it back to repo
2021-02-24 19:20:15 +01:00
500fe5c98c
uavcannode_gps_demo:Add UAVCAN bootloader AppDescriptor
2021-02-24 19:20:15 +01:00
dd3c3098f2
nxp_ucans32k146:Add Can Bootloader build
...
nxp_ucans32k146:Relocation for Bootloader
nxp_ucans32k146:can_boot enable CAN
nxp_ucans32k146:Save Space use Non Optimize memcpy
nxp_ucans32k146:Increase to 24K
nxp/ucans32k146:Canbootloader LED Driver
nxp_ucans32k146:Can bootloader shut down CAN
nxp_ucans32k146:Use NVMEEPROM for Paramaters
nxp_ucans32k146:Use bootloader AppDescriptor
px4 mtd:Support onchip emulated eeprom
2021-02-24 19:20:15 +01:00
62c0c96749
canbootloader:Use Micro hal and arch selection
...
nxp/s32k14x:board_identity: Return length of mfguid
nxp/s32k14x:CAN driver
nxp/s32k14x:Drver Added ABORT on error
canbootloader:Use N words for first word
canbootloader:Ensure the up_progmem API always defined
2021-02-24 19:20:15 +01:00
ea255234da
nuttx:[BACKPORT] s32k1xx:Support ramfunc
2021-02-24 19:20:15 +01:00
46b9acac6d
mag_calibration: fix typo
2021-02-24 17:27:31 +01:00
558fe18dfe
sitl: add 'commander takeoff' to history
2021-02-24 17:27:31 +01:00
836c7c6575
StickAccelerationXY: brake a bit faster
...
The drag is based on max_acc/max_vel, which means that increasing the
maximum velocity leads to slower braking (at the same starting speed).
Especially a combination of small max_acc (slow responsiveness) with high
max_vel led to an exceedingly high braking distance.
This improves that while still being smooth.
2021-02-24 17:27:31 +01:00
1be4163506
mc_pos_control_params: increase velocity limits a bit
...
I hit those on my vehicle
2021-02-24 17:27:31 +01:00
ad9688e63c
mc: remove unused param definitions MPC_JERK_MIN and MPC_DEC_HOR_SLOW
2021-02-24 17:27:31 +01:00
a637f282ce
FunctionsTest: cover lerp
2021-02-24 17:27:31 +01:00
14bf9cf753
mc: add SYS_VEHICLE_RESP param to configure vehicle responsiveness
2021-02-24 17:27:31 +01:00
2a0a82fd90
param: add commit_no_notification(T val) API
2021-02-24 17:27:31 +01:00
3ef93823f4
srgbled:Fix warning
2021-02-24 08:05:39 -08:00
5f3e883f2c
sensors/vehicle_imu: vehicle_imu_status include accel/gyro full raw FIFO sample rate
2021-02-24 08:13:53 -05:00
cec31fd685
Remove mkblctrl from default.cmake
...
Mkblctrl needs to be removed for the build to now succeed.
2021-02-24 08:54:22 +01:00
45dde177ee
Remove mkblctrl from default.cmake
...
Mkblctrl needs to be removed for the build to succeed.
2021-02-24 08:53:35 +01:00
dd736f8540
holybro_can-gps-v1:Ensure yeild is used for FLASH programing
2021-02-23 17:45:25 -05:00
84b3f51c6b
ark_can-flow:Ensure yeild is used for FLASH programing
2021-02-23 17:45:25 -05:00
d8b9def3f8
cuav_an-gps-v1:Ensure yeild is used for FLASH programing
2021-02-23 17:45:25 -05:00
6c3262c54b
cmake cleanup src/drivers/imu
2021-02-23 15:58:36 -05:00
11ad41f7cb
delete old imu/mpu6000 driver
2021-02-23 15:58:36 -05:00
4364e23633
delete unused imu/bmi160
2021-02-23 15:58:36 -05:00
f9705c96f7
delete unused imu/bma180
2021-02-23 15:58:36 -05:00
e38560b928
sensor_calibration: increase threshold for updating calibration offsets or scale
...
- this is to minimize needlessly writing negligible parameter changes and triggering unnecessary estimator bias resets
2021-02-23 13:32:00 -05:00
d65d06f82d
SIH/gps: express gps position noise in meters and reduce noise value
...
Previous horizontal position noise was a white Gaussian noise with std=0.8m
It results in a noise with high frequencies too high making some ekf
position tests fail (test ratio to allow arming).
The new noise values are below real GPS errors but as theses errors are
generally low frequency, so they cannot be modeled with a white noise.
2021-02-23 13:27:28 -05:00
6cf06319d2
boards: nxp_fmurt1062-v1 remove irlock and lights/blinkm to save flash
2021-02-23 13:23:36 -05:00
80a73ab5b5
SIH: add distance sensor fault simulation
2021-02-23 12:57:40 -05:00
ab41319009
SIH: add distance sensor
2021-02-23 12:57:40 -05:00
69bd3ecf95
sensor_calibration: respect board rotation even if uncalibrated
...
- fixes https://github.com/PX4/PX4-Autopilot/issues/16873
2021-02-23 15:24:14 +01:00
e2563388eb
Jenkins compile removed deleted variant
2021-02-22 20:33:03 -05:00
cd7713eba2
boards: delete unused variants
2021-02-22 20:08:36 -05:00
4a65ad9148
github actions decrease max ccache size
...
- lower compression level to 5 as recommended by ccache manual
2021-02-22 18:59:35 -05:00
d53fcb0bab
mavlink: use RADIO_STATUS to regulate parameter sending
2021-02-22 18:57:29 -05:00
bcae99e34a
boards: CUAV Nora don't start icm20649 on SPI6 by default
...
- waiting on NuttX SPI6 BDMA to be fixed
2021-02-22 12:11:16 -05:00
7cc4aa6fe2
vtol_att_control: fix code style
2021-02-22 12:09:39 -05:00
50ec809fdf
SIH: add mag offset from parameters
...
An absolute value superior to 10000 block mag publication
2021-02-22 11:56:16 -05:00
8f54dc402d
SIH: add baro offset (or pressure change) from parameters
...
An absolute value superior to 10000 block barometer publication
2021-02-22 11:56:16 -05:00
1df63cb6b1
SIH: add gps fix loss simulation from parameters
...
A new parameter allows to change the SIH number of gps satellites used
If it is below 4, fix is lost
2021-02-22 11:56:16 -05:00
a8a9832b59
Allow new modes for forward thrust
2021-02-22 11:18:49 -05:00
1b8a3079e6
Update commander_params.c
...
Better documentation boolean settings, removed duplicate boolean.
2021-02-22 11:17:16 -05:00
90f5d7338c
Commander: Relax pre-arm check for EKF
...
The previous testing ratios could lead to extremely tight pre-arm acceptance.
2021-02-22 11:17:16 -05:00
f12d368a64
Commander: Document arming check params
2021-02-22 11:17:16 -05:00
87f98f096f
Commander: Respect position circuit breaker
...
This ensures that commander respects the position check circuit breaker and allows arming without position.
2021-02-22 11:17:16 -05:00
382e0cbaec
px4_work_queue: increase wq:nav_and_controllers stack 1760->1824
2021-02-22 11:15:01 -05:00
ed7a5314d8
rtl: head towards home location after descend
2021-02-22 16:37:08 +01:00
aeccb621c5
rtl: added loiter radius for descending
2021-02-22 16:37:08 +01:00
30e8a14be3
logger: update SDLOG_PROFILE comment to reflect current default
...
- closes https://github.com/PX4/PX4-Autopilot/issues/16904
2021-02-22 08:45:10 +01:00
410ca51a4a
boards: MRO Control Zero F7 OEM minor update
...
- Updating Serial port mapping to be the same across all Control Zero boards
- CAN2 Silent Pin Update
2021-02-21 21:08:38 -05:00
a1fa6a72ea
boards: MRO Control Zero H7 Board Support
2021-02-21 21:07:36 -05:00
5376178987
boards: MRO Control Zero H7 OEM Board Support
2021-02-21 21:06:27 -05:00
aacbc04730
PX4IO: Robustify upgrade process
...
These changes remove the two code paths to updates (forceupdate and update) and try to reboot and bootload IO independent of its state, wether it is in bootloader mode already, safety switch is off or if it is in "nominal state" (running and safety on). This ensures that there are no conditions where user error or boot sequence can prevent a successful upgrade. The only state where an upgrade will not be done is if the system is fully armed.
2021-02-21 19:56:16 -05:00
82200fab9e
mavsdk_tests: relax MC "Fly straight" speed threshold
2021-02-21 22:51:51 +01:00
bbc721917c
mavlink: mission ignore takeoff pitch error
...
- this mission rejection was only added recently in https://github.com/PX4/PX4-Autopilot/pull/16792
- causing QGC compatibility issues https://github.com/mavlink/qgroundcontrol/pull/9464
2021-02-21 16:40:38 -05:00
bfc019364a
Update submodule mavlink v2.0 to latest Sun Feb 21 12:42:06 UTC 2021
...
- mavlink v2.0 in PX4/Firmware (414f9f81d9https://github.com/mavlink/c_library_v2/commit/4e25dfa47b28adc177ea7badad837d8b84173712
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/bf7df5c01d856f174c3b98e5b6527e777b173935
- Changes: https://github.com/mavlink/c_library_v2/compare/4e25dfa47b28adc177ea7badad837d8b84173712...bf7df5c01d856f174c3b98e5b6527e777b173935
Co-authored-by: PX4 BuildBot <bot@px4.io >
2021-02-21 15:28:22 -05:00
1956cd8ff1
cmake: add px4io binary as ExternalProject build byproduct
...
- needed for incremental px4io changes to actually make it all the way through to the ROMFS
2021-02-21 14:04:26 -05:00
414f9f81d9
move fake GPS to standalone module
2021-02-20 14:13:36 -05:00
0ea8104344
select single system-wide wind estimate message (current best)
...
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
- rename message wind_estimate to wind
- publish wind from currently used ekf instance (ekf2selector)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-02-20 13:15:01 -05:00
9d65e9a980
ghst: keep the previous values for channels that are not updated
...
Keep the previous values for channels that are not updated (ghost protocol). Add new test data for ghost protocol.
2021-02-20 11:29:57 +01:00
96c72a5657
RCTest: add tests for ghost protocol
...
Add tests for ghost protocol
2021-02-20 11:29:57 +01:00
ca192a98c5
ghst: add test data
...
Add test data for ghost protocol
2021-02-20 11:29:57 +01:00
c0f7429f8c
ghst: use memcpy instead of for loop
...
PR review, ghost protocol, use memcpy instead of for loop
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2021-02-20 11:29:57 +01:00
64342f568d
Ghost protocol
...
ghst: add ghost protocol
2021-02-20 11:29:57 +01:00
711a69854b
uthash: move remaining utarray usage to parameters and delete unused
...
- this is to discourage further use until utarray can be dropped entirely
2021-02-20 11:28:22 +01:00
9ed959402e
mavlink: store instances in array
...
- simplify mavlink header writes that go back through the mavlink module
- add locking around mavlink command line usage (start, stop, status, etc)
2021-02-20 11:28:22 +01:00
4984c19700
PX4 IO: Retry upgrades of IO
...
This adds robustness to system timing and bad link.
2021-02-20 11:07:53 +01:00
ed20bc92c3
Fix uavcannode build
2021-02-20 10:49:08 +01:00
9d11d94e7e
px4iofirmware: guard against parsing multiple RC protocols
...
It was for example possible that DSM got parsed, and in the next iteration
SBUS got parsed, leading to multiple PX4IO_P_STATUS_FLAGS_RC_ flags set.
input_rc::input_source was then incorrectly set to DSM.
Partially guarding was already done: if SBUS got parsed, DSM and others
were skipped.
The IO will still clear all PX4IO_P_STATUS_FLAGS_RC_* flags on RC loss.
2021-02-19 09:28:46 -05:00
5c27c47746
Jenkins hardware limit px4_fmu-v5 to generic quadcopter at default rates
...
- the same boards are used for stackcheck and debug builds which are cpu constrained
2021-02-19 09:27:38 -05:00
c863d6a346
Update submodule ecl to latest Fri Feb 19 12:39:03 UTC 2021
...
- ecl in PX4/Firmware (5be2f2c8f835fde0ce648561636cf565d95f5741): https://github.com/PX4/PX4-ECL/commit/310f41517590165a82f807562b3cbb9a76e4c7d8
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/81937370ac5234a4c318d838acee4d9bb4bfa697
- Changes: https://github.com/PX4/PX4-ECL/compare/310f41517590165a82f807562b3cbb9a76e4c7d8...81937370ac5234a4c318d838acee4d9bb4bfa697
819373704844a0b00d4a9
2021-02-19 08:34:17 -05:00
5dc5ebc0a1
boards: cleanup uavcan test targets (v1 and v0 embedded peripherals)
2021-02-18 11:54:41 -05:00
5e188b3cd7
ekf2: populate local_position dist_bottom_sensor_bitfield
2021-02-18 10:37:02 -05:00
06e2bca3a6
batt_smbus: Use orb_publish_auto
2021-02-18 07:52:26 -05:00
6bd4dff51f
drivers/smbus: Increase max block size to 34
...
batt_smbus for BQ40Z80 transfers up to 34 bytes (32 byte block + 2 byte
address), but this was overflowing and failing the PEC check.
So increase the buffer size
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com >
2021-02-18 07:52:26 -05:00
93b1a148b7
batt_smbus: Pass device address to base class
...
Fixes a warning printed at runtime
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com >
2021-02-18 07:52:26 -05:00
4678201da4
update libuavcan to latest
2021-02-17 22:47:35 -05:00
46eb790188
boards: new uavcan board variants remove delete mkblctrl driver
2021-02-17 22:47:35 -05:00
e0e796a2b9
ROMFS:Bake in UAVCAN FW with builds that end in _uavcan
...
The configuration are mostly for testing now.
2021-02-17 22:47:35 -05:00
8c2678bca1
uavcan_servers:Reworked file naming and use ROM fs as fall back
...
Supporting direct down loads from ROMFS with preferece give to the
files fould on the SD card first. This will allow a user to provide
an updated uavcan firware on the SD card, and there is no overhead
of coping files from the ROM FS to the SD card.
2021-02-17 22:47:35 -05:00
57195843bf
cuav_can-gps-v1:Use for ALT Bootloader an Option
2021-02-17 22:47:35 -05:00
5ea56af5f0
canbootloder:Make support for ALT Bootloader an Option
2021-02-17 22:47:35 -05:00
174f2624df
holybro_can-gps-v1:board_id uses as Uavcan HW version
2021-02-17 22:47:35 -05:00
d1cadb6441
ark_can-flow:Assign board_id
2021-02-17 22:47:35 -05:00
070db73e91
holybro_can-gps-v1:Use common uavcan board identity
2021-02-17 22:47:35 -05:00
51a5c63bac
ark_can-flow:Use common uavcan board identity
2021-02-17 22:47:35 -05:00
3f6388f9a1
uav_can-gps-v1:Use common uavcan board identity
2021-02-17 22:47:35 -05:00
51b54c025b
canbootloader:Send number of KB written while updating FW
2021-02-17 22:47:35 -05:00
d426dd771f
canbootloader:Ensure common crc is set valid after autobaud
2021-02-17 22:47:35 -05:00
58e5c8fbca
canbootloader:Prefer bootloader_app_shared over bootloader_alt_app_shared
2021-02-17 22:47:35 -05:00
05c0deae14
UavcanNode:Only write alt id not booted by PX4
2021-02-17 22:47:35 -05:00
71c4f5a05b
UavcanNode:Support Dynamic Node ID allocation
2021-02-17 22:47:35 -05:00
e4b519aca0
UavcanNode:Add support for the Alternate bootloader app shared
2021-02-17 22:47:35 -05:00
b27beac50c
UavcanNode:Add feed back to bootloader that the App ran 30S
2021-02-17 22:47:35 -05:00
8943644566
board_common:Add board_configure_reset and board_booted_by_px4 API
2021-02-17 22:47:35 -05:00
7a6ed0281b
uavcan bootloader:Add support alt boot_alt_app_shared
2021-02-17 22:47:35 -05:00
28030e96e2
cuav_can-gps-v1:UavcanNode app ensure IWDG off in debuger
2021-02-17 22:47:35 -05:00
6ea06892ac
Fix case were descriptor has no or bad length
2021-02-17 22:47:35 -05:00
5c80b2d3dd
cuav_can-gps-v1:canbootloader - enable SWD and Pause IWDT whils stepping
2021-02-17 22:47:35 -05:00
da67537291
Uavcan Node Pets the watchdog
2021-02-17 22:47:35 -05:00
ef29ed7db3
Uavcan bootloader Starts Watchdog for Application
2021-02-17 22:47:35 -05:00
77d0eae40b
Add SMT32F4xxx Watchdog driver
2021-02-17 22:47:35 -05:00
8747b343d9
Non-compliant nodes support
...
WorkQueueManager:Increase UAVCAN stack size
2021-02-17 22:47:35 -05:00
c7182d5453
cuav_can-gps-v1:CMakeList remove .h files
2021-02-17 22:47:35 -05:00
878baabce8
cuav GPS use appdes
2021-02-17 22:47:35 -05:00
760e47bbf9
uavcan bootloader use new AppDes
2021-02-17 22:47:35 -05:00
bfdc6cd675
Update submodule sitl_gazebo to latest Wed Feb 17 12:42:47 UTC 2021 ( #16862 )
...
- sitl_gazebo in PX4/Firmware (51dd141c86https://github.com/PX4/PX4-SITL_gazebo/commit/4f26815d4127e3af84e01bbc1f8683c4fe30521f
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/bebb9a95f0b61bf9e4c3de345fab70985c1329b3
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/4f26815d4127e3af84e01bbc1f8683c4fe30521f...bebb9a95f0b61bf9e4c3de345fab70985c1329b3
bebb9a9 2021-02-11 Dongoo Lee - Add depth camera model for ROS2 environment (#707 )
54e1a19 2021-02-10 TSC21 - gazebo_mavlink_interface: generate subscribers for nested models with sensors
97c167d 2021-02-10 Julian Oes - Implement gimbal controller as MAVLink gimbal v2 device (#703 )
Co-authored-by: PX4 BuildBot <bot@px4.io >
2021-02-17 21:17:13 -05:00
cff7a01d5e
ekf2: estimator_status log reset counts
2021-02-17 21:16:34 -05:00
6d42fe28bf
Update submodule GPS drivers to latest Wed Feb 17 12:42:56 UTC 2021
2021-02-17 21:14:56 -05:00
2a47583be5
boards: nxp/fmurt1062-v1 disable vmount
2021-02-17 13:54:34 -05:00
1493ebf350
mavlink: reset MAVLink version to auto-detect
2021-02-17 13:54:34 -05:00
b812763a5a
mavlink: no gimbal messages on constrained flash
2021-02-17 13:54:34 -05:00
20bc924668
boards: disable vmount for fmu-v2
2021-02-17 13:54:34 -05:00
a2d419c91a
vmount: use copyTo to copy quaternions
2021-02-17 13:54:34 -05:00
f39216b9c3
vmount: use math functions instead of macros
2021-02-17 13:54:34 -05:00
6672be040a
mavlink: limit mavlink channels based on memory
2021-02-17 13:54:34 -05:00
10add72b00
sitl_gazebo: update submodule
...
This includes the new gimbal controller which implements the MAVLink
gimbal v2 device protocol.
2021-02-17 13:54:34 -05:00
7633b119f7
gimbal: merge fixes
2021-02-17 13:54:34 -05:00
fecd96dc28
ROMFS: add remote port for gimbal mavlink instance
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Previously, we did not set a remote port which meant that the default
remote port 14550 was used. This meant that the mavlink instance
talking to the gimbal was interfering with the connection to the ground
station (on 14550).
2021-02-17 13:54:34 -05:00
3a2e4db309
vmount: mute gimbal manager ignoring messages
2021-02-17 13:54:34 -05:00
db09a1386f
vmount: fix regression around stabilize flags
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We use the stabilize param to set the input. Like this the input flags
can be changed using the configure message later, and then eventually
used in the output.
2021-02-17 13:54:34 -05:00
086c45d406
vmount: fix POI for gimbal v2
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This includes several changes to fix POI when used with MAVLink gimbal
v2 input:
- Correctly set capability flag that POI is supported.
- Keep lat/lon and calculate attitude on each cycle, instead of only
once on init.
- Always publish gimbal manager information, with or withoug gimbal v2
device.
2021-02-17 13:54:34 -05:00
b0d7d19bab
vmount/mavlink: update gimbal information message
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We should be using gimbal_manager_information and not
gimbal_device_information. Plus, this updates the fields and flags
according to the MAVLink changes.
2021-02-17 13:54:34 -05:00
cb3ad39406
vmount: add comment about possible NAN values
2021-02-17 13:54:34 -05:00
cd0509d2ef
vmount: fix AUX gimbal output for v2 mavlink input
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This should fix the case where AUX gimbals don't work anymore when
gimbal input is mavlink gimbal v2.
The fix is mostly to take care against NAN inputs.
2021-02-17 13:54:34 -05:00
17dce18b32
mavlink: reduce GIMBAL_MANAGER_STATUS message rate
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This was way too fast.
2021-02-17 13:54:34 -05:00
6561b07caf
vmount: support legacy gimbal v1 mission commands
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This is a hotfix to restore gimbal functionality for SITL set-ups that
are set to MNT_MODE_IN 4 (gimbal protocol v2) but still need to accept
gimbal v1 commands that might be part of a mission, e.g. uploaded by
MAVSDK.
2021-02-17 13:54:34 -05:00
a3e0e2e84f
Fix RTPS builds
2021-02-17 13:54:34 -05:00
6f56797f3d
mavlink: hack to forward messages from gimbal
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This is a hack to make sure the messages from the gimbal arrive at other
links (e.g. the ground station). It means that the gimbal does not get
flooded with all other messages that would get forwarded but messages
from the gimbal will still make it through.
2021-02-17 13:54:34 -05:00
b8ad7092dc
mavlink: use Mavlink 2 by default
2021-02-17 13:54:34 -05:00
8da3a490af
ROMFS: use gimbal v2 protocol with typhoon_h480
2021-02-17 13:54:34 -05:00
642adbead8
if750a: use MAVLink gimbal v2 device
2021-02-17 13:54:34 -05:00
e6b1775bb6
vmount/navigator/mavlink: gimbal v2 changes
...
This is a collection of commits all having to do with changes in the
Mavlink gimbal v2 protocol as described in:
https://mavlink.io/en/services/gimbal_v2.html
2021-02-17 13:54:34 -05:00
422bac4bfd
mavlink: add gimbal mode to talk to gimbal device
2021-02-17 13:54:34 -05:00
2a0ddf9f44
mavlink: enable 6 instead of 4 instance
2021-02-17 13:54:34 -05:00
a16939f47e
ROMFS: start mavlink instance for gimbal
2021-02-17 13:54:34 -05:00
48b00ff678
Support for gimbal v2 protocol
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- add command to request a message
- add gimbal attitude message
mavlink_receiver handle GIMBAL_MANAGER_SET_ATTITUDE
first implementation of new vmount input MavlinkGimbalV2
- setup class
- decode gimbal_manager_set_attitude in ControlData
add gimbal information message
add gimbal manager information and vehicle command ack
mavlink messages: add stream for GIMBAL_MANAGER_INFORMATION
mavlink_receiver: handle GIMBAL_DEVICE_INFORMATION
remove mavlink cmd handling from vmount input MavlinkGimbalV2
complete gimbal manager:
- send out fake gimbal_device_information for dummy gimbals
- complete ROI handling with nudging
small fixes
fix typos
cleanup
- gimbal device information
- flags lock
- check sanity of string
add support for CMD_DO_GIMBAL_MANAGER_ATTITUDE
stream GimbalDeviceAttitudeStatus for dummy gimbals
- add uROB gimbal_attitude_status
- fill status in vmount output_rc for dummy gimbals not able to send the
status themselves
- stream mavlink GimbalDeviceAttitudeStatus
better handle the request for gimbal infomation request
clean up
bring gimbal information back on vmount init
add new gimbal message to mavlink normal stream
fix publication of gimbal device information
rename gimbal_attitude_status to gimbal_device_attitude_status
stream gimbal_manager_status at 5Hz
mavlink: send information only on request
Sending the information message once on request should now work and we
don't need to keep publishing it.
mavlink: debug output for now
make sure to copy over control data
mavlink: add missing copyright header, pragma once
mavlink: address review comments
mavlink: handle stream not updated
Our answer does not just depend on whether the stream was found but
whether we actually were able to send out an update.
mavlink: remove outdated comment
vmount: add option for yaw stabilization only
The stabilize flag is used for gimbals which do not have an internal IMU
and need the autopilot's attitude in order to do stabilization. These
gimbals are probably quite rare by now but it makes sense to keep the
functionality given it can e.g. be used by simple servo gimbals for
sensors other than highres cameras.
The stabilize flag can also be re-used for gimbals which are capable of
stabilizing pitch and roll but not absolute yaw (e.g. locked to North).
For such gimbals we can now set the param MNT_DO_STAB to 2.
We still support configuring which axes are stabilized by the
MAVLink command DO_MOUNT_CONFIGURE, however, this is generally not
recommended anymore.
vmount: fix incorrect check for bit flag
mavlink_messages: remove debug message
Signed-off-by: Claudio Micheli <claudio@auterion.com >
use device id
remove debug print
gimbal attitude fix mistake
clang tidy fix
split:
- gimbal_attitude -> gimbal_device_set_attitude, gimbal_manager_set_attitude
- gimbal_information -> gimbal_device_informatio, gimbal_manager_information
add gimbal protocol messages to rtps msg ids
support set attitude for gimbal directly speaking mavlink
clean up gimbal urob messages
vmount: address a few small review comments
vmount: split output into v1 and v2 protocol
This way we can continue to support the MAVLink v1 protocol. Also, we
don't send the old vehicle commands when actually using the new v2
protocol.
vmount: config via ctor instead of duplicate param
vmount: use loop to poll all topics
Otherwise we might give up too soon and miss some data, or run too fast
based on commands that have nothing to do with the gimbal.
typhoon_h480: use gimbal v2 protocol, use yaw stab
Let's by default use the v2 protocol with typhoon_h480 and enable yaw
lock mode by stabilizing yaw.
2021-02-17 13:54:34 -05:00
46e75ebddb
mavsdk_tests: remove leftover debug line
2021-02-17 18:13:14 +01:00
2703a34900
mavsdk_tests: add link back to github action
2021-02-17 18:13:14 +01:00
ab0d0fd0be
uORB move to PX4 platform layer
2021-02-17 11:25:56 -05:00
6bbb2faf8a
CI: fix colcon build
2021-02-17 15:03:47 +01:00
51dd141c86
RTPS: adjust timestamp_sample in urtps_agent
2021-02-17 13:19:05 +01:00
e48a869160
boards: mRo pixracer pro disable USART6 (conflicts with SPI6)
2021-02-16 22:28:13 -05:00
2702306849
boards: mRo pixracer pro fix incorrect SPI2 sck
2021-02-16 22:28:13 -05:00
0edee1e2e9
Update submodule ecl to latest Wed Feb 17 00:39:16 UTC 2021
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- ecl in PX4/Firmware (a5a1d4caa0d04cb79ba29e98ba0af04e20c53de9): https://github.com/PX4/PX4-ECL/commit/d4258cc66d24c6871688ae83f42de3b46c96d033
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/310f41517590165a82f807562b3cbb9a76e4c7d8
- Changes: https://github.com/PX4/PX4-ECL/compare/d4258cc66d24c6871688ae83f42de3b46c96d033...310f41517590165a82f807562b3cbb9a76e4c7d8
310f4150c5291d#969 )
2021-02-16 22:00:12 -05:00
a416731656
drivers/heater: add logging and minor improvements
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- new heater_status logging message
- run continously at low rate until configured sensor is found
- fix px4io fd bugs (fd open/close/ioctl must be same thread)
2021-02-16 15:16:19 -05:00
5abf29d93c
commander: auto TAKEOFF to LOITER/MISSION minor fix to avoid failsafe confusion
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- base on nav_state rather than main_state
2021-02-16 13:02:14 -05:00
64d0ce43b6
mavsdk_tests: upload to logs.px4.io in test_runner
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By doing the upload directly inside the mavsdk_test_runner.py we have
more context such as the model, case, etc.
2021-02-16 17:07:21 +01:00
18281eee29
workflows: more meta information to log upload
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This adds a little bit more information but still lacks the one to one
mapping between test and uploaded file.
2021-02-16 17:07:21 +01:00
2315618b85
mavsdk_tests: use autopilot timestamps to sleep
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This way we should be able to avoid some of the timeouts happening on
the PX4 side if MAVSDK doesn't send setpoints in time.
2021-02-16 17:07:21 +01:00
6c26387e85
mavsdk_tests: try to prevent auto-disarm
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We should not spend too much time sending RC init messages because if it
takes too long, we might auto-disarm in the meantime.
2021-02-16 17:07:21 +01:00
c1de27acf7
mavsdk_tests: use more conservative speed_factor
2021-02-16 17:07:21 +01:00
0ebb8c6981
mavsdk_tests: use microseconds to avoid sleep(0)
2021-02-16 17:07:21 +01:00
b6b9ce5f11
mavsdk_tests: robustify test by climbing longer
2021-02-16 17:07:21 +01:00
b79553862e
mavsdk_tests: remove timeout for mission upload
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Just use what is MAVSDK internal.
2021-02-16 17:07:21 +01:00
cf2ffb1086
Update submodule ecl to latest Tue Feb 16 12:39:08 UTC 2021
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- ecl in PX4/Firmware (4de4b8012999a53b3401701fe63fafb4056fa58f): https://github.com/PX4/PX4-ECL/commit/ffab483504a6c2eb3b61ae10d612cb35c8fbc550
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/d4258cc66d24c6871688ae83f42de3b46c96d033
- Changes: https://github.com/PX4/PX4-ECL/compare/ffab483504a6c2eb3b61ae10d612cb35c8fbc550...d4258cc66d24c6871688ae83f42de3b46c96d033
d4258cc#975 )
2021-02-16 08:34:02 -05:00
44df0fb7a2
Analog Devices ADIS16448 rewrite
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- new IMU driver structure with state machine (no sleeps in bus thread)
- verify all configured registers and trigger reset on failure
- detect if DIO1 or DIO2 are actually connected for data ready interrupt usage
- don't use CRC-16 on burst transfers except for verified lots
2021-02-16 10:29:07 +01:00
59b31e3c5b
Minor cleanup/error checking, static_casts, print_status() additions, and formatting in the heater driver.
2021-02-16 08:20:14 +01:00
15392f8e53
silent success and log failures
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Co-authored-by: Nuno Marques <n.marques21@hotmail.com >
2021-02-15 20:28:19 +01:00
2ad1cb24cc
fix empty log file "micrortps_bridge.log"
2021-02-15 20:28:19 +01:00
540e4f9464
Uuv position control extension ( #16688 )
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* Commit for the Integration of a position controller for the a Underwater vehicle.
This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw.
Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0.
Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction.
In general the idea is to have this position module to control the position of the uuv. The position module reseives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module.
Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw).
* Commit for the Integration of a position controller for the a Underwater vehicle.
This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw.
Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0.
Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction.
In general the idea is to have this position module to control the position of the uuv. The position module receives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module.
Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw).
Currently not solved/missing:
- Problem with gazebo model(propeller moving chaotically).
- Mixer correct gazebo vs real life (has to be tested in the future)
- correct integration in uuv.apps (when choose which module)
- very basic controller chosen (could be improved a lot in the future)
* Remove error caused by unused variables and a different build error
* added better description of the parameter. Additionally the group is changed.
* added better description of the parameter. Additionally the group is changed.
Fixed bug about parameter
* Added EOF to the files.
* Removed parameter for direct position control for safety reasons.
* small bugfix
2021-02-15 18:40:28 +01:00
0618f048f2
commander: use control mode flags and cleanup arm_disarm
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- keep `vehicle_control_mode` last state in commander and use appropriate flags in place of various main_state and nav_state checks
- consolidate scattered arming requirements in `arm_disarm()`
- there were a number of different requirements from arming via RC vs Mavlink that don't make any sense
- if geofence enabled require valid home before arming
- throttle requirements for manual modes
- remove unnecessary mavlink feedback that differs between arming interfaces (mavlink vs RC)
- let the preflight/prearm checks respond directly in most cases
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-02-15 12:03:21 -05:00
37f78537c3
protocol-splitter: Additional protocol layer added
2021-02-15 14:00:39 +01:00
40a452dcd2
ekf2: selector improve timeout handling and reporting
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- relax estimator_status timeout unless attitude hasn't published recently
2021-02-14 21:08:56 -05:00
4c5d2363d4
Rover control: Use roll sticks
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It is more intuitive to use the roll stick as lateral control input given that drones defined this category, plus this is how consumer car / rover radio controls have been working already.
2021-02-14 11:17:28 +01:00
4c9b2c65b5
Support v5X build variants
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This adds support for the different implementation variants of the v5X standard.
2021-02-14 11:17:28 +01:00
2be482c5ae
Sensors: New parameter for baro priority
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This allows to give external barometers priority if they are present.
2021-02-14 11:17:28 +01:00
fdd9b3ea51
Add support for stabilized flight mode for rovers
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This commit adds support for stabilized flight mode for rovers, which enables the rover tracking a fixed heading that is set with a manual input
2021-02-14 11:17:28 +01:00
3c12573e93
Use uORB::Subscription for rover_pos_control
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Modernize rover position control
2021-02-14 11:17:28 +01:00
8d78b8a01d
Change wording in GPS failure handling
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This matches better the different platforms that are using this functionality.
2021-02-14 11:17:28 +01:00
cc11fb2818
Multicopter rate controller: Protect for full throttle scaling
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PX4 supports -1 to 1 as input and this module was not protected against the input range.
2021-02-14 11:17:28 +01:00
66d86aae2e
Flight mode manager: Protect for full throttle scaling
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PX4 supports -1 to 1 as input and this module was not protected against the input range.
2021-02-14 11:17:28 +01:00
ec2cf70276
Rover position controller: Modernize implementation
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This commit moves the steering output from yaw to the roll channel to better reflect the lateral control input / reaction mapping. It also removes old unused parameters and modernizes the mainloop to remove unnecessary polling.
2021-02-14 11:17:28 +01:00
bb0b4db028
ROMFS: Better defaults for rover
2021-02-14 11:17:28 +01:00
3135e4d31a
SITL: Set correct L1 period
2021-02-14 11:17:28 +01:00
15219fbfe5
MC att control: Robustify for throttle scaling
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PX4 can support negative (reverse) throttle and the multicopter controller is not expecting this input range. This hardens it against it.
2021-02-14 11:17:28 +01:00
548e070b91
FW pos control: Robustify for throttle scaling
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PX4 can support negative (reverse) throttle and the fixed wing controller is not expecting this input range. This hardens it against it.
2021-02-14 11:17:28 +01:00
6d489a4b4d
FW att control: Robustify for throttle scaling
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PX4 can support negative (reverse) throttle and the fixed wing controller is not expecting this input range. This hardens it against it.
2021-02-14 11:17:28 +01:00
0d3676e5b0
Safety switch: Default to safety off
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90% of all real-world vehicle configs default to this and it is something that users stumble over if they configure a new system. There are valid cases where this would not be desired - for these it can be still switched off.
2021-02-14 11:17:28 +01:00
8a448718b9
RC update: Do not constrain throttle
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If the user calibrated to negative throttle, enable them to use it.
2021-02-14 11:17:28 +01:00
9d20dea3b8
Rover: remove unused parameter
2021-02-14 11:17:28 +01:00
fb2a199621
delete unmaintaned mkblctrl driver
2021-02-14 10:38:15 +01:00
c04d23645c
IO: Fix reverse mapping
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The reverse mapping was off-by-one in the IO driver.
2021-02-13 15:21:10 -05:00
5a58f25d6a
boards: MRO Control Zero F7 OEM Support
2021-02-13 11:16:55 -05:00
ce552a3364
navigator: RTL don't get invalid params
2021-02-13 00:34:56 +01:00
1981519aad
L1 position controller: use double precision floating point for all lat/lon
2021-02-12 21:59:56 +01:00
31a6edff07
Fixed-wing: remove roll offset param (FW_RSP_OFF)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-02-12 13:57:15 -05:00
a70cf950f4
fw_pos_control_l1: apply pitch setpoint offset centrally
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-02-12 13:57:15 -05:00
f61d8539cb
fw_pos_control_l1: add takeoff minimum pitch parameter
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- remove mavlink mechanism for setting minimum pitch
2021-02-12 13:57:15 -05:00
89f19fd657
Update submodule v2.0 to latest Fri Feb 12 12:42:14 UTC 2021
...
- v2.0 in PX4/Firmware (c76477963097ac72b7bd2f165a845a493ffb724e): https://github.com/mavlink/c_library_v2/commit/43f2f3180a49720804c5f006377889a164fabadb
- v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/4e25dfa47b28adc177ea7badad837d8b84173712
- Changes: https://github.com/mavlink/c_library_v2/compare/43f2f3180a49720804c5f006377889a164fabadb...4e25dfa47b28adc177ea7badad837d8b84173712
4e25dfa4 2021-02-12 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/e4269aaf680b0797ba594b130d4e92dda889100c
82dcec27 2021-02-12 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/08e57d08ad17f1218334b74fa3766a0177783ea6
2021-02-12 16:31:28 +01:00
15e76ad993
PWM12 mode for pwm_out and dshot
2021-02-12 09:19:18 -05:00
0614789db3
tests: add simple parameter custom default testing
2021-02-12 08:27:47 -05:00
e6bc6438e8
ROMFS: airframes use new param default mechanism
2021-02-12 08:27:47 -05:00
b67aa77d29
ROMFS: use new param default mechanism
2021-02-12 08:27:47 -05:00
a257120e8d
boards: use new param default mechanism
2021-02-12 08:27:47 -05:00
ce64951578
parameter_update.msg: add basic status info
2021-02-12 08:27:47 -05:00
b8b13bb882
parameters runtime defaults
2021-02-12 08:27:47 -05:00
da1a38b44e
parameters: merge generated files ito single static constexpr header
...
- store parameter type and if volatile separately (saves kilobytes of flash)
- use Bitset for tracking active and changed parameters
- use atomic for autosave_enabled flag
- compile at ${MAX_CUSTOM_OPT_LEVEL} (-O2 on non flash constrained boards)
2021-02-12 08:27:47 -05:00
71c7c69c9d
Update submodule ecl to latest Fri Feb 12 12:42:24 UTC 2021
...
- ecl in PX4/Firmware (2292cf3ed4f8c4391131870936881331bc870260): https://github.com/PX4/PX4-ECL/commit/602e65146c975c12482560fafab7e05bf43b0029
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/ffab483504a6c2eb3b61ae10d612cb35c8fbc550
- Changes: https://github.com/PX4/PX4-ECL/compare/602e65146c975c12482560fafab7e05bf43b0029...ffab483504a6c2eb3b61ae10d612cb35c8fbc550
ffab483
2021-02-12 08:26:10 -05:00
c3172a91d9
ekf2: try reselecting distance_sensor on timeout
2021-02-12 08:25:27 -05:00
a002a07ed5
sdcardCheck: minor refactor
...
I was late for the review.
2021-02-12 00:17:43 -05:00
5db906314a
uavcan: stm32h7 driver silence debug output
2021-02-11 23:08:17 -05:00
dcb35e9a8c
Update submodule mavlink v2.0 to latest Fri Feb 12 00:38:48 UTC 2021
2021-02-11 23:06:40 -05:00
8a0bf15b9e
boards: CUAV X7Pro fix BMI088 orientation
2021-02-11 23:05:48 -05:00
7f76666fe9
Jenkins: hardware avoid unnecessary checkout
2021-02-11 23:04:26 -05:00
c63107bb57
uORB: tests increase priorities to minimize failures with stackcheck/debug enabled
...
- also relax the maximum mean by 50%
2021-02-11 22:58:57 -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
...
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
...
Allows to recover from a failed test with a stricter test
2021-02-11 16:20:30 -05:00
80b8e6a48f
v5X: Register board variants
...
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
...
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
...
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
...
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)
...
- 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
...
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
...
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
...
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
...
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
...
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
...
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
...
Got removed from the spec
2021-02-09 09:44:50 +01:00
4ca883f843
parameters: fix JSON output types
...
All types were previously output as strings
2021-02-09 09:44:50 +01:00
5a244888cd
Tools: add validate_json.py
...
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
...
- 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
...
- 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
...
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
...
- 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"
...
This reverts commit d7b89ecc86
2021-02-08 00:21:32 +01:00
d03d46b8a3
Initialize MAVLink on v5X variants
...
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
...
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"
...
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
...
- 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
...
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
...
- 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
...
- 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
...
- 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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
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- 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)
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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
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-02-01 09:02:19 +01:00
78dff6adcb
boards: add CONSTRAINED_MEMORY build option
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- 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
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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
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This PR cleansup unused rover mixers from the ROMFS
2021-01-31 19:17:38 +01:00
f19f93eedf
MacOS: Disable OS tests
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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
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- 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
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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 )
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* 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
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- 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
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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
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-01-30 11:26:42 +01:00
cadd2cf883
update gps submodule
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-01-30 11:26:42 +01:00
5eb4ab6d73
vehicle_gps_position: add jamming_state
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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
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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
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
4d6749edc2
mission_block: change loiter handling logic
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- 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
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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
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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.
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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
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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
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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
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- 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
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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
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- 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
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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
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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
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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
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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
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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
...
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.
...
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 )
...
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
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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
...
- 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
...
- 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
...
- 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
...
- 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
aa54db42ed
Update submodule ecl to latest Sat Dec 26 12:39:53 UTC 2020
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- ecl in PX4/Firmware (6a278fb230365aaf369956878ee08c3161ae739d): https://github/commit/df7f261e038aa80b07a91857f2f952280938bfc6
- ecl current upstream: https://github/commit/18f334f4dbca61e3bcd1743c22cf820b5a8ff7ef
- Changes: https://github/compare/df7f261e038aa80b07a91857f2f952280938bfc6...18f334f4dbca61e3bcd1743c22cf820b5a8ff7ef
18f334f#950 )
2020-12-26 14:39:47 -05:00
051bcf75b3
Fix PX4_CMAKE_BUILD_TYPE=Debug configuration
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Set CMAKE_RUNTIME_OUTPUT_DIR_DEBUG & _RELEASE to match
CMAKE_RUNTIME_OUTPUT_DIR as is already done in top level CMakeLists.txt.
Fixes Issue 16445 - px4-alias.sh: not found
Co-authored-by: Dan George <dgeorge@anduril.com >
2020-12-24 19:02:07 -05:00
92afe45f7f
vtol_att_control: improve readability of fill_actuator_outputs()
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- vtol standard pass through landing gear for MC and flaps for FW
2020-12-24 09:29:17 -05:00
9849ff4a9c
Standard VTOL: set idle PWM during backtransition
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-24 09:25:08 +01:00
7e01938341
VTOL: rename class variable flag_idle_mc to _flag_idle_mc
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-24 09:25:08 +01:00
5c93403db7
Tools: Python >3.7 requires the wheel packge
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currently installing pymavlink witouth the wheel package results in an
error when using Python 3.7 or later
https://github.com/ArduPilot/pymavlink/issues/486
2020-12-23 23:56:05 -05:00
70c372329c
MAVLink FTP: Update implementation according to updates specs
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The MAVLink specs for CreateFile in MAVLink FTP were updated on Dec 23, 2020 (today) with a behavior change to truncate a file if it already existed, following the UNIX standard behavior: https://pubs.opengroup.org/onlinepubs/9699919799/functions/creat.html . This change is tracking that spec change. While it is a functional change, the limited usage of the FTP protocol and the fact that implementations should not rely on error states to determine wether to truncate a file or not makes this a viable change.
2020-12-23 13:45:01 +01:00
7861377e20
Update submodule devices to latest Tue Dec 22 00:39:39 UTC 2020
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- devices in PX4/Firmware (68b6cca3bc4cd3c70ab1ea5c439e5941370e801e): https://github/commit/86b09d332041acebc35c9a0476d8dfc2752dfe39
- devices current upstream: https://github/commit/9282d3d73391859f51c759a343a052dfb1be02e0
- Changes: https://github/compare/86b09d332041acebc35c9a0476d8dfc2752dfe39...9282d3d73391859f51c759a343a052dfb1be02e0
9282d3d 2020-12-21 Silvan Fuhrer - ubx: change uart2_baudrate to 230400
2020-12-22 07:43:50 +01:00
a88b7fc517
ROMFS: Tiltrotor SITL: improve tuning and remove unnecessary params from config
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-20 21:25:50 -05:00
3ff7cd94dd
Update submodule ecl to latest Mon Dec 21 00:39:54 UTC 2020
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- ecl in PX4/Firmware (caa35af3961aa96e2549a36f1fddb1a10ee802b2): https://github/commit/a8e0e82858318042500f96f5ee882c638f201426
- ecl current upstream: https://github/commit/df7f261e038aa80b07a91857f2f952280938bfc6
- Changes: https://github/compare/a8e0e82858318042500f96f5ee882c638f201426...df7f261e038aa80b07a91857f2f952280938bfc6
df7f261
2020-12-20 21:24:52 -05:00
ec79361548
Update submodule sitl_gazebo to latest Mon Dec 21 00:39:43 UTC 2020
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- sitl_gazebo in PX4/Firmware (5868463d06https://github.com/PX4/PX4-SITL_gazebo/commit/563f0876a52d5c0fba1b7cd1aa420c613ec7025b
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/4043287bbe07a9d091d579b755796e70d45058e8
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/563f0876a52d5c0fba1b7cd1aa420c613ec7025b...4043287bbe07a9d091d579b755796e70d45058e8
4043287 2020-12-20 Silvan Fuhrer - tiltrotor: increase wing area to 0.5 per side (#678 )
f004811 2020-12-20 JaeyoungLim - Update mavsdk version for SITL tests (#673 )
2020-12-20 21:23:34 -05:00
5868463d06
Update submodule matrix to latest Fri Dec 18 12:38:33 UTC 2020
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- matrix in PX4/Firmware (a505e82391bdb9d81c03d45919f2158cee6baa8c): https://github/commit/ea43303c1cd55b0da8e152373b49dd2d5e381772
- matrix current upstream: https://github/commit/15e54ceda176f05e1ae38e71692d15cafb9e3a62
- Changes: https://github/compare/ea43303c1cd55b0da8e152373b49dd2d5e381772...15e54ceda176f05e1ae38e71692d15cafb9e3a62
15e54ced9a5e3d
2020-12-18 10:15:20 -05:00
39c585ac97
Enable SITL tests for macos ( #16329 )
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This commit enables SITL testing on macOS
2020-12-18 20:31:51 +09:00
c8d18c2719
Fix tiltrotor model for sitl_gazebo
2020-12-18 12:27:07 +01:00
c253badba4
HTE: remove dist_bottom validity check
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Without range finder, the validity flag goes to false quite quickly and
if can be that a vehicle never starts HTE is the takeoff is too slow.
In this specific context of takeoff detection, since
the exact value is not important, we can safely ignore the validity flag.
2020-12-18 12:05:22 +01:00
690c1158ad
HTE: do not update the estimator during fast up/down motions
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Drag and prop wash effects produce significant forces at high speed
that can bias the estimator when applied for an extended period of time
2020-12-18 12:05:22 +01:00
39251daf28
HTE: pull status from class instead of returning struct
2020-12-18 12:05:22 +01:00
652cc4350e
HTE: empty braces initialization of struct
2020-12-18 12:05:22 +01:00
d532bc9555
HTE: only run in air
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the _landed flag only is not enough to tell if the drone is still touching
the ground, so an additional check based on the altitude AGL is required.
to have this in_air detection correctly updated, the module needs to be
scheduled on the vehicle_local_position message as no setpoint is
produced in non-assisted modes.
2020-12-18 12:05:22 +01:00
c05c213042
mavlink: ALTITUDE stream initialize local_pos
2020-12-18 08:32:04 +01:00
66b3562080
Update submodule ecl to latest Fri Dec 18 00:39:53 UTC 2020
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- ecl in PX4/Firmware (dc358857c877ae01b922d84a6c6fffe6d8c46810): https://github/commit/1541e4b414fe63ec9d6c3077375db7e20c20ef4a
- ecl current upstream: https://github/commit/a8e0e82858318042500f96f5ee882c638f201426
- Changes: https://github/compare/1541e4b414fe63ec9d6c3077375db7e20c20ef4a...a8e0e82858318042500f96f5ee882c638f201426
a8e0e82398fe15123708737e84b75ccb8b4#943 )
9d22f14b0cf45e62f2e26f7bddda02369cd
2020-12-17 20:13:03 -05:00
e5a00033f5
Update submodule matrix to latest Thu Dec 17 23:05:20 UTC 2020
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- matrix in PX4/Firmware (788e6b9ad163f314ddd53a23f3705ca0018519f4): https://github/commit/a504b6e88152d88dba936bc74e449f2f281b84e2
- matrix current upstream: https://github/commit/ea43303c1cd55b0da8e152373b49dd2d5e381772
- Changes: https://github/compare/a504b6e88152d88dba936bc74e449f2f281b84e2...ea43303c1cd55b0da8e152373b49dd2d5e381772
ea43303158409a
2020-12-17 19:05:46 -05:00
2a187a76d6
Update submodule sitl_gazebo to latest Thu Dec 17 23:05:03 UTC 2020
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- sitl_gazebo in PX4/Firmware (90f61c2f9ahttps://github.com/PX4/PX4-SITL_gazebo/commit/19981d61cfe656d2985fef5285b4a4d14f3be199
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/563f0876a52d5c0fba1b7cd1aa420c613ec7025b
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/19981d61cfe656d2985fef5285b4a4d14f3be199...563f0876a52d5c0fba1b7cd1aa420c613ec7025b
563f087 2020-12-17 JaeyoungLim - Fix tiltrotor model (#675 )
0e2d63a 2020-12-17 JaeyoungLim - Fix wind transmormations for motor model (#674 )
e5d0d65 2020-12-13 JaeyoungLim - Update container versions for tests (#672 )
bccb487 2020-12-12 BazookaJoe1900 - mavlink_interface: rename serial link related function to include 'serial' (#670 )
2020-12-17 18:45:08 -05:00
90f61c2f9a
Update submodule GPSDrivers to latest Wed Dec 16 18:45:08 UTC 2020
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ubx: fix #63 : NAV-SAT/ SVINFO parser bug https://github.com/PX4/PX4-GPSDrivers/commit/86b09d332041acebc35c9a0476d8dfc2752dfe39
2020-12-17 08:28:25 +01:00
74083d6bd1
optical_flow/paw3902: minor improvements
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- verify register writes
- cleanly reset on lighting mode changes as per the datasheet
- perf counters for mode switches and other errors
- cleanly reset on false motion detection
- minimize sleep on reset
- allowing setting custom rotation yaw angle directly on command line with -Y (ignoring SENS_FLOW_ROT)
- enable LED output
2020-12-16 20:04:46 -05:00
43b4cf39bd
sitl_gazebo build single threaded
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- building sitl_gazebo in parallel within a parallel PX4 build isn't load balanced
2020-12-16 19:45:08 -05:00
4d30f327f9
Github Actions: skip Mavros tiltrotor mission for now ( #16405 )
2020-12-16 17:34:32 +01:00
a152fb65cb
parameters: remove unnecessary duplicated shutdown lock in param_save_default()
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- param_export already takes the shutdown lock
2020-12-16 10:50:05 -05:00
c7db0942ba
sensors: vehicle_imu don't round measured accel and gyro sample rates
2020-12-16 10:12:27 -05:00
bf5ee99952
sensors: acceleration always get accel rate from vehicle_imu_status
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- sensor rate is used for control data low pass and notch filters
2020-12-16 10:12:27 -05:00
7038cb8518
sensors: angular_velocity always get gyro rate from vehicle_imu_status
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- sensor rate is used for control data low pass and notch filters
2020-12-16 10:12:27 -05:00
336176b2f0
Mavlink FLIGHT_INFORMATION fix arming time (ms -> us) and add takeoff time
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- fixes https://github.com/PX4/PX4-Autopilot/issues/16393
2020-12-16 09:38:05 -05:00
b23d8244f0
ekf2: fix dist bottom constraint
2020-12-16 09:33:38 -05:00
acc647c518
remove duplicate this in COM_HLDL_LOSS_T
2020-12-16 08:37:42 +01:00
4bc60cca69
remove more occurrences
2020-12-16 08:37:42 +01:00
d58ee9400c
system_params - remove duplicate text in param
2020-12-16 08:37:42 +01:00
8e14e13369
README.md update PX4/Firmware -> PX4/PX4-Autopilot
2020-12-15 20:27:03 -05:00
aa244a098c
Clarification of coordinate systems for sensors_* and vehicle_* messages ( #16339 )
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Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups.
Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local >
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2020-12-15 09:18:05 +01:00
fdd1d6d244
Multicopter rounded turns ( #16376 )
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* AutoLineSmoothVel: Implement l1-style guidance in turns
2020-12-14 13:04:01 +01:00
9b065b4975
Update src/systemcmds/tests/test_dataman.c
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Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2020-12-14 09:26:18 +01:00
5cb1bb7731
systemcmds: fix dataman test
2020-12-14 09:26:18 +01:00
1719ff9892
simulator: fix after px4_task_spawn_cmd change
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argv[0] now contains the task name, so everything moves by one.
2020-12-14 09:26:18 +01:00
dba3c642d2
posix: set task name as argv[0] to match Nuttx
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This changes px4_task_spawn_cmd to match the NuttX task_spawn. It adds
the task name as argv[0]. See example below:
px4_task_spawn_cmd("task_name",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1024,
(px4_main_t)&Something::start_helper,
(char *const *)argv);
with:
argv[0]: "something"
argv[1]: "start"
argv[2]: nullptr
becomes in Something::start_helper:
argv[0]: "task_name"
argv[1]: "something"
argv[2]: "start"
argv[3]: nullptr
2020-12-14 09:26:18 +01:00
862fd1d450
module: remove NuttX only quirk
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The behaviour on NuttX and Posix should now be the same anyway.
2020-12-14 09:26:18 +01:00
314b5e721f
src: remove NuttX ifdefs around args
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It doesn't look like they are required anymore.
2020-12-14 09:26:18 +01:00
5be2066e1a
posix: small cleanup
2020-12-14 09:26:18 +01:00
Daniel Agar