aa7d0d053c
Inline uORBDeviceNode::copy for performance improvement
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-12 16:01:35 +02:00
9eb094e548
Inline deviceNodeExists and getDeviceNode in uORB DeviceMaster
...
This gives a small performance improvement
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-12 15:50:47 +02:00
ec9aa8b303
EKF2: Allocate distance sensor subscriptions as member variables
...
Just create the subscriptions and keep them, instead of
re-creating them continuously
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-12 15:50:47 +02:00
0fdf682140
Fix comparing orb_metadata in uORB::DeviceNode::publish
...
Don't compare pointers to metadata, but the metadata contents.
In protected/kernel build there are two sets of metadata, on on kernel
side and another in user side. Thus the comparison of pointers would just
always fail. Compare orb_id instead
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-12 15:50:47 +02:00
89d300a413
Clean up interfaces towards uORB
...
Proxy all calls to the DeviceNode through Manager;
- This hides the DeviceNode from publishers and subscribers
- Manager can be made an interface class between user and kernel spaces in protected build
- This doesn't increase code size or harm the performance on flat build
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-12 15:50:47 +02:00
6a60fba96d
boards: holybro_kakutef7_default remove systemcmds/ver to save flash
2021-11-11 11:17:15 -05:00
0ec3f0d2cb
mathlib: LowPassFilter2p update cutoff freq min to match NotchFilter
...
- numerically the cutoff frequency not being smaller than 1% of the
sample frequency is probably a better choice, but we're mostly filtering
16 bit data now stored in 32 bit float
2021-11-11 11:17:15 -05:00
0d171384b3
update IMU_GYRO_DNF_BW default 8->15 Hz
...
- dshot telemetry feedback can be quite slow (~2 Hz), so I think a
larger default value here makes sense
2021-11-11 11:17:15 -05:00
452f15e985
IMU_GYRO_DNF_EN remove from developer category
2021-11-11 11:17:15 -05:00
0e2ecdc59a
sensors/vehicle_angular_velocity: perf counter naming consistentcy
2021-11-11 11:17:15 -05:00
c60a9e2981
sensors/vehicle_angular_velocity: avoid unnecessary ESC notch filter resets
2021-11-11 11:17:15 -05:00
78436e706c
mathlib: NotchFilter add optimized parameter update if only notch frequency changes
2021-11-11 11:17:15 -05:00
edce30c6de
sensors/vehicle_angular_velocity: fix ESC RPM notch filter update
2021-11-11 11:17:15 -05:00
376b72fb2f
sensors/vehicle_angular_velocity: add new parameter for ESC RPM notch filter BW
2021-11-11 11:17:15 -05:00
02709fcfab
Fixes for MPU6000 and MatekH743-slim board
...
- MPU6000: Added 10us delay for R/W of slow registers
- Board: Fixed DRDY pin from PB1 to PB2
2021-11-11 08:40:41 -05:00
fdf8461452
ver: print PX4_BOARD_LABEL for 'ver all'
2021-11-11 08:38:42 -05:00
dbacdedad1
Remove FlightTaskAutoMapper, merged into AutoLineSmoothVel
2021-11-11 09:14:49 +01:00
a94c61b896
FlightTaskAutoMapper: move parameters into FlightTaskAutoLineSmooth
2021-11-11 09:14:49 +01:00
59a395f6a0
FlightTaskAutoMapper: move remaining members into FlightTaskAutoLineSmooth
2021-11-11 09:14:49 +01:00
f5183348a6
FlightTaskAutoMapper: move remaining methods into FlightTaskAutoLineSmooth
2021-11-11 09:14:49 +01:00
0211ef3ba1
FlightTaskAutoMapper: move update() into FlightTaskAutoLineSmooth
2021-11-11 09:14:49 +01:00
1cef2ad196
FlightTaskAutoMapper: merge activate() into FlightTaskAutoLineSmooth
2021-11-11 09:14:49 +01:00
e9d50b853a
Adding MAVLink message stream of GPS_RTCM_DATA
2021-11-10 21:15:01 -05:00
d61f5d3d7b
mavlink: fix forwarding to target id >= 128
...
The _MAV_PAYLOAD macro casts the value to a char*. Some compilers treat
char as signed, so we were getting negative system and component ids
if the id was >= 128. This caused later comparisons to fail which
resulted in messages not being forwarded.
2021-11-10 21:14:21 -05:00
374d44f38f
mavlink: tests add git_mavlink_v2 dependency to avoid build race
2021-11-10 14:06:40 -05:00
e0a9ceb2cb
Update submodule mavlink to latest Wed Nov 10 12:39:06 UTC 2021
...
- mavlink in PX4/Firmware (74a33bad350857b6a7dcfe2a6745e8283baa2ce4): https://github.com/mavlink/mavlink/commit/3718ee300bef7a8e7a25314e25e03c11d9f0b180
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/0a728aa8dcea5023b26d0df9f25ba5b2a14a71cd
- Changes: https://github.com/mavlink/mavlink/compare/3718ee300bef7a8e7a25314e25e03c11d9f0b180...0a728aa8dcea5023b26d0df9f25ba5b2a14a71cd
0a728aa8 2021-11-10 Julian Oes - common: request multiple CAMERA_IMAGE_CAPTURED (#1735 )
2021-11-10 14:00:28 -05:00
5e3701a365
Tools/check_submodules.sh: perform submodule sync again after first update to reach nested submodules
2021-11-10 13:52:51 -05:00
be1023f5e9
smbus_sbs: Define linker language for a header-only library
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-10 09:27:21 -05:00
d02a10b20f
Remove src/lib/drivers/accelerometer and gyroscope linking to drivers__device
...
These are pure uORB publishers, they don't link to drivers__device.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-10 09:26:36 -05:00
dd05cb3496
FlightTaskManualPosition: simplify optical flow limiting logic
2021-11-09 21:47:06 -05:00
10e329ce9e
mc_pos_control: correct MPC_XY_CRUISE description
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-11-09 21:47:06 -05:00
7ec8dd9d23
vehicle_constraints: remove deprecated speed_xy constraint
2021-11-09 21:47:06 -05:00
356de6ccf1
Factor cdc_acm_init away from px4_init
...
In protected build, this needs to go to user-space initialization as it
calls apps (sercon) and launches mavlink.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-09 21:28:28 -05:00
39c0c68167
print_load: Remove reference to CONFIG_MAX_TASKS
...
This is already removed from nuttx, and in posix the size of s->last_times
can be just checked with sizeof()
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-09 21:25:10 -05:00
9299a5c3f6
hrt: Add interface functions for latency counters
...
Add interface functions for fetching latency buckets and counters and use
those in perf_counter.cpp. This cleans up the usage of perf counters, when variables defined in hrt_drv are not referenced directly from perf.
This also enables implementing kernel-userspace interface for those for
nuttx protected/kernel build.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-09 21:24:25 -05:00
da51177382
Don't link sensors module to drivers__device
...
sensors module only works on uORB, it doesn't link to drivers__device
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-09 12:18:49 -05:00
ab9b9b1eac
boards: Add manual_control module to newly added boards
2021-11-09 16:36:42 +01:00
d47f9f155a
MC mixer: replace multirotor_motor_limits by control_allocator_status
...
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix
MCRateControl: use control_allocator_status to get saturation info
2021-11-09 10:35:10 -05:00
dd83ef1813
Fix fw position controller takeoff
...
This was introduced by a rebase
2021-11-09 10:30:28 -05:00
00905973c7
boards/kakutef7: remove dmesg to save flash
2021-11-09 16:05:25 +01:00
4aa0756d08
ManualControlSelector: correct parameter for any source according to documentation
2021-11-09 16:05:25 +01:00
fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
423aadcc4f
ManualControl: fix RC override
2021-11-09 16:05:25 +01:00
7e4a079e09
Commander: report when RC selected mode is not available
2021-11-09 16:05:25 +01:00
a593a51f05
Commander: fix mode initialization with RC
2021-11-09 16:05:25 +01:00
9f17f3b0f3
ManualControl: correct source for RC mode switches without mode slot
2021-11-09 16:05:25 +01:00
21739c6937
MulticopterRateControl: Add event for landing gear retraction when landed
2021-11-09 16:05:25 +01:00
2b29df06fd
ManualControl: avoid scheduling based on unchosen input
2021-11-09 16:05:25 +01:00
48869ed03e
ManualControl: Simplify check if switches updated
2021-11-09 16:05:25 +01:00
38ab7e6ab9
Commander: separate function for action request execution
2021-11-09 16:05:25 +01:00
820ba07d4b
Fix landing gear processing
2021-11-09 16:05:25 +01:00
0a02d8e774
Commander: handle denying disarm when not landed centrally
2021-11-09 16:05:25 +01:00
af54ac7cdb
ManualControl: remove unused variables and renaming
2021-11-09 16:05:25 +01:00
e73e6a490d
ManualControl: separate function for stick arming
2021-11-09 16:05:25 +01:00
a349dae760
Use action_request to command RC VTOL transitions
2021-11-09 16:05:25 +01:00
dcd26bd2b8
Commander: fix "Manual control lost" showing double in QGC
...
because of the missing tab in the deprecated message.
2021-11-09 16:05:25 +01:00
956997eb1e
Replace arm_request and mode_request with combined action_request
...
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
2021-11-09 16:05:25 +01:00
052e29267d
Use mode_request for RC mode switching
2021-11-09 16:05:25 +01:00
f8e4846851
Use arm_request for manual killing
2021-11-09 16:05:25 +01:00
af607e3040
Use separate arm_request instead of vehicle_command for RC arming
2021-11-09 16:05:25 +01:00
c4473bdab7
ManualControl: clean up arm/disarm gesture
2021-11-09 16:05:25 +01:00
48ed350b25
ManualControlSelector: simplification refactoring
...
- clang tidy did't like {bool} == true in a condition
- setpoint_from_input() got small enough ot just put in line
2021-11-09 16:05:25 +01:00
cc2ec09659
ManualControl: fix arm button logic during testing
...
The latching logic has to be different than for the arm switch
this difference got lost in the rewrite of the old obfuscated
arming trigger logic.
2021-11-09 16:05:25 +01:00
0901b73f50
ManualControlSelector: rename functions and validate chosen inputs all the time
2021-11-09 16:05:25 +01:00
28a29ad050
ManualControlSelector: revamp logic to switch when configuration is changed
2021-11-09 16:05:25 +01:00
05946ff0c6
mavlink_receiver: remove unused start_helper declaration
2021-11-09 16:05:25 +01:00
7a2ef4a917
Commander: don't publish RC_IN_MODE to vehicle_status
...
This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
2021-11-09 16:05:25 +01:00
fff2de43a5
commander_params: update description based on ManualControlSelector
2021-11-09 16:05:25 +01:00
396bab52ad
ManualControlSelector: refactor selection to chose based on a single condition
2021-11-09 16:05:25 +01:00
1bd786c71a
ManualControlSelector: don't invalidate existing setpoint with other invalid input
2021-11-09 16:05:25 +01:00
e15f6b27f2
ManualControlSelector: copy manual_control_input struct instead of each individual field
2021-11-09 16:05:25 +01:00
63ddb050ef
ManualControlSelector: refactor timeout calculation to be consistent
2021-11-09 16:05:25 +01:00
2528e8c572
ManualControl: correct calculation of dt in seconds
2021-11-09 16:05:25 +01:00
12bb2de175
state_machine_helper: rever explicitly handling unavaialble mission
...
It was already handled by the existing condition.
2021-11-09 16:05:25 +01:00
4dc165efd0
Commander: don't retry to reach the desired_main_state if we reached it
2021-11-09 16:05:25 +01:00
d48302c841
Commander: send out manual control lost event
2021-11-09 16:05:25 +01:00
93bed7f670
vehicle_command: shorten arming action/origin enum names
2021-11-09 16:05:25 +01:00
709c909929
commander_params: correct RC override description
2021-11-09 16:05:25 +01:00
b3a5072de5
commander/manual_control: use msg enum for params
...
Instead of using a private enum class we should define the enum in the
vehicle_command message and then use it consistently.
2021-11-09 16:05:25 +01:00
f1b1068824
commander: remove unused mode/main_state methods
...
With the previous changes these seem no longer required.
2021-11-09 16:05:25 +01:00
42af44700b
mc_rate_control: always allow landing gear control
...
Except of course when landed and we try to put it up.
2021-11-09 16:05:25 +01:00
486a4b0118
mavlink: reduce calls to hrt_absolute_time
2021-11-09 16:05:25 +01:00
454aa611ae
manual_control: add missing 7
2021-11-09 16:05:25 +01:00
2c0fc686a7
manual_control: don't accept outdated input
2021-11-09 16:05:25 +01:00
4d00a56230
manual_control: method can be static
2021-11-09 16:05:25 +01:00
6027398459
manual_control: handle invalid rc_in_mode
2021-11-09 16:05:25 +01:00
50cca204d8
manual_control: add check for instance
2021-11-09 16:05:25 +01:00
963d15eacc
manual_control: use correct sysid/compid
2021-11-09 16:05:25 +01:00
cfdb53a4d8
manual_control: don't switch gear on first init
...
This will ignore the first transition from NONE to something.
This matches the behaviour that existed before.
2021-11-09 16:05:25 +01:00
60de330f18
manual_control: add hysteresis for arm button back
2021-11-09 16:05:25 +01:00
75209a7552
manual_control: address review comments
2021-11-09 16:05:25 +01:00
942eb23248
ManualControlSelector: remove commented stick difference filter draft
2021-11-09 16:05:25 +01:00
11a46d3d27
ManualControlSelectorTest: add constantly outdated samples case
...
Reviewing the code I saw this case arising from the order things
get checked.
2021-11-09 16:05:25 +01:00
39282a795f
manual_control: fix tests
2021-11-09 16:05:25 +01:00
53bd254502
commander: add valid check
...
Better checking once too much than once too little.
2021-11-09 16:05:25 +01:00
efd8757fda
manual_control: handle NAN
2021-11-09 16:05:25 +01:00
374c9f38a7
manual_control: use constrain() instead
2021-11-09 16:05:25 +01:00
2a41ade223
manual_control: update first, get diff after
...
Not sure why I had this the wrong way round.
2021-11-09 16:05:25 +01:00
d0fea93d72
manual_control: add reset to diff
...
This should prevent triggering user override right after RC re-appears.
2021-11-09 16:05:25 +01:00
93c505b163
commander: force arming is not an option from RC
2021-11-09 16:05:25 +01:00
4a5ef1c81e
ROMFS: whitespace
2021-11-09 16:05:25 +01:00
6a6b8d49fc
msg: re-use manual_control_input in setpoint
...
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
2021-11-09 16:05:25 +01:00
baf81abbab
msg: whitespace only
2021-11-09 16:05:25 +01:00
14cfad74bf
manual_control: remove leftover debug statements
2021-11-09 16:05:25 +01:00
5ae76bdc17
commander: fix potentially wrong user message
2021-11-09 16:05:25 +01:00
bd0c1014d9
manual_control: support arming button
...
The arming button required some refactoring in order to support to
toggle arm/disarm using the vehicle_command. Otherwise manual_control
would have to subscribe to the arming topic and we would spread out the
logic again, and risk race conditions.
2021-11-09 16:05:25 +01:00
9cbfa2ca95
manual_control: ORBIT and PRECLAND not supported
...
ORBIT and PRECLAND are not actually possible on the flight mode switch.
2021-11-09 16:05:25 +01:00
2e9edfcd89
commander: only override according to param
...
This got lost in the refactor earlier.
2021-11-09 16:05:25 +01:00
56b2b81600
manual_control: use filter to check user override
...
Instead of only looking at the diff between two RC samples to decide
whether a user wants to override, we now look at the filtered diff over
one second. This should be more robust to RC sent at various or varying
rates.
2021-11-09 16:05:25 +01:00
97d01f200e
commander: move manual_control and switches out
...
This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
2021-11-09 16:05:25 +01:00
e49b596edc
commander: add desired main state
...
This is an intermediate solution to carry forward the initial state of
the mode slot. Basically, it allows that we start up in Stabilized but
switch to POSCTL as soon we have the required GPS.
2021-11-09 16:05:25 +01:00
b6af068f25
commander: always reset posvel validity
...
I assume reseting posvel validity is ok for any case, not just all cases
except manual, acro, stabilized.
2021-11-09 16:05:25 +01:00
52563264e6
commander: move valid mission check inside
...
I think it makes more sense to move this check inside of
main_state_transition.
2021-11-09 16:05:25 +01:00
916ffef04c
manual_control: send initial mode in the beginning
...
In order for commander to know the desired mode we need to send the
initial position of the mode slot.
2021-11-09 16:05:25 +01:00
a91fa7f3c1
commander: only move to POSCTL when armed
...
I don't think we want to switch to POSCTL when the sticks are moved when
armed.
2021-11-09 16:05:25 +01:00
66b069e788
commander: move main_state_transition out
...
This is a first step to having a desired main state.
2021-11-09 16:05:25 +01:00
e2e908d0fc
mavlink: remove unused methods
2021-11-09 16:05:25 +01:00
97aa06cc19
commander: move switch handling to manual_control
2021-11-09 16:05:25 +01:00
08e58a44e9
Fix style
2021-11-09 16:05:25 +01:00
71d6aa913d
manual_control: starting to implement switches
2021-11-09 16:05:25 +01:00
ac121c676a
commander: check for valid flag for manual_control
2021-11-09 16:05:25 +01:00
cda6524421
manual_control: move override detection
...
This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
2021-11-09 16:05:25 +01:00
1c15cc11d8
manual_control: implement (dis)arming via command
2021-11-09 16:05:25 +01:00
8876af9150
manual_control: add instance to selector
...
This instance is then used to schedule the callback for the
subscription.
2021-11-09 16:05:25 +01:00
14eb656a59
rc_update: use snake_case for namespace name
2021-11-09 16:05:25 +01:00
6e8ccf6a45
rc_update: rename update method
...
This reflects better what it actually does.
2021-11-09 16:05:25 +01:00
723db8bf2a
manual_control: add selector class [WIP]
...
This adds a selector class with unit tests.
The idea is to have a valid flag in manual_control_septoint and set that
according to the selection and/or timeout of manual_control_inputs.
2021-11-09 16:05:25 +01:00
eeb7682fd9
ROMFS: start manual_control for SITL
2021-11-09 16:05:25 +01:00
2d816e0b3e
[WIP] manual_control selector hacks
2021-11-09 16:05:25 +01:00
e18cf3da3e
sensors/vehicle_imu: use WelfordMean for online mean and variance
2021-11-09 15:19:35 +01:00
a8c3bcca32
boards: disable CONFIG_STM32H7_SPI_DMATHRESHOLD
2021-11-08 19:20:47 -05:00
cb34ff1292
posix-configs/SITL/init/test/test_imu_filtering enable gyro dynamic notch filtering by default
2021-11-08 19:14:32 -05:00
e0d9ccdc18
sensors/vehicle_angular_velocity: small FFT notch update simplification
2021-11-08 19:14:32 -05:00
47afab62e7
gyro_fft: limit noise floor to configured range (IMU_GYRO_FFT_MIN/MAX)
2021-11-08 19:14:32 -05:00
dd3e0b723a
gyro_fft: add IMU_GYRO_FFT_SNR parameter
2021-11-08 19:14:32 -05:00
6fab6242db
setup/python requirements: add future module
...
which is a requirement for MAVLink header generation.
Found on Ubuntu 20.04 Python 3.
2021-11-08 17:05:30 +01:00
b216cddf49
state_machine_helper: add place holder in array nav_state_names for removed LANDGPSFAIL mode
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-08 13:42:55 +01:00
031f7f831b
Fixedwing Pos Control: Handle vehicle transition waypoints outside controllers ( #18503 )
...
* Handle VTOL transition waypoints outside FW auto control modes
2021-11-08 11:21:08 +01:00
66ab7e50df
github actions increase NuttX compile ccache limit slightly
2021-11-07 20:37:58 -05:00
3b68f8e510
Tools/check_submodules.sh revert attempted submodule improvements
...
- this wasn't helping break out of submodule issues
2021-11-07 20:36:47 -05:00
4627f5514e
boards: holybro_kakutef7_default disable load_mon to save flash
2021-11-07 20:36:47 -05:00
6a2ebfc0cc
Handle setpoint types properly for fixedwing position control
...
Handle setpoint types properly for fixedwing position control
2021-11-07 19:21:00 -05:00
f43adaeeb5
Tools/check_submodules.sh disable parallel jobs
...
- this is already run separately for each submodule (potentially in parallel)
2021-11-07 18:12:30 -05:00
dbd9b88bea
FW position controller: only allow switching to AUTO_ALTITDUE or AUTO_CLIMBRATE if pos_sp_curr_valid
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-07 23:31:21 +01:00
2f8cb5a1c2
mavlink: initial support for MAG_CAL_REPORT stream
2021-11-07 16:03:34 -05:00
24b00317b5
Tools/check_submodules.sh attempt update before sync to handle changes
2021-11-07 16:00:13 -05:00
5b3e1a2347
boards: add MatekH743-slim support
2021-11-07 15:39:50 -05:00
cda7c6ceaa
Enable offboard actuator setpoints
2021-11-07 15:38:42 -05:00
47a191489e
cmake: sitl_gazebo build use memory information from the system to estimate the parallel jobs
...
Using cmake_host_system_information, grabs AVAILABLE_PHYSICAL_MEMORY and adds another job for every 1.5GB of available memory.
This is tested on a single system with 16 logical cores and 16GB RAM (~11.5GB available, reported correctly by cmake).
2021-11-07 15:37:48 -05:00
68026eadeb
save significant IMU bias changes learned by the EKF
...
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash
Co-authored-by: Paul Riseborough <gncsolns@gmail.com >
2021-11-07 15:34:27 -05:00
5969508fa7
mavlink: cmake generate mavlink headers at build time
...
- mavlink/mavlink is now directly included as a submodule instead of the generated mavlink/c_library_v2
- this also switches to mavlink development.xml by default
2021-11-05 23:01:38 -04:00
88489ae8bd
mavlink: Check target for mavlink shell
...
The SERIAL_CONTROL MAVLink message now contains a target_system and
target_component field that we should check.
Without this we might be answering to a command on the network that is
meant for another system.
2021-11-05 23:48:44 +01:00
96101a9c11
NuttX backports of imxrt dcache fixes to support WB & USB
2021-11-05 13:50:02 -04:00
af6bedaded
nxp_fmurt1062:Needs pwm_out
2021-11-05 13:50:02 -04:00
ff43923567
nxp_fmurt1062-v1:Use Write Back Dcache
2021-11-05 13:50:02 -04:00
dedad87e82
nxp_fmurt1062-v1:Force no no-unaligned-access
...
This results in a load saving (no dcache) of 16.82% at a cost
of 0.03% Flash, .07% XIP Flash and .45% SRAM
Forced Alighment
With: -mno-unaligned-access
Memory region Used Size Region Size %age Used
flash: 606568 B 7 MB 8.26%
flashxip: 622920 B 1 MB 59.41%
sram: 640848 B 856 KB 73.11%
itcm: 0 GB 0 GB
dtcm: 0 GB 128 KB 0.00%
PID COMMAND CP
0 Idle Task 87640 20.047 204/ 748 0 ( 0) READY 3
1 hpwork 0 0.000 332/ 1784 249 (249) w:sig 3
2 lpwork 26 0.008 780/ 1616 50 ( 50) w:sig 4
3 init 0 0.000 1980/ 2928 100 (100) w:sem 3
4 wq:manager 0 0.000 508/ 1256 255 (255) w:sem 4
327 navigator 910 0.204 1124/ 1832 105 (105) READY 6
23 wq:lp_default 3479 0.795 1252/ 1920 205 (205) READY 4
30 wq:hp_default 23554 5.415 1332/ 1904 237 (237) READY 4
47 dataman 0 0.000 820/ 1208 90 ( 90) w:sem 4
57 wq:I2C1 26849 6.190 1060/ 2336 246 (246) w:sem 4
60 wq:I2C2 24045 5.440 732/ 2336 245 (245) w:sem 4
86 wq:SPI1 47127 10.804 1352/ 2336 253 (253) w:sem 4
91 wq:I2C3 1935 0.436 980/ 2336 244 (244) w:sem 4
101 wq:SPI3 6932 1.585 1028/ 2336 251 (251) w:sem 4
237 wq:nav_and_controllers 16743 3.832 1236/ 2240 242 (242) w:sem 4
248 wq:rate_ctrl 9008 2.074 1572/ 1952 255 (255) w:sem 4
250 wq:INS0 37182 8.450 4372/ 6000 241 (241) w:sem 4
264 commander 29395 6.732 1260/ 3224 140 (140) READY 5
287 mavlink_if0 60513 13.828 1876/ 2728 100 (100) READY 4
294 mavlink_rcv_if0 5946 1.387 1292/ 4560 175 (175) READY 4
307 wq:UART5 3345 0.770 844/ 1632 229 (229) READY 4
370 log_writer_file 0 0.000 372/ 1176 60 ( 60) w:sem 3
369 logger 2121 0.484 2468/ 3648 230 (230) READY 3
393 top 37523 8.641 3060/ 4080 237 (237) RUN 3
Processes: 24 total, 10 running, 14 sleeping
CPU usage: 77.08% tasks, 2.87% sched, 20.05% idle
DMA Memory: 5120 total, 1024 used 1024 peak
Uptime: 441.946s total, 87.640s idle
Allow Un-Alighment
With Out: -mno-unaligned-access
Memory region Used Size Region Size %age Used
flash: 604008 B 7 MB 8.23% 8.26% +0.03
flashxip: 622240 B 1 MB 59.34% 59.41% +0.07
sram: 636752 B 856 KB 72.64% 73.11% +0.45
itcm: 0 GB 0 GB
dtcm: 0 GB 128 KB 0.00% 0.00%
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD
0 Idle Task 2418 3.190 264/ 748 0 ( 0) READY 3
1 hpwork 0 0.000 332/ 1784 249 (249) w:sig 3
2 lpwork 12 0.004 852/ 1616 50 ( 50) w:sig 3
3 init 0 0.000 1932/ 2928 100 (100) w:sem 3
4 wq:manager 0 0.000 548/ 1256 255 (255) w:sem 4
327 navigator 22 0.203 1052/ 1832 105 (105) READY 6
23 wq:lp_default 83 0.743 1252/ 1920 205 (205) READY 4
30 wq:hp_default 637 5.886 1332/ 1904 237 (237) READY 4
47 dataman 0 0.000 820/ 1208 90 ( 90) w:sem 4
57 wq:I2C1 162 1.063 1060/ 2336 246 (246) w:sem 4
60 wq:I2C2 98 0.500 732/ 2336 245 (245) w:sem 4
86 wq:SPI1 1166 10.771 1352/ 2336 253 (253) w:sem 4
91 wq:I2C3 48 0.437 1060/ 2336 244 (244) w:sem 4
101 wq:SPI3 178 1.653 1028/ 2336 251 (251) w:sem 4
237 wq:nav_and_controllers 410 3.781 1324/ 2240 242 (242) w:sem 4
248 wq:rate_ctrl 222 2.050 1572/ 1952 255 (255) w:sem 4
250 wq:INS0 940 8.691 4372/ 6000 241 (241) w:sem 4
264 commander 753 6.475 1472/ 3224 140 (140) READY 5.03
287 mavlink_if0 1440 13.973 1780/ 2728 100 (100) READY 4
294 mavlink_rcv_if0 139 1.304 1276/ 4560 175 (175) READY 4
307 wq:UART5 83 0.785 828/ 1632 229 (229) READY 4
370 log_writer_file 0 0.000 372/ 1176 60 ( 60) w:sem 3
369 logger 54 0.493 2468/ 3648 230 (230) READY 3
393 top 1053 10.015 3060/ 4080 237 (237) RUN 3
396 mavlink_rcv_if1 166 1.608 1380/ 4560 175 (175) READY 4
395 mavlink_if1 2167 23.459 1812/ 2824 100 (100) READY 4
Processes: 26 total, 12 running, 14 sleeping
CPU usage: 93.90% tasks, 2.91% sched, 3.19% idle 77.08% tasks, 2.87% sched, 20.05% idle -16.82%
DMA Memory: 5120 total, 1024 used 1024 peak
Uptime: 18.242s total, 2.419s idle
2021-11-05 13:50:02 -04:00
4225193456
nxp_fmurt1062-v1:Proper USB HS config
2021-11-05 13:50:02 -04:00
e2b4e435a9
Build system:Board level control of no-unaligned-access
2021-11-05 13:50:02 -04:00
af9f8f08c6
NuttX PX4 build - capture log in VERBOSE=True|1
2021-11-05 13:50:02 -04:00
d4c2476699
nxp_fmurt1062-v1:init Fix Spelling
2021-11-05 13:50:02 -04:00
46b208ba21
nxp_fmurt1062-v1:init Define ret indepenent of enabled IP Blocks
2021-11-05 13:50:02 -04:00
29eb27632a
nxpfmurt1062-v1:Add USB dev
2021-11-05 13:50:02 -04:00
56cf77a74c
addressed review comments
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
e36e527488
fixed wrong path
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
d58d13b2e8
APX4-1617: Fix manual climb rate in TECS ( #1463 )
...
* tecs: workaround for the fact that vel smoothing lib uses a DOWN coordinate system
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
7cb99f521c
moved ManualVelocitySmoothing to motion_planning lib
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
924298e9c3
addressed review comments
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
0ac3077bdc
tecs: use trajectory generation library to compute height rate setpoint
...
- added ability to specify maximum acceleration constraint for height rate setpoint
- added support for locking altitude setpoint when in height rate control
mode and height rate input is zero
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
6e75b7cffd
FixedWingPositionControl: push altitude setpoint locking into TECS
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
296db60a58
camera_capture: use output functions for pin configuration if SYS_CTRL_ALLOC==1
2021-11-05 12:36:04 -04:00
6d993a9301
camera_trigger: use output functions for pin configuration if SYS_CTRL_ALLOC==1
2021-11-05 12:36:04 -04:00
f492fa9d3a
fix typo
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
514cf12c57
addressed review comments
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 17:58:21 +03:00
3bd114bf9f
RTL: if vehicle is a VTOL in hover, always consider all safe landing points
...
Unless there is already a mission landing in progress,
in that case stay on the mission landing if RTL_TYPE
isn't set to closest.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
1163a52c17
Navigator: remove unnecessary (duplicated) info messages for RTL
...
There is already (a more precise) info message on RTL activation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
f4f9b8ebf2
RTL: replace deny_mission_landing logic by getDestinationTypeMissionLanding()
...
The rtl instance decides on destination of RTL, and Navigator then switches to
mission mode if required.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
ab08bbdb58
RTL: improve RTL info message
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
775a1eb4b6
RTL: remove unused function and non-informative comments
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
dd987c08a5
RTL: rename enum names for RTLType
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
a012f01dbc
Navigator: clean up get_rtl_type()
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
8dc6d5f208
RTL: set destination type to mission landing also in MC
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
9c15be22d6
mc_autotune_attitude_control: add new MC_AT_EN parameter to enable
...
- only enabled by default on boards that aren't memory constrained
2021-11-05 09:52:07 -04:00
1e94512719
FD: use flags union instead of bitmask
2021-11-05 09:45:52 -04:00
3f1025fb1e
FD: add dedicated topic to log more internal states
...
log imbalanced propeller check metric
add failure_detector_status message
2021-11-05 09:45:52 -04:00
b8ed457371
Commander: trigger failsafe action if imbalanced propeller detected
2021-11-05 09:45:52 -04:00
5dfb8e594a
FD: add imbalanced propeller check
2021-11-05 09:45:52 -04:00
bf2fb70d67
vehicleIMU: compute and log accel variance
2021-11-05 09:45:52 -04:00
f02786d112
Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL
...
- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 12:09:39 +03:00
b77487d69c
Fixed-wing Position controller: add modes for auto altitude and auto descend
...
- bit of clean up
- add GPS failsafe mode auto_altitude, that will keep current altitude with a fixed-bank angle
for some time, then switches to auto_descend that will descend with constant sink rate
of 0.5m/s
- params controlling GPS failsafe are not FW params: NAV_GPSF_R --> FW_GPSF_R and
NAV_GPSF_LT --> FW_GPSF_LT
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 12:09:39 +03:00
c73a1b4c68
update UAVCAN-v0 dsdl to DroneCAN
2021-11-04 21:36:13 -04:00
67437396f1
mpu6000: add USER_CTRL I2C_MST_EN bit to checked registers
2021-11-04 21:22:14 -04:00
8fbb241c2e
mpu6000: add gyro/accel self test bits to checked registers
2021-11-04 21:22:14 -04:00
bffcdd6fad
boards: modalai_fc-v2 fix bootloader board type
2021-11-04 15:43:29 -04:00
f55590ce78
FlightTaskOrbit: remove duplicate newlines
2021-11-03 17:37:52 +01:00
6cea707330
FlightTaskOrbit: increase acceptance radius from 1 to 2m
...
to avoid reaproaching when tracking is not perfect while
acc/deccelerating by stick.
2021-11-03 17:37:52 +01:00
eda9dce033
FlightTaskOrbit: fix direction change via MAVLink command
2021-11-03 17:37:52 +01:00
d450afead6
FlightTaskOrbit: Direct orbit approach with slowdown at intersection point
2021-11-03 17:37:52 +01:00
0d0b87e193
Update src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
...
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2021-11-03 17:37:52 +01:00
9bd46be124
Orbit: Switch to PositionSmoothing library.
...
This also fixes the bug with altitude not follows and smoothes orbit approach trajectory
2021-11-03 17:37:52 +01:00
ea1ae73526
Support for Raspberry PI RP2040 MCU ( #18083 )
2021-11-03 12:14:30 -04:00
8f6fd5f37b
sensors/vehicle_angular_velocity: gyro RPM dynamic notch filter handle negative RPM
...
- some UAVCAN ESCs report negative RPM for reverse rotation
- lower hard coded safety limit RPM limit to 10 Hz (600 RPM)
- avoid disabling notch filters that weren't configured
2021-11-02 09:36:02 -04:00
c6f249f7f1
Kconfig merge_config only set to 'n' when BOOL
...
Run make updateconfig to fix delta's of derived configs
2021-11-02 09:34:21 -04:00
fec0d6c5ed
ekf2: change indication further reduce data precision
2021-11-02 10:21:54 +01:00
1317b1a6e1
[AUTO COMMIT] update change indication
2021-11-01 13:59:34 +01:00
9e54c6d1aa
ekf2: move generic functions to control.cpp
...
these functions aren't specific to GPS fusion
2021-11-01 13:59:34 +01:00
e90734881b
ekf2_test: add more GPS fusion control tests
2021-11-01 13:59:34 +01:00
8aae39e82a
ekf2: move GPS control logic to separate source file
2021-11-01 13:59:34 +01:00
689ab12845
ekf2: refactor gps vel/pos fusion control logic
2021-11-01 13:59:34 +01:00
9afc390552
ekf2: move gps yaw reset in starting function
2021-11-01 13:59:34 +01:00
1461eb0e32
logger: increase optimization to ${MAX_CUSTOM_OPT_LEVEL}
...
- ${MAX_CUSTOM_OPT_LEVEL} is -O2 on boards that aren't flash constrained
2021-11-01 09:13:12 +01:00
32be88404a
commander: Only run estimator navigation checks when armed
2021-10-28 12:06:31 -04:00
7006b0aee9
Update submodule jMAVSim to latest Thu Oct 28 12:38:55 UTC 2021
...
- jMAVSim in PX4/Firmware (c9b89ee869https://github.com/PX4/jMAVSim/commit/0a5a8c6d9da05bee5f82faa25430213d97d396b0
- jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/b23dc53d558e801b214fbcb605a061c9773105e0
- Changes: https://github.com/PX4/jMAVSim/compare/0a5a8c6d9da05bee5f82faa25430213d97d396b0...b23dc53d558e801b214fbcb605a061c9773105e0
b23dc53 2021-10-08 Ilya Petrov - Use low resolution texture also on Windows
2021-10-28 11:41:02 -04:00
c9b89ee869
fixed ulanding_radar autostart command
2021-10-28 00:01:37 -04:00
be5c5856e7
cmake: px4_add_module always add module to PX4_MODULE_PATHS so that parameters aren't pruned
2021-10-27 23:00:40 -04:00
51abb804ac
UAVCANv1 Fix NodeClient header and Kconfig merge logic
2021-10-27 10:07:01 -04:00
0decdb1c7b
github action: run ./Tools/generate_board_targets_json.py in container
...
As it requires kconfiglib
2021-10-27 15:23:23 +02:00
e715e6c245
Fixed-wing position control: set yaw_sp to yaw_current instead of nav_bearing when not controlled
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-27 14:35:00 +03:00
b53808d11b
fixed-wing: set yaw_sp to yaw_current instead of 0 when not controlled
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-27 14:35:00 +03:00
da4d6dc657
L1: increase the max allowed tangential velocity in the opposite direction to 2m/s
...
There is logic in L1 that prevents the vehicle from trying to achieve
an impossible loiter entry (e.g. due to wind). That check makes the
vehicle track the loiter center if the tangential velocity is in the wrong
direction while loitering. After the vehicle flies through the center, it can
then turn the other way around to join the loiter.
This check is though too sensitive if it purely checks for the wrong direction,
and it can end in delayed loiter entry for no reason.
This commit increases the threshold to 2m/s of tangential velocity
in the wrong direction to trigger the check.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-27 12:32:58 +03:00
eee5f501cd
navigator: fix flyaway when altitude change is commanded without a valid
...
triplet
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-27 11:01:13 +03:00
bf6a47ba6a
navigator: cleanup of set_loiter_item
...
Unwraps the set_loiter_item() to solve the issue where the altitdue setpoint
in a MC takeoff wasn't correctly used.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-27 11:01:13 +03:00
cb78ba34d7
Mission: for tangential loiter exit, set current position setpoint typ to position
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-27 11:01:13 +03:00
4b21c0c49e
Fw Pos C: always reset pos_sp type from LOITER to POSITION if far away
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-27 11:01:13 +03:00
d678e792cc
mission_block: don't require an exiting heading when loitering if the next
...
waypoint is within the loiter radius of the current waypoint
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-27 11:01:13 +03:00
5e1f62e9d0
Add option to warn the pilot in case of strong magnetic interference but still allow arming.
...
This PR changes the COM_ARM_MAG_STR parameter to accept values. If the parameter is set to 2, the check is performed and a warning is logged but the vehicle can still arm.
2021-10-27 09:59:18 +02:00
2b6bd452df
fix hardpoint hardfault by checking argc before std::strcmp
2021-10-27 08:11:23 +02:00
de488f0f40
omnibus/f4sd: add topic listener & change timer order
...
So it matches the usage in the channel definition order
2021-10-27 08:03:55 +02:00
8476875b4d
Kconfig: add missing serial ports
2021-10-27 08:03:55 +02:00
48344c6e2a
state_machine_helper: add missing 'break' (no behavior change)
2021-10-27 08:03:55 +02:00
6d0c6bb6ce
lib/world_magnetic_model: cmake remove helper target BYPRODUCTS
...
- otherwise ninja will try to rebuild these
2021-10-26 18:52:12 -04:00
a2801bab80
[AUTO COMMIT] update change indication
2021-10-26 14:39:58 -04:00
88a979cf1d
lib/world_magnetic_model: add cmake helpers for updating tables
...
- `world_magnetic_model_update` to fetch latest geo_magnetic_tables.hpp
- `world_magnetic_model_tests_update` to fetch latest test_geo_lookup.cpp
2021-10-26 14:39:58 -04:00
24ab430466
Tools/generate_board_targets_json.py: fix json board targets regression from #17100
2021-10-26 16:15:39 +02:00
d0f89f7fff
ekf2: refactor wind reset functions
2021-10-26 10:18:56 +02:00
456dfcb4b9
ekf2: update getter for true airspeed
2021-10-26 10:18:56 +02:00
3927c183de
ekf2_test: adjust airspeed unit test
...
an airpseed of > 2m/s is required to start the fusion (set by param)
fw mode is also required
Given the larger estimated windspeed after those changes, the change of
static pressure is larger and the height estimate takes more time to
reach the final value
2021-10-26 10:18:56 +02:00
6e8f0e92ff
ekf2: refactor airspeed fusion control logic
2021-10-26 10:18:56 +02:00
8873e92c7c
ekf: force fallback to baro if GPS is stopped while in GPS height mode
...
Otherwise, no height aiding source is used
2021-10-26 10:05:28 +02:00
0a140ec59a
ekf2_test: add GPS height to baro fallback
2021-10-26 10:05:28 +02:00
f4c21cedd9
ekf2_test: use motion_planning for dynamic yaw emergency test
2021-10-25 18:06:38 -04:00
340a2caa8e
ekf2_test: use motion_planning library
...
The VelocitySmoothing class from the motion_planning library is used to
generate trajectories in order to test the EKF convergence during motion
2021-10-25 18:06:38 -04:00
38e2e6a01f
Use NuttX MPU Reset ( #18283 )
...
* NuttX with MPU reset backports
* Use NuttX MPU reset
2021-10-25 18:05:31 -04:00
8088c82b6a
Add CANNODE_FLOW_ROT
2021-10-25 16:31:00 -04:00
5dcaadf492
Fix px4vision defaults
2021-10-25 16:29:52 -04:00
24cd0c6fa3
Enablement of PX4 SPI driver for UCANS32K146
2021-10-25 08:36:54 -07:00
a548c94230
boards: holybro_durandal-v1_default disable modules to save flash
2021-10-25 13:41:31 +02:00
6ec9ab11f2
add fw auto-tune module to board configs
2021-10-25 13:41:31 +02:00
95e2941b17
fw att: inject system identification signal to controller
2021-10-25 13:41:31 +02:00
6af0856558
add FF to FW rate controllers
2021-10-25 13:41:31 +02:00
55f0860c31
fw atune: add fixed-wing auto-tuning module
2021-10-25 13:41:31 +02:00
8dfdb1e3db
compute and publish fixed-wing control power
2021-10-25 13:41:31 +02:00
d84b0296d2
support orbit command in fixed wing mode
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
commander: support orbit mode for fixed wings
Signed-off-by: RomanBapst <bapstroman@gmail.com >
FwPositionControl: publish orbit status
Signed-off-by: RomanBapst <bapstroman@gmail.com >
commander:reject orbit mode while doing a vtol transition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
FixedWingPositionControl: explicitly cast waypoint for Orbit status
FixedwingPositionControl: fill missing orbit_status fields
navigator_main: handle reposition/orbit corner cases
- set orbit rotation direction correctly
- send mavlink message when orbit is rejected
FixedWingPositionControl: correctly report rotation direction in orbit_status
navigator: hack to not break orbit while doing altitude changes
Signed-off-by: RomanBapst <bapstroman@gmail.com >
navigator: set cruise throttle for orbit command
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-25 09:48:27 +02:00
93eb0162e5
drivers/uavcan_v1: fix Kconfig trailing whitespace
2021-10-25 08:15:46 +02:00
f9cfcc5cfa
AirspeedSelector: add bitmask to enable checks seperately in ASPD_DO_CHECKS
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
73fe300c00
WindEstimator: remove option to disable scale estimation
...
The situation where this would be desired is unclear, plus it's basically
the same as setting ASPD_SC_P_NOISE to a very small value.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
b38bf23d6e
WindEstimator: avoid division by 0
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
c0754cf324
AirspeedValidator: pass vI as reference
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
f9682b86d1
AirspeedSelector: some clean up
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
7537fa36c8
AirspeedValidator: fix airspeed scale validation (feed raw TAS)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
a2faac148f
AirspeedValidator: check_airspeed_innovation() check absolute innovations
...
Do no longer use tas_innovation from wind estimator and test ratio, but calculate
the innovation based on wind estimate, TAS measurement (including currently applied scale)
and ground velocity. Use innovations directly to trigger failure.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
f6d37ecacf
AirspeedSelector: make sure we don't try to access a negative array index
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
ccab93e68b
AirspeedSelector: use Vector3f
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
259b851ba7
WindEstimator: remove filter reset due to airspeed measurement rejection
...
As the purpose of this wind estimator is to (mainly) catch airspeed failures,
we don't value estimator stability as much as the reliability to catch
actual sensor issues, and thus do not reset the filter (as this may hide
a real issue with the sensor)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
3ad901e51d
Wind Estimator: use time_literals
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
cad7851774
AirspeedSelector: add _CAS_scale_validated to airspeed_wind for logging
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
625f556b0e
AirspeedSelector: airspeed scale estimation improvements and robustification
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- run airspeed scale estimation always, not in dedicated mode
- add option to apply scale automatically, with extra feasibility check
- add airspeed scale for all 3 possible airspeed instances
- clean up parameters
- add check for data stuck (non-changing airspeed data)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
8e8c6efd66
Mission block: do not care for altitdue acceptance when approaching backtransition point
...
Not accepting the waypoint causes the vehicle to perform a sharp turn after passing
the land waypoint and this causes worse unexected behavior.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-22 15:37:10 +02:00
3d50adc5fe
astyle: restore backwards compatibility with old pre-commit hook
...
I removed the filtering logic from the shell script in #18482 because
the new pre-commit hook already takes care of it.
The problem is if you don't update the .git/hooks/pre-commit file and
use the new shell script there's no filtering
of files done and it checks all files for every file.
This commit restores backwards compatibility because it does not hurt
until I have an automatic way to update the pre-commit hook file.
2021-10-22 12:56:21 +02:00
78fe6e2152
VelocitySmoothing: fix issue when delta vel is the same on all axes
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When the change in velocity is exactly the same on several axes, the T1
of the recumputed trajectories after time sync was set to 0 because it
was skipping both if and else if.
2021-10-22 10:54:36 +02:00
9301288d1f
Add parameter and logic to set RTL heading mode.
2021-10-22 09:28:30 +02:00
6938d24ec7
pre-commit hook: show all style issues, not just the ones from the first file
2021-10-21 19:07:13 -04:00
2716ce7a56
pre-commit hook: clear output with error, file name, diff, instructions
2021-10-21 19:07:13 -04:00
4454fe9770
pre-commit hook: don't unstage the entire file containing a style issue
2021-10-21 19:07:13 -04:00
19952768fb
boards: try to keep test boards in sync
2021-10-21 15:59:15 -04:00
6fb1c79ef0
mixer_module: reject mixer load and reset when dynamic mixing is enabled
2021-10-21 11:27:33 -07:00
f1016dc32c
boards: add systemcmds/topic_listener to CAN nodes
2021-10-21 14:06:11 -04:00
17328bef69
Jenkins attach GDB and print back trace on failure
2021-10-21 14:04:33 -04:00
258cde668c
nxp_fmurt1062-v1:Pared down boardconfig
2021-10-21 11:04:34 -04:00
0e29cb31e6
nxp_fmurt1062-v1:Pull more code into XIP Flash
2021-10-21 11:04:34 -04:00
ff3a76d918
nxp_fmurt1062-v1:Needs to usne ocram Linker script
2021-10-21 11:04:34 -04:00
ea9c64dcd9
drivers/uavcan: add new UAVCAN_SUB_* parameters to enable subscriptions
...
- only GPS and mag are enabled by default
2021-10-21 09:55:04 -04:00
fd96bbf9b9
Mavlink: bump MAX_REMOTE_COMPONENTS to 16
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-21 07:48:50 +02:00
4247e1320b
px4io: allow switching to rate ctrl wq
2021-10-20 09:56:42 -04:00
c0f75b1c79
dshot: add missing '#pragma GCC diagnostic push'
2021-10-20 08:11:07 +02:00
757424c2c0
clang-tidy ignore modernize-raw-string-literal for now
2021-10-20 08:10:05 +02:00
8a2b310b83
topic_listener: avoid code generation, use existing metadata at runtime
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This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.
2021-10-20 08:10:05 +02:00
a0e72b35a4
replay: ignore ULogMessageType::PARAMETER_DEFAULT messages
2021-10-20 08:10:05 +02:00
4c73ac3805
uorb: use single byte for internal types in o_fields metadata
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Reduces flash usage by ~9KB.
2021-10-20 08:10:05 +02:00
9aaf6e3f3e
[NXP_UCANS32K146] Increase usermain stack size to prevent init overrun
2021-10-19 20:17:11 -04:00
f4a85fa951
rcS: Allow startup files to be located on SD card
2021-10-19 14:08:38 -04:00
6daa579e46
Add ARK RTK GPS Debug, turn on UART RX DMA
2021-10-19 13:30:46 -04:00
21163d859e
Whitespace cleanup.
2021-10-19 13:29:26 -04:00
4cf8eb8226
ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics
2021-10-18 21:39:40 -04:00
33954a904f
lib/tunes: never play tunes if circuit breaker is set
2021-10-18 21:37:09 -04:00
b08f20806b
ROMFS: rcS don't play startup tune until after UAVCAN and px4io
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- fixes potential duplicate startup tune
2021-10-18 21:37:09 -04:00
6e3e6846f4
Fix srf05 driver.
2021-10-18 21:00:59 -04:00
b35dd86d04
mc_pos_control: remove unused var
2021-10-18 20:37:18 -04:00
c8d6f8f5e5
remove proto for unused function limit_thrust_during_landing()
2021-10-18 20:37:18 -04:00
9d7c4596f7
navigator: increase stack 1800 -> 1864 bytes
2021-10-18 20:31:35 -04:00
b20d8207a7
Jenkins: compile delete obsolete px4_fmu-v5_ctrlalloc
2021-10-18 20:11:58 -04:00
3e9c88e48e
px4/fmu-v5 test, uavcanv0periph: disable modules to reduce flash
2021-10-18 18:45:19 -04:00
da1df5352c
fix pwm: only update oneshot timers owned by the current pwm_out instance
...
This fixes the case where oneshot was enabled with multi-instance pwm_out,
triggering oneshot updates too close to each other and as a result could
lead to spinning motors while disarmed.
2021-10-18 18:45:19 -04:00
2ed623c8ae
boards: px4_fmu-v6x_default disable modules to save flash
2021-10-18 18:45:19 -04:00
be868aae92
boards: px4_fmu-v5_uavcanv0periph disable modules to save flash
2021-10-18 18:45:19 -04:00
a7a2aa3b74
boards: px4_fmu-v3_test disable modules to save flash
2021-10-18 18:45:19 -04:00
cc1d24a5fe
ci compile_nuttx: disable fail-fast
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So that all failures can be evaluated.
2021-10-18 18:45:19 -04:00
d01f2b1d40
cubepilot/cubeorange test: disable uavcan to reduce flash usage
2021-10-18 18:45:19 -04:00
dbd4426271
nxp/fmurt1062-v1: set CONSTRAINED_FLASH
2021-10-18 18:45:19 -04:00
e36a8f3765
ROMFS: disable vtol airframes for kakutef7
2021-10-18 18:45:19 -04:00
f1686b1abf
px4io: add dynamic mixing support
2021-10-18 18:45:19 -04:00
837a1066e0
px4io, pwm_out: update pwm default checking
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The defaults changed in the previous commit for per-channel params,
so we make sure that the overall params are still used as long as the
per-channel params are default.
2021-10-18 18:45:19 -04:00
ab1d76ae7d
params: use PWM_MAIN_* instead of PWM_FMU_*
2021-10-18 18:45:19 -04:00
ba4a1ec6c4
boards/px4/io-v2: swap timer definitions
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So that the ordering of the generated params make more sense.
TIM1 is now for channels 2-4 instead of 5-8.
2021-10-18 18:45:19 -04:00
319e90961b
output_groups_from_timer_config.py: fix timer index
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The implementation assumed timers are defined in the same order as used
in the channels. This could lead to a mismatch between TIMx param and
actual timer config.
Now we use the actual array index, same as in the code.
2021-10-18 18:45:19 -04:00
183ab8bbe7
control_allocator: avoid default argument for virtual method getEffectivenessMatrix
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clang tidy error:
/__w/PX4-Autopilot/PX4-Autopilot/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp:50:34: error: default arguments on virtual or override methods are prohibited [google-default-arguments,-warnings-as-errors]
ActuatorEffectivenessMultirotor::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
2021-10-18 18:45:19 -04:00
563cf61126
module_schema.yaml: add actuator_output section
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The parameter additions are only used internally for the pwm generator.
2021-10-18 18:45:19 -04:00
8b3ab7e36d
fix pwm_out: ensure up_pwm_servo_arm() is never continuously called
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This happened with multi-instance, when the second instance did not load
a mixer. Then the first instance would always return false in
update_pwm_out_state, and continuously call up_pwm_servo_arm.
This led to irregular pulses, e.g. with an output set to fixed 1500us, I
saw pulses of e.g. 1800us occationally (they were in a range of
[1500-2100]).
2021-10-18 18:45:19 -04:00
838ec5d485
airframes: set output function params for ctrlalloc airframes
2021-10-18 18:45:19 -04:00
44bbe87165
pwm_out_sim: use PWM_FMU for sitl and HIL_ACT for hitl
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We might want to change this later, but for now it allows to use the same
airframe configs for sitl/real, and independent hitl configuration.
2021-10-18 18:45:19 -04:00
2b039b2af8
px4/fmu-v6x: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
4e0e2dec57
fmu-v6u: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
4a4acf7ead
px4/fmu-v5x: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
faf481df31
modalai/fc-v2: remove unused DIRECT_PWM_CAPTURE_CHANNELS define
2021-10-18 18:45:19 -04:00
d28dd5cc14
holybro/pix32v5: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
d9bf03b2dc
holybro/durandal-v1: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
0ab4a24de8
px4/fmu-v5: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
a01cf2efc0
rc.mc_apps: allow to set COM_PREARM_MODE with control allocation
...
This is safe now.
2021-10-18 18:45:19 -04:00
21c1671693
pwm_out_sim: add dynamic mixing support
2021-10-18 18:45:19 -04:00
0871b7974d
uavcan_v1: add dynamic mixing support
2021-10-18 18:45:19 -04:00
ae15ad14a8
tap_esc: add dynamic mixing support
2021-10-18 18:45:19 -04:00
35ce6d1b73
pca9685_pwm_out: add dynamic mixing support
2021-10-18 18:45:19 -04:00
955179e992
linux_pwm_out: add dynamic mixing support
2021-10-18 18:45:19 -04:00
c1e5e666f0
pwm_out, dshot: add dynamic mixing support
2021-10-18 18:45:19 -04:00
3ff6014a3c
uavcan: implement servo outputs
2021-10-18 18:45:19 -04:00
07fa8c5295
uavcan: reduce sensor status output verbosity
2021-10-18 18:45:19 -04:00
49f8131f82
uavcan: add dynamic mixing support
2021-10-18 18:45:19 -04:00
5f0781b6e9
output modules: add param prefix argument to MixingOutput
2021-10-18 18:45:19 -04:00
f5fbcb0770
dshot: handle telemetry index correctly when dynamic mixer is used
2021-10-18 18:45:19 -04:00
d951c74a7d
spracing/h7extreme: use single-line comments instead of multi-lines
...
Required for output_groups_from_timer_config.py parser
2021-10-18 18:45:19 -04:00
916447e804
params: add script to parse timer_config.cpp for timer group info
...
This allows to generate pwm params in the form of:
module_name: PWM Output
actuator_output:
output_groups:
- generator: pwm
param_prefix: PWM_FMU
channel_labels: ['PWM Main', 'PWM Capture']
standard_params:
disarmed: { min: 800, max: 2200, default: 900 }
min: { min: 800, max: 1400, default: 1000 }
max: { min: 1600, max: 2200, default: 2000 }
failsafe: { min: 800, max: 2200 }
extra_function_groups: [ pwm_fmu ]
pwm_timer_param:
description:
short: Output Protocol Configuration for ${label}
long: |
Select which Output Protocol to use for outputs ${label}.
Custom PWM rates can be used by directly setting any value >0.
type: enum
default: 400
values:
-5: DShot150
-4: DShot300
-3: DShot600
-2: DShot1200
-1: OneShot
50: PWM50
100: PWM100
200: PWM200
400: PWM400
reboot_required: true
2021-10-18 18:45:19 -04:00
db28ea9cfa
generate_params.py: extend params 'definitions' section to support a list
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allows to add multiple entries for a multi-instance param with different
instance_start
2021-10-18 18:45:19 -04:00
6f01b69f49
mixer_module: add param generation for disarmed, min, max, failsafe
2021-10-18 18:45:19 -04:00
6424faccb1
generate_params.py: fix parse_yaml_parameters_config
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Correctly handle multiple parameter sections
2021-10-18 18:45:19 -04:00
15daded6b0
refactor output_limit: split output_limit_calc_single into separate function
2021-10-18 18:45:19 -04:00
c55626d2d6
refactor Tools/serial: move non-serial param generation into separate script
2021-10-18 18:45:19 -04:00
a65533b469
mixer_module: add output functions for servos, landing gear, parachute, RC passthrough & gimbal
2021-10-18 18:45:19 -04:00
4b37a3d017
mixer_module: generate output_functions header from yaml file
2021-10-18 18:45:19 -04:00
fd76e5488e
mixer_module: add output functions
2021-10-18 18:45:19 -04:00
ab3fe77f46
mavlink_receiver: publish MAV_CMD_DO_SET_ACTUATOR command
2021-10-18 18:45:19 -04:00
5103f00de3
vehicle_command.msg: add VEHICLE_CMD_DO_SET_ACTUATOR
2021-10-18 18:45:19 -04:00
38fa65a47e
control_allocator: remove direct mixer, add actuator_{motors,servos} instead
2021-10-18 18:45:19 -04:00
a51c465b54
control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets
2021-10-18 18:45:19 -04:00
0c5a79d84d
fix mixer_module: use PRIx32 for debug printf
2021-10-18 18:45:19 -04:00
ad1bcfd77c
commander: correct lockdown CLI description
2021-10-18 18:45:19 -04:00
62dd38fe35
Prepare for Android NDK build
...
Modify CMakeList.txt prepare for Android NDK build
Signed-off-by: AuroraRAS <chplee@gmail.com >
2021-10-18 14:55:56 -04:00
b482986e8e
uavcannode: Add CANNODE_TERM parameter (configure CAN termination on ARK cannodes)
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- adds functionality to enable the built in can termination on the ARK cannodes
2021-10-15 09:29:56 -04:00
55910caec5
UCANS32K146: Enable CONFIG_BCH to use EEEPROM as character driver
2021-10-15 05:54:27 -07:00
a66b0829b0
Standard VTOL: add airspeed to back transition logic and refactor it a bit
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
358c67226e
Tiltrotor: backtransition logic improvements
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-use groundspeed in body x for exit condition
-use airspeed for speed exit condition if no valid groundspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
cba80a6338
Tiltrotor: front transition: fade out yaw equally to roll
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
641383cbfb
VTOL backtransition improvements
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* vtol_type: only allow positive pitch setpoints during backtransition
* vtol params: set default of VT_B_DEC_FF to 0, as for most frames a FF is not necessary
* Tiltrotor: fix throttle during first part of back transition
* Tiltrotor: only enable all motors in second phase of backtransition (tilting phase)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
af291e2040
FlightTaskTransition: Transition improvements
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- use fw pitch setpoint offset during transition
- take over previous vertical velocity and smooth out over transition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
d39c32619e
Tiltrotor: add minimum throttle of 0.25 during front transition
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
f61853d428
vtol: implement throttle blending out and into transition
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- blend into TECS throttle after front transition
- blend out of TECS throttle during backtransition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
8dd76050e0
vtol: take fixed wing attitude setpoint during transition if altitude is
...
not controlled
- required as there is no flightask running if altitude is not controlled
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
435e5515df
github actions: increase nuttx and linux ccache max size to 100M
2021-10-14 19:45:29 -04:00
7e71b7eafc
github actions: compile nuttx archive bin files and remove duplicate nuttx cannode builds
2021-10-14 19:45:29 -04:00
12c7056ae5
drivers/imu: icm20602/icm20649/icm20948 remove timestamp_sample adjustments
2021-10-14 16:37:11 -04:00
56823b5ac9
ekf2: EKF control don't allow invalid flow gyro to propagate
2021-10-14 16:31:22 -04:00
e8a064af02
github actions: try increasing nuttx ccache limit
2021-10-14 11:54:19 -04:00
b88c8eb245
Jenkins: hardware stop commander before sensors module to avoid errors
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- this is only done to silence timeouts during small benchmarks
2021-10-14 09:17:50 -04:00
d35cf78e4a
commander: PX4_ERR if attitude or angular velocity become invalid
2021-10-14 09:17:50 -04:00
4559230de6
drivers/imu/invensense: adjust icm20602/icm20649/icm20948 rescheduling logic
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- this handles the case where the driver might be more than one full
transfer cycle behind
2021-10-14 09:17:11 -04:00
ef4d4c3093
sensors/vehicle_imu: fix timestamp_sample increasing check
2021-10-14 09:12:45 -04:00
4535b18a80
Set setpoint type as const
2021-10-14 11:18:02 +02:00
07d72f8604
Fix comments
2021-10-14 11:18:02 +02:00
443666199e
Move setmode outside of control_position
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This commit moves the position controller mode handling outside of the control_position method.
The control_method is renamed to control_auto
2021-10-14 11:18:02 +02:00
ae9e91f90c
FW Pos controller: fix format in new switch
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
c3e961a1ed
FW Pos C: move setting of control_mode_current to separate function and minor clean ups
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
0cf3ef87e3
FW Position Controller: move nav_speed_2d calculation to function
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
581ec224be
Encapsulate loiter and position setpoint handling
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This commit encapsulates the position setpoint and loiter setpoint handling into a single method, in order to make the code easier to understand
4be452
2021-10-14 11:18:02 +02:00
f08f2a340d
motion_planning: In VelovitySmoothing, mark const functions const
2021-10-13 21:25:43 -04:00
fed234de81
flight_mode_manager: Extracted position trajectory motion planning into a library
...
Extract the functionality to plan smooth position motion trajectories into a
motion planning library, such that it can be used in other parts of the code as well.
2021-10-13 21:25:43 -04:00
07303af8f8
UAVCANv1 Fix typo in #define
2021-10-13 21:22:15 -04:00
ed394027b1
UAVCANv1 Include Kconfig & Fix #18396
2021-10-13 21:22:15 -04:00
a732ddaefb
Deprecate 4250_teal from CMakeLists.txt.
2021-10-13 17:25:18 -04:00
c1b0d78077
Minimize flash by migrating MIXER quad_x and PWM_OUT 1234 to rc.mc_defaults. Deprecate 4250_teal config file.
2021-10-13 17:25:18 -04:00
8b37db7825
Functions: fix corner case x_low == x_high == value resulting in NAN
...
and added unit test to cover it
2021-10-13 17:24:16 -04:00
f5e1da5b0f
Fix broadcom afbrs50 build
2021-10-13 17:22:26 -04:00
7de00469a6
platforms: nuttx px4_init fix USB serial mavlink autodetect
2021-10-13 16:34:45 -04:00
f91aa76645
boards: add v5x RTPS version again
...
I just copied this from v5 and removed the heater.
2021-10-13 16:20:43 -04:00
426efb515f
setup: fix installing in virtual env on Ubuntu
...
This fixes running the Ubuntu setup script in a Python virtual
environment. This was failing because pip doesn't allow the --user
option in virtual environments.
2021-10-13 16:19:24 -04:00
351f679c2f
parameters: Use px4::atomic_bool instead of px4::atomic<bool>
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This enables us to define the actual atomic bool type in px4_platform
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
e6658547cf
sensors/vehicle_imu: Fix compiler warning for implicit INFINITY double->float cast
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This pops up on some newer compilers
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
5509235517
commander: Fix implicit NaN conversion from double to float compiler warning
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
41a4045630
boards: nxp_fmuk66 fix serial_dma_poll
2021-10-13 13:45:39 -04:00
49a4283d0d
boards: px4_fmu-v5x restore rc.board_mavlink
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- this was unintentionally removed in https://github.com/PX4/PX4-Autopilot/pull/16180
2021-10-13 17:34:20 +02:00
ffb47466df
Add ARK GPS passthrough
2021-10-12 22:00:58 -04:00
56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
fab053d33b
mavlink: receiver battery_status prevent out of bounds access
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- fixes https://github.com/PX4/PX4-Autopilot/issues/18385
2021-10-12 09:20:40 -04:00
12670b70f4
Jenkins: hardware quick cal skip sleeps
2021-10-11 15:21:43 -04:00
801ef2d520
VTOL main: add local variable for int(vehicle_command.param1 + 0.5)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
342e9900f8
vtol main: only guard against transition to FW in certain flight modes, never to MC
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
5ebe41efbf
pilotpi: fix upload cmake
2021-10-11 10:43:59 -04:00
8f8304f31e
FixedWingPositionController: Set l1 variables to NAN if no l1 guidance
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took place
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-11 16:41:42 +02:00
ae5d3103f4
fw l1 controller: added a flag to indicate if navigation has updated
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- can be used to check if l1 controller ran during a cycle
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-11 16:41:42 +02:00
e2f048f608
Add sitl glider model
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Add airframe configs for SITL glider model
This commit adds an airframe config for a glider model
2021-10-10 12:33:25 -04:00
99b098f608
Update FixedwingAttitudeControl.cpp
2021-10-09 19:39:43 -04:00
c92cd65831
Update EKF2.cpp
2021-10-09 19:39:43 -04:00
6576e1fda9
Update battery_status.cpp
2021-10-09 19:39:43 -04:00
b56bd7cb21
Update AirspeedValidator.cpp
2021-10-09 19:39:43 -04:00
47a72a6b7b
Update vtol_att_control_main.cpp
2021-10-09 19:39:43 -04:00
9fd19a2c83
Update standard.cpp
2021-10-09 19:39:43 -04:00
af34b21ba8
Update tiltrotor.cpp
2021-10-09 19:39:43 -04:00
98f655815a
mavlink: add LAND_TARGET stream
2021-10-09 10:29:02 -04:00
4be45229bf
fw_pos_control_l1: fix launch detector dt update
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- fixes https://github.com/PX4/PX4-Autopilot/issues/18354
2021-10-08 17:34:14 -04:00
089f96f800
lib/drivers/{accelerometer,gyroscope} skip obselete Vector3f construction
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- FIFO clip count only check if value is INT16_MIN/MAX rather than abs() call
2021-10-08 17:33:27 -04:00
fd39d5b9a1
drivers/distance_sensor/lightware_laser_serial: add LW20/C support
2021-10-08 17:30:41 -04:00
47dc2ae5a5
Revert "protocol_splitter: delete non rtps or mavlink data from buffer"
...
This reverts commit 0cae3c129d
2021-10-08 14:35:12 -04:00
2ba369dd54
Add uavcannode fix2 mode and submode
2021-10-08 11:00:37 -04:00
d8e88aedc6
motor_ramp ram cleanup
2021-10-08 10:51:06 -04:00
ba66f8a1e2
reset hover thrust value in controllers when disarmed
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During landing, hover thrust value can be very incorrect so it should be
reset before taking off
2021-10-08 10:39:49 +02:00
ba1b7f3a07
CA pseudo inverse: set all small elements in CA matrix to zero
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This avoids problems in the sequencial desaturation method where vectors
of the CA matrix are used to desaturate the motors.
2021-10-08 09:35:40 +02:00
d1a2d6e1aa
h480_ctrlalloc: tune rate controller
2021-10-08 09:35:40 +02:00
984a698760
matrix: update to include min/max of slices
2021-10-08 09:35:40 +02:00
21b1f090e6
SITL: add typhoon_h480_ctrlalloc target
2021-10-08 09:35:40 +02:00
b18b7e84d2
CA pseudo-inverse: normalize control allocation matrix
2021-10-08 09:35:40 +02:00
927c0c4296
McRateControl: publish torque and thrust setpoint for control allocator
2021-10-08 09:35:40 +02:00
212df95193
ctrlalloc: use normal rate controller
2021-10-08 09:35:40 +02:00
3de5623556
Kconfig remove defconfig in root directory after gen
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Cleanup fmu configs
2021-10-07 10:09:01 -04:00
eb8620a0da
Kconfig FMU-V5 flash cleanup
2021-10-07 10:09:01 -04:00
cb6b1bd427
boards: delete unused test and debug variants
2021-10-07 10:09:01 -04:00
6b7237aa3a
Kconfig add WIFI serial port option
2021-10-07 10:09:01 -04:00
05d71c8118
Kconfig fix CI issues after rebase
2021-10-07 10:09:01 -04:00
96994b82bb
Kconfig cmake change rm to remove to remain compatible with CMake older then 3.17
2021-10-07 10:09:01 -04:00
ed5fee1a72
Backport #18311 mc atune
2021-10-07 10:09:01 -04:00
454c907b7d
Kconfig backport #18327 mag_bias
2021-10-07 10:09:01 -04:00
36191e649a
Kconfig backport #18289 and other flash size fixes
2021-10-07 10:09:01 -04:00
500d80c329
Kconfig backport 51758bd7e6
2021-10-07 10:09:01 -04:00
bfa87fdac7
Kconfig fix wrong nuttx submodule commit
2021-10-07 10:09:01 -04:00
bb7b033e11
Kconfig backport #18259 & remove contrained flash depedency on NO_HELP
2021-10-07 10:09:01 -04:00
c3c9910f04
Backport #17814 to Kconfig
2021-10-07 10:09:01 -04:00
5e98f38f78
Kconfig rebase backports 26-09-21
2021-10-07 10:09:01 -04:00
6a1675ac28
Backport #17864 to px4board config
2021-10-07 10:09:01 -04:00
60790f7112
Backport boards: modalai_fc-v1 update default.cmake ( #18202 )
2021-10-07 10:09:01 -04:00
9b55a8083a
Backport to kconfig: boards: remove camera_capture from sitl and linux targets
2021-10-07 10:09:01 -04:00
12898ea560
[Kconfig] Update configs 06-09-21
2021-10-07 10:09:01 -04:00
010d854023
[Kconfig] Add extra SITL cmake variables
2021-10-07 10:09:01 -04:00
0571932e7c
[Kconfig] Backport rebase config changes
2021-10-07 10:09:01 -04:00
7c6b995cb4
[Kconfig] Replace find_executable by python module, moved python check before calling kconfig
2021-10-07 10:09:01 -04:00
c6e7b8bae1
[Kconfig] Fix SITL by adding rpm/rpm_simulator
2021-10-07 10:09:01 -04:00
f7803fb686
[Kconfig] Bloaty 2nd pass
2021-10-07 10:09:01 -04:00
2dcfe533d6
[Kconfig] Telemetry don't include iridum by default
2021-10-07 10:09:01 -04:00
33fd65e5fe
[Kconfig] Fix regressions found by bloaty and cleanup unused cmake
2021-10-07 10:09:01 -04:00
43a3de8c18
[Kconfig] Fix px4 fmu configs
2021-10-07 10:09:01 -04:00
a918025adb
[Kconfig] fix fmu-v2 configs
2021-10-07 10:09:01 -04:00
892d673b45
[Kconfig] fix flash overflow test builds
2021-10-07 10:09:01 -04:00
8951ed9f12
[Kconfig] fmu-v5 match cmake configs
2021-10-07 10:09:01 -04:00
1eb9a77a9b
[Kconfig] Added missing sensor drivers
2021-10-07 10:09:01 -04:00
603d0c594d
[Kconfig] fix boards configs
2021-10-07 10:09:01 -04:00
efc91d2b69
[Kconfig] Fixed inclusion of microbench bydefault when TESTING was enabled
...
Added full optimization option
2021-10-07 10:09:01 -04:00
a1247d6bcf
[Kconfig] Backport cmake config changes
2021-10-07 10:09:01 -04:00
9f38553ab0
[Kconfig} update broken board configs px4 fmu-v4/v5
2021-10-07 10:09:01 -04:00
cc752f11df
[Kconfig] python script doesn't remove delta, thus we've to manually add remove deltas
2021-10-07 10:09:01 -04:00
d4fbd5674e
[Kconfig] Change patern matching order so that xx_xx doesnut result xx if it exists
2021-10-07 10:09:01 -04:00
b3e799e277
[Kconfig] Add all distance sensors
2021-10-07 10:09:01 -04:00
5542402ca0
[Kconfig] CI fixes and SITL fix
2021-10-07 10:09:01 -04:00
6d0829c251
[Kconfig] px4 io-v2 fix toolchain
2021-10-07 10:09:01 -04:00
b44c0eb434
[Kconfig] FMUv4 CI fixes
2021-10-07 10:09:01 -04:00
21e6547ac7
[Kconfig] Toolchain & platform fixes, SITL still broken
2021-10-07 10:09:01 -04:00
d1e7642b9a
[Kconfig] temporily updated github actions to latest to test CI
2021-10-07 10:09:01 -04:00
4ba1a2f395
[Kconfig] Fix Posix / SITL build
2021-10-07 10:09:01 -04:00
0400c24af5
[Kconfig] 17-08-21 rebase fixes
2021-10-07 10:09:01 -04:00
c2ad07b983
[Kconfig] Don't inherit kconfig when bootloader (and canbootloader)
2021-10-07 10:09:01 -04:00
6af0477733
[Kconfig] Gnerate px4board from old cmake
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Added make updateconfig to update all config when default's have changed
Added cmake to px4board conversion script
2021-10-07 10:09:01 -04:00
815617e670
Added common options for sensor drivers
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uavcan_board_identity check for existance
Added kconfig for compiler definitions
2021-10-07 10:09:01 -04:00
82888d3320
[Kconfig] Merge/diff fixes and added some FMUv5 targets
2021-10-07 10:09:01 -04:00
ea393b54d9
[Kconfig] non-default labels config inherit default.px4board config
2021-10-07 10:09:01 -04:00
b7f03cec5e
[Kconfig] Add FMU-V5 and PX4-IOv2 px4board config
2021-10-07 10:09:01 -04:00
56472eeed7
Completely removed px4_add_board
2021-10-07 10:09:01 -04:00
57593cc56a
Initial attempt to make px4_add_board obsolute
2021-10-07 10:09:01 -04:00
7aa28ba9cd
Kconfig remove clean use configure depends and apps timestamp instead
2021-10-07 10:09:01 -04:00
abd85cd219
Rebase 06-07-21 and add batman Kconfig support
2021-10-07 10:09:01 -04:00
4e4aabc03f
Update Kconfig after rebasing 03-05-21
2021-10-07 10:09:01 -04:00
d5e3e9a7bc
[Kconfig] Decompose Kconfig, now each module has its own Kconfig
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Which is better for versioning and decomposability
2021-10-07 10:09:01 -04:00
094d3557d7
Add Kconfig for Gyro calibration #17040
2021-10-07 10:09:01 -04:00
a0821afafd
[Kconfig] Move UAVCANv0 num interfaces to Kconfig
2021-10-07 10:09:01 -04:00
16f86a99c2
Swap pwm_out with pwm_sim_out to get same binary output as the non-kconfig build
2021-10-07 10:09:01 -04:00
e4f9fd8f53
[Kconfig] forgot distance sensor furthermore K66 build should be equal now
2021-10-07 10:09:01 -04:00
29c4d234ec
Add make clean after boardconfig configure
2021-10-07 10:09:01 -04:00
787b9b54e1
Board config now saved as defconfig which is smaller and friendlier for version control
2021-10-07 10:09:01 -04:00
8df21b0b42
Changed CMake warning to status to not kill the CI
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Furthermore removed obsolete uavcanconfig target
2021-10-07 10:09:01 -04:00
7a747b43f6
Initial boardconfig working with FMUK66
2021-10-07 10:09:01 -04:00
4044fbd4a0
Initial Kconfig implementation in CMake
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Used fmuk66-v3 as test case
2021-10-07 10:09:01 -04:00
4b89ff29ce
PX4 full firmware Kconfig PoC
2021-10-07 10:09:01 -04:00
55aa2e50ff
UAVCANv1 menuconfig make it board label configurable
2021-10-07 10:09:01 -04:00
b9bcb7fe7f
uavcanconfig force CMake reconfiguration after use
2021-10-07 10:09:01 -04:00
95e593f3b8
Added python menuconfig.py fallback
2021-10-07 10:09:01 -04:00
37271d334b
[UAVCANv1] Initial uavcanconfig menuconfig example
2021-10-07 10:09:01 -04:00
0cae3c129d
protocol_splitter: delete non rtps or mavlink data from buffer
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protocol_splitter: add missing buffer_size checker
2021-10-07 09:23:23 -04:00
a202bcbc73
VTOL: fix param description concerning VT_PITCH_MIN
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-07 09:22:59 -04:00
fb8bf7eaa6
ROMFS: remove default params from configs
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Remove params from airframe configs that are just set again
to the param default value or to the value that is
specified in the mc_default, fw_default or vtol_default.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-07 09:22:59 -04:00
393f59ae71
param jsonout: handle @boolean flag
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This got lost when switching from xml to json metadata
2021-10-07 09:20:50 -04:00
dc9e072e83
github actions ccache set hash_dir=false
2021-10-06 17:55:50 -04:00
bbfaa4694c
boards: cleanup serial RX DMA hrt_call_every
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- remove ts_to_abstime dependency
2021-10-06 14:39:59 -04:00
b40dbd3d6f
FlightTaskAuto: hotfix filter for yawspeed feed-forward
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to get rid of derivative spikes when navigator is
continuously updating the yaw setpoint in the
triplet for a POI but is running at a lower rate.
The proper solution is to generate that yaw setpoint
with high rate in the flight task and have the triplet
just guid to the next waypoint at low rate.
2021-10-06 14:06:58 -04:00
3e6ff2451b
github actions increase newly added timeouts
2021-10-06 13:47:12 -04:00
6e057a644b
github actions remove ccache from deploy metadata and low priority builds
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- this is an attempt to preserve our limited amount of github actions
cache storage
2021-10-06 13:46:20 -04:00
0bdcd54184
mavlink: reciever trajectory_representation_waypoints resepect valid_points
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- fixes https://github.com/PX4/PX4-Autopilot/issues/18369
2021-10-06 13:45:15 -04:00
31a599f303
Commander: add comment in COM_RC_OVERRIDE that it's always enabled in Descend mdoe
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:32:23 -04:00
eeb6244c6b
Commander: add wind speed warning
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Publishes periodically (max every 1 min) a warning if the current wind estimate
is above COM_WIND_WARN.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:31:13 -04:00
1a4ce136f3
Tiltrotor: add hover tilt offset to pusher assist tilt
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:27:19 -04:00
4e3fa7cf35
VTOL: rework forward actuation assist
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-allow positive pitch offsets in hover
-add param for min pitch during LAND
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:27:19 -04:00
f0de88fada
vtol_type: fix motor_state::VALUE
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:26:39 -04:00
a461bb971a
FlightTask: preserve vertical velocity during reactivation
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to allow descending by stick for reliable land detection.
Issue:
Stick smoothing gets completely reset to state when not taken off
-> downwards velocity setpoint is gone when not taken off
-> in_descend flag of land detection is never true when not taken off
-> when landing but falling out of landing it landing detection fails
bafore taking off and landing again
2021-10-06 11:25:51 -04:00
c20e5e3a00
FlightTaskManualAltitudeSmoothVel: remove separate reactivate handling
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It was added before the activation was able to work with the previous
setpoint.
2021-10-06 11:25:51 -04:00
9b92862980
MulticopterLandDetector: correct in_descend comment
2021-10-06 11:25:51 -04:00
10bc778651
boards: freefly_can-rtk-gps delete unused include
2021-10-06 10:41:36 -04:00
d95e387d79
angular acceleration: change 2nd order to 1st order LPF
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Having a 2nd order low-pass filter in the derivative loop reduces
stability at low cutoff values as too much phase is lost through
the filter. Using a 1st order filter avoids this issue because its
maximum phase loss is 90 degrees instead of 180 degrees for a 2nd order
lpf.
2021-10-06 16:26:03 +02:00
1b58202b0d
AlphaFilter: add function to set param from cutoff frequency
2021-10-06 16:26:03 +02:00
b5d401b20c
drivers/imu: ensure timestamp_sample adjustment isn't done as float (continued)
2021-10-06 10:19:01 -04:00
e31dd34388
lib/led: replace subscription missed error with perf count
2021-10-06 09:31:44 -04:00
113ea5ea26
github actions add timeout to all_variants nuttx compile job
2021-10-06 09:28:27 -04:00
6edb1fa1f8
github actions add timeout to SITL tests run
2021-10-06 09:28:27 -04:00
ad27d2c49a
github actions enable ccache hash_dir for SITL tests
2021-10-06 09:28:27 -04:00
52fccb1e75
github actions decrease ccache max_size selectively
2021-10-06 09:28:27 -04:00
d002002ceb
github actions increase ccache compression level
2021-10-06 09:28:27 -04:00
ddd1dea4f0
ekf2: avoid uint64 timestamp conversion to float
2021-10-06 09:27:06 -04:00
dc1b423721
drivers/imu: ensure timestamp_sample adjustment isn't done as float
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- larger HRT timestamps can't be represented exactly when cast to float
2021-10-06 09:26:26 -04:00
6b8840a01b
commander: fix switch to ALTCTL when RC regained
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This fixes the case where we sometimes switch to altitude control
instead of position control when RC is regained.
What happens is that we detect that the pilot wants to take over control
right when RC comes back. This means that we try to go in position
control in main_state_transition, however, we are already in position
control because we come back from the failsafe state. The result of
main_state_transition is then TRANSITION_NOT_CHANGED, and therefore we
"fall back" to altitude control even though being already in position
control would have been fine.
This fix checks the return result of main_state_transition correctly and
only reacts to TRANSITION_CHANGED and TRANSITION_DENIED but ignores
TRANSITION_NOT_CHANGED.
2021-10-06 10:30:08 +02:00
51758bd7e6
boards: delete unused variants
2021-10-05 23:14:04 -04:00
3570e5a4f0
boards: cuav_nora_test disable attitude_estimator_q to save flash
2021-10-05 20:43:43 -04:00
2dca51216c
vtol: change message for transition timeout warning
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-05 18:19:33 -04:00
bdc57178d4
Tailsitter: add add transition timeout (abort transition after VT_TRANS_TMEOUT, Quadchute)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-05 18:19:33 -04:00
1a1bb2629d
tiltrotor: add transition timeout (abort transition after VT_TRANS_TIMEOUT, Quadchute)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-05 18:19:33 -04:00
02aed782e3
boards: px4_fmu-v6x_default disable sd_stress to save flash
2021-10-05 18:17:22 -04:00
beb358a344
px4_work_queue: adjust status formatting to accommodate longer names (eg mc_autotune_attitude_control)
2021-10-05 18:09:00 -04:00
98c7f664c1
FW Position control: add roll slewrate also in manual Position flight mode
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-05 18:06:49 -04:00
2edd97102b
Sticks/StickYaw: refactor to use constructor properly
2021-10-05 18:05:54 -04:00
0cc13f0799
FlightTaskAutoMapper: add horizontal and yaw nudging during final descent
2021-10-05 18:05:54 -04:00
bb9f167d79
StickAccelerationXY: add reseting position to specified coordinates
2021-10-05 18:05:54 -04:00
578d57a060
Jenkins: hardware disable sd_stress temporarily
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- currently failing intermittantly when run on the test rack
2021-10-05 17:55:52 -04:00
b4d33a36f8
boards: px4_fmu-v6x_default disable examples/fake_gps to save flash
2021-10-05 17:11:47 -04:00
2b9ebb7ed6
boards: holybro_kakutef7 disable systemcmds/work_queue to save flash
2021-10-05 17:10:30 -04:00
983dd4db29
don't switch to SETPOINT_TYPE_LOITER during transitions ( #18350 )
2021-10-05 14:40:14 +02:00
75b8e11b90
commander: make LAND failsafe stick
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By default we would leave the LAND failsafe as soon as a link comes
back. With this change, we switch to the LAND failsafe like a proper
mode change, immediately disabling the failsafe as such.
This is as the same that is done for RTL in fact.
This is not optimal but a workaround for the problem where we switch out
of failsafe right on landing and then discover takeoff again and start
looping through it again and again without ever disarming.
2021-10-05 14:02:22 +02:00
896ad3a627
cmake: fix find_program ozone
2021-10-04 18:27:50 -04:00
a519916d79
systemcmds/sd_stress: return -1 on FAIL
2021-10-04 17:38:31 -04:00
c271a9e3e6
add sd_stress to all boards and run on test rack
2021-10-04 17:38:31 -04:00
397b1ed8d6
Add sd_stress command
2021-10-04 17:38:31 -04:00
4701a513c2
mavlink: fix errno for rename
2021-10-04 17:38:31 -04:00
59b56dd06f
mavlink: add more error messages
2021-10-04 17:38:31 -04:00
74b2fe326d
mavlink: don't (mis)use errno as global variable
...
I think it was not the best idea to use errno as a global variable to
keep track of the error code. I saw the errno change from where it was
set to where it was actually used, maybe because part of it is called in
the receive thread and part in the regular update/send() thread.
To be safe, I just created a class variable instead.
2021-10-04 17:38:31 -04:00
96388f07fd
mavlink: improve debugging around MAVLink FTP
...
- Remove ifdefs with MAVLINK_FTP_DEBUG and use PX4_DEBUG instead
- Add a couple of more PX4_DEBUG lines
2021-10-04 17:38:31 -04:00
c35f68b49d
boards: px4_fmu-v5 sync UAVCAN_TIMER_OVERRIDE across all variants
2021-10-04 15:27:15 -04:00
00b15798da
Tools/HIL/run_tests.py - temporarily disable flaky dataman test until it can be reviewed
2021-10-04 12:54:01 -04:00
1325b9c876
Jenkins: hardware retry checkout if necessary
2021-10-04 12:54:01 -04:00
413e15d083
Add vscode cmake-variant for px4_sitl_rtps
2021-10-04 11:58:26 -04:00
540c024cbb
parameters: avoid printing errors for erased flash devices
...
Errors:
ERROR [parameters] param import failed (-1) attempt 1, retrying
ERROR [parameters] param import failed (-1) attempt 2, retrying
ERROR [parameters] param import failed (-1) attempt 3, retrying
ERROR [parameters] param import failed (-1) attempt 4, retrying
ERROR [param] importing from '/fs/mtd_caldata' failed (-1)
2021-10-04 10:25:32 -04:00
cc4152e10d
gyro_fft: require higher SNR for initially tracking a peak
...
- initial frequency peak tracking SNR increased from 10->15 db
- after initial detection the threshold decreases to SNR 5db
- gyro_fft large method refactored into smaller pieces
- sensors/vehicle_angular_velocity: dynamic notch FFT make sample rate
check a percentage and relax lower bound safety threshold
2021-10-04 10:17:16 -04:00
6d78054f50
mavlink USB auto start/stop on boards with VBUS
...
- no longer start sercon or mavlink usb by default
- on USB connection (VBUS) monitor serial USB at low rate and start Mavlink if there's a HEARTBEAT or nshterm on 3 consecutive carriage returns
- the mavlink USB instance is automatically stopped and serdis executed if USB is disconnected
- skipping Mavlink USB (and sercon) saves a considerable amount of memory on older boards
2021-10-03 15:32:54 -04:00
07e307b074
FieldSensorBiasEst: fix bias learning equation
...
Also compensate the tuned learning gains for the new equation to keep
the same tuning
2021-10-02 21:25:21 -04:00
e0bcc17f5b
mbe: integrate pre-takeoff mag bias estimate in VehicleMagnetometer
2021-10-02 21:25:21 -04:00
1443f773da
mbe: add module to targets
2021-10-02 21:25:21 -04:00
ec178c8745
create new mag_bias_estimator module
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-10-02 21:25:21 -04:00
d858835fd0
mbe: initialize estimator with current measurement
2021-10-02 21:25:21 -04:00
9067d9cae9
mbe: improve algorithm and fix unit test
2021-10-02 21:25:21 -04:00
24dc627e8a
Add MagnetometerBiasEstimator for online magnetometer calibration
2021-10-02 21:25:21 -04:00
5874b1f87c
mc atune: add module to all targets
...
- adjust flash constrianed targets to fit
2021-10-02 18:12:05 -04:00
b99dbcc6a7
ModuleDocumentation: add autotune categorie
2021-10-02 18:12:05 -04:00
61dabca4c8
mavlink_receiver: Add mavlink handler with progress report
2021-10-02 18:12:05 -04:00
d463dfe2d8
mavlink_receiver: handle auto-tuning command
2021-10-02 18:12:05 -04:00
cd61065aea
sitl: start MC autotune module
2021-10-02 18:12:05 -04:00
9681f819a8
mc_att: inject identification signal in att control output
2021-10-02 18:12:05 -04:00
0498ee92d0
mc atune: add multicopter attitude auto-tuner module
2021-10-02 18:12:05 -04:00
d3cb806627
pid_design: add model-based PID tuning law based on GMVC
2021-10-02 18:12:05 -04:00
404145c655
sysID: add system identification library
2021-10-02 18:12:05 -04:00
d504b49695
mc_rate: compute control energy and publish to status msg
2021-10-02 18:12:05 -04:00
0a662ef22c
Add uavcannode RTCM subscriber
2021-10-01 20:43:49 -04:00
05ee31072a
Add ARK RTK GPS
2021-10-01 20:34:32 -04:00
c1c86bc349
Jenkins: hardware clear ccache stats before compiling
2021-10-01 20:31:29 -04:00
a53946649a
sensors/vehicle_magnetometer: only check if sensor enabled after parameters loaded
2021-10-01 20:30:46 -04:00
3c8f1f2a50
Jenkins: reduce build agent cpu share
2021-10-01 18:18:51 -04:00
2adf3f959b
Update Tools/gazebo_sitl_multiple_run.sh
...
Co-authored-by: JaeyoungLim <jalim@ethz.ch >
2021-10-01 16:09:32 +02:00
bc5d55c4a4
fix the problem related to sitl multiple vehicle environment
2021-10-01 16:09:32 +02:00
68a13326f0
mavlink: remove unused strncpy ( #18300 )
2021-10-01 10:58:25 +02:00
7c9903f610
stm32h7:px4io_serial use TRBUFF
...
- includes NuttX with TRBUFF backports
2021-09-29 23:55:00 -04:00
25a27d26e0
logger:log_writer_file Do not try to store ulog name on systems without hardfault logging
2021-09-29 23:51:25 -04:00
f56701e72f
micro_hal:Remove px4_savepanic on arch without hardfault logging
2021-09-29 23:51:25 -04:00
cb47203a9e
NuttX with deglitched GPIO backports
2021-09-29 23:50:11 -04:00
f3a904c109
Jenkins: HIL increase timeout
...
- occasionally we have a considerable backlog
2021-09-29 20:37:07 -04:00
63e29b821c
holybro_can-gps-v1:Ensure sensors are powered
2021-09-29 14:37:17 -04:00
2abbf791b3
NuttX with deglitched GPIO backports
2021-09-29 14:37:17 -04:00
70eca23468
ark_can-gps_debug:Fit in Flash w/o loosing tools
2021-09-29 14:37:17 -04:00
20c1f763d2
px4_fmu-v4:CAN build needs .app_descriptor
2021-09-29 14:34:42 -04:00
797bd9592b
mxp_ucans32k146:using padding of 8
2021-09-29 14:34:42 -04:00
f4e9672fde
make_can_boot_descriptor:Add padding argument
2021-09-29 14:34:42 -04:00
360c3781f3
UCANS32K146-01 Add CAN tranceiver self test
2021-09-29 09:36:14 -07:00
c39a21aa54
ekf2: selector remove special timeout condition
...
- this mainly produces false positives when disarmed and bench testing
2021-09-29 09:59:08 -04:00
ed7c5991eb
ekf2: Fix dimensional error in gyro and accel bias variance conversions
2021-09-29 09:58:41 -04:00
5677ab042b
tap_esc: fix resource leak ( #18296 )
2021-09-29 14:51:31 +02:00
03bd5e0f48
lib/led: move drivers/lights/rgbled LED_RGB_MAXBRT -> SYS_RGB_MAXBRT
2021-09-28 10:09:55 -04:00
b24e5fc0af
clean remaining offboard_control_signal_found_once
...
offboard_control_signal_found_once is not used any more
2021-09-28 09:25:04 -04:00
417a50b2cc
fix typo in comment
2021-09-28 09:24:47 -04:00
6cae4c92e7
Add a header to logfile encryption key exchange file
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
9a4ef709ca
Add parameters for configuring the logfile encryption
...
SDLOG_ALGORITHM for selecting the crypto algorithm
SDLOG_KEY for selecting the key in keystore to use with the algorithm.
for symmetric algorithms which are currently supported, this is just a free
slot to be used, the key is generated at logging start
SDLOG_EXCH_KEY for selecting an RSA2048 key for encrypting the SDLOG_KEY
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
1687cab56c
FMUv5: Add a build target for crypto interface testing, px4_fmu-v5_cryptotest
...
To avoid messing with existing targets, and to automatically set the test keys
for the keystore.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
ce76380051
Add a simple script to decrypt ulog files
...
This now only decrypts xchacha20 encrypted logs, where keys are
exchanged with rsa_oaep_sha256 and nonce appended to the end of the
key
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
9472f79307
Take crypto interfaces into use in logger, to encrypt ulog data
...
- Generate a symmetric encryption key and a nonce value
- Use a public key in keystore to encrypt the symmteric key
- Write the encrypted key and the nonce value to disk into .ulgk, name matching with the encrypted log file
- use quick stream encryption to crypt the .ulg file contents
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
6b22fe99b7
Globally define -DPX4_CRYPTO when the board defines some crypto backend
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
3db76d88fe
Add crypto key generation functions
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
4c6779812d
Add keystore_put_key interface function for storing keys permanently
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
fc2668cba1
Add encryption function for the crypto_backend and px4_crypto
...
Take into use libtomcrypt library to add RSA and some other algorithms
for SW ecnryption use case
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
634d911b74
Add a test key for RSA2048
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
40063bd54b
Add libtomcrypt and libtommath submodules
...
These provide e.g. rsa_oaep, which can be used for sw crypto
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
be4f7cabf9
Add compilation of nuttx_crypto
...
NuttX has lots of usable functionality for crypto, such as rng with entropy pool
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
d36a91ceaf
Add generic px4 interface for crypto features
...
Add common functions, implemented for nuttx, and link to architecture specific libraries
Make a separate library to wrap nuttx random number generator as "os_random".
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
aa61bc4942
Add functions for initializing empty crypto backend handles
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
9290ea974e
commander: allow force disarming
...
Allows to do commander disarm -f to disarm no matter what.
2021-09-27 09:58:03 -04:00
333f539900
mavlink: add simple incoming message stats to status
2021-09-27 09:48:00 -04:00
feff564882
Update submodule jMAVSim to latest Mon Sep 27 00:38:51 UTC 2021
...
- jMAVSim in PX4/Firmware (592885480ehttps://github.com/PX4/jMAVSim/commit/0a5375a70689aac53143768de9033034f3636022
- jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/0a5a8c6d9da05bee5f82faa25430213d97d396b0
- Changes: https://github.com/PX4/jMAVSim/compare/0a5375a70689aac53143768de9033034f3636022...0a5a8c6d9da05bee5f82faa25430213d97d396b0
0a5a8c6 2021-09-02 Julian Oes - Merge pull request #130 from PX4/pr-udp-connection
2590b24 2021-09-01 Julian Oes - UDPMavLinkPort: add debug output around wait
7255b28 2021-08-31 Julian Oes - src: enable UDP connection in client and host mode
2021-09-27 08:05:48 +02:00
592885480e
boards: ark_can-gps_debug disable perf to save flash
2021-09-26 12:29:11 -04:00
9a3fa6199b
uorb top report total publication rate
2021-09-26 12:29:11 -04:00
e81214a22f
mavlink: avoid double trigger using sequence
...
By adding the sequence number we can avoid double triggering due to
command retransmissions. This is according to the mavlink spec for
MAV_CMD_IMAGE_START_CAPTURE.
2021-09-25 20:18:07 -04:00
76615f8df3
VTOL: set HTE horizontal speed sensitivity threshold low
2021-09-25 20:07:28 -04:00
904ed57aba
HTE: decrease sensitivity with speed
...
VTOL planes are getting lift from the wing when flying in MC mode at
high speed. They (and some other drones) also get extra drag when
climbing and descending at high speed, corrupting the hover thrust
estimate.
To avoid this, two speed thresholds (vertical and horizontal) are defined
above which the sensitivity of the estimator is decreased by linearly
increasing the observation noise.
2021-09-25 20:07:28 -04:00
c67d943158
boards: mro_ctrl-zero-h7-oem board.h fix SPI5 ( #18294 )
...
- fix spi pin missmatch PF9=GPIO_SPI5_MOSI_2
2021-09-25 20:05:18 -04:00
e4b0fa25a2
systemcmds/tests: remove px4io conv test
2021-09-25 19:15:05 -04:00
1b0bfd6381
dataman: remove nonexisting SYS_RESTART_TYPE param
2021-09-25 19:15:05 -04:00
089c962d92
px4io: moving mixing to FMU side
...
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-09-25 19:15:05 -04:00
f772b0f45d
Update submodule sitl_gazebo to latest Sat Sep 25 12:38:57 UTC 2021
...
- sitl_gazebo in PX4/Firmware (e800e7c27663ae0a08ae1e377cbccd2272657ad0): https://github.com/PX4/PX4-SITL_gazebo/commit/53d606b32f5729cc70d59281085d639bd97b30d7
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/d8366bf2389eae6106d1dbfaac72ebfdf23a5d2d
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/53d606b32f5729cc70d59281085d639bd97b30d7...d8366bf2389eae6106d1dbfaac72ebfdf23a5d2d
d8366bf 2021-09-19 Mohamed ElDewany - Fix gazebo plugin for laser sensor
37a3a64 2021-09-16 Julian Oes - camera: fix stream URI
2561ff0 2021-09-01 Julian Oes - mavlink_interface: enable HITL over UDP
9216dab 2021-09-01 Julian Oes - mavlink_interface: remove poll before writing
8e9eb3f 2021-09-01 Julian Oes - mavlink_interface: clean up switch case
a009174 2021-09-01 Julian Oes - mavlink_interface: use flag from mavlink_interface
6f1243a 2021-09-01 Julian Oes - mavlink_interface: remove redundant inline keyword
2021-09-25 11:56:50 -04:00
f01cab3be1
px4io:Ensure proper lifecycle of registration of cdev
2021-09-24 19:01:54 -04:00
9ad0e5b357
mavlink_receiver: updated sens flow parameters to be dynamically handle
2021-09-23 09:23:22 +02:00
e73172b537
hrt: remove hrt_elapsed_time_atomic
...
There's no protection on posix
2021-09-23 09:23:08 +02:00
6f902e54f9
mavlink: correctly lock radio status
...
- hrt_elapsed_time_atomic is not atomic on posix
- other fields like _radio_status_mult need protection as well
2021-09-23 09:23:08 +02:00
0bfb1a983b
px4iofirmware: avoid using hrt_elapsed_time_atomic
...
It's only ever read and written in controls_tick() after startup
2021-09-23 09:23:08 +02:00
eec94965f2
serial: add pixhawk payload bus option
2021-09-23 09:23:08 +02:00
682db4b8ac
dshot: timeout if commands are not processed
2021-09-23 09:22:49 +02:00
e53d2907d7
AutoSmoothVel: adjust controller constraints in emergency braking
...
When engaging auto mode at high vertical speed, we don't want to cut the velocity
trajectory setpoint in order to create a smooth deceleration.
2021-09-23 09:22:32 +02:00
316e0dfeb5
AutoLineSmoothVel: add emergency braking mode
...
Currently only for the Z axis. If the current downward velocity is more
than twice the maximum allowed value, the emergency braking mode is
activated. In this mode, a higher vertical acceleration and jerk is used
until the vehicle stops moving.
2021-09-23 09:22:32 +02:00
92696b589f
sdp3x: stop continuous measurement while reconfig
2021-09-23 09:22:09 +02:00
3a148bc777
camera_trigger: remove camera trigger secondary
...
camera_trigger: publish trigger when capture feedback is not enabled
2021-09-23 09:21:56 +02:00
f41e5985e8
vehicle_local_position: clarify origin of system
2021-09-22 10:14:23 +02:00
43ece74fa0
ina238: Do not expose raw adc config to user, make specific to ina238
2021-09-22 10:02:17 +02:00
b8d0bb44c4
ina23X: Support for ina23X power monitors
2021-09-22 10:02:17 +02:00
cf5da66e9f
Jenkins: hardware disable gyro auto cal and FFT before running tests
2021-09-21 19:13:30 -04:00
87db18c1a0
Jenkins: hardware don't allow board cleanup commands to fail build
2021-09-21 19:13:30 -04:00
a92e44c90e
Tools/HIL/run_nsh_cmd.py: echo success cmd twice to avoid missing dropouts
2021-09-21 19:13:30 -04:00
faca2b17d0
camera_trigger: only get param if available
2021-09-17 12:23:30 +02:00
7af5a33ff3
commander: don't play failsafe tune if disarmed
2021-09-16 09:17:00 -04:00
ecb1264832
vscode: do not disable autocomplete on enter
2021-09-16 09:11:52 -04:00
c779946e05
setup: Use available Java version for Ubuntu 20.04
...
14 was not available for me, 16 would have been.
2021-09-16 13:59:27 +02:00
addb978364
setup: Let's not ignore errors
...
Otherwise the script finishes and you don't know if it worked.
2021-09-16 13:59:27 +02:00
3d56836850
boards: nxp_fmurt1062-v1 disable extra barometers to save flash
2021-09-15 12:59:36 -04:00
2b80a6958a
fix disable airspeed check with negative ASPD_FS_INTEG ( #18186 )
...
* fix disable airspeed check with negative ASPD_FS_INTEG
* improve logic when nav velocity data is not good
* simplify logic. Reset integrator state when the check is not run.
2021-09-14 12:13:56 +02:00
e7a90bf367
PositionControl: correct horizontal margin calculation
...
It was using the already reduced vertical thrust to do
the horizontal limitation resulting in no margin.
2021-09-14 10:57:38 +02:00
d1f1e02afb
Refactor mode button changes
2021-09-14 09:52:32 +02:00
05d40f40d4
Handle rc toggle mode buttons to initialize flight modes
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-09-14 09:52:32 +02:00
c50daae4a3
rc_update: introduce support for toggle buttons via RC channels
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-09-14 09:52:32 +02:00
ca2d8f6de2
Update submodule simulation-ignition to latest Tue Sep 14 00:39:01 UTC 2021
2021-09-13 21:09:50 -04:00
e6552370ab
imu/invensense: adjust scheduling dynamically if not using data ready interrupt
2021-09-12 17:34:35 -04:00
fa4fc5f347
esc_report: change esc_temperature field to allow negative values
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-09-11 15:14:49 -04:00
7d7200cf2f
Added yaw to CMD_DO_SET_HOME
2021-09-11 15:14:01 -04:00
ce206d992b
RC_FAILS_THR and RC_MAP_FAILSAFE improve parameter description
2021-09-11 15:12:54 -04:00
212898ff42
Makefile: fix submodulesupdate
2021-09-11 15:10:56 -04:00
810d2e9497
ModuleParams: remove parent in destructor
...
This allows for dynamic deletion of children objects (in most cases this
is not used).
Uses ~100B memory.
2021-09-11 15:07:49 -04:00
f09b34007e
CA: reload CA matrix to newly created CA class properly
...
Also remove the dependency of ActuatorEffectivenessMultirotor
to param update uORB topic; the CA module
sends a "force" parameter when needed
2021-09-11 15:07:49 -04:00
cf5917d188
control_allocator: restructure param update
...
recompute effectiveness on param change
clear update at the end
2021-09-11 15:07:49 -04:00
9d974062d0
replay: improved logging for format mismatchs
2021-09-11 14:37:52 -04:00
bf48057090
px4/fmu-v2_test: disable modules to reduce flash
2021-09-11 14:08:41 -04:00
946857ddf7
px4/fmu-v6x: disable modules to reduce flash
2021-09-11 14:08:41 -04:00
673de86553
cubepilot/cubeorange: disable system_time and motor_ramp to reduce flash
2021-09-11 14:08:41 -04:00
759d03e5f9
nxp/fmurt1062-v1: disable modules to reduce flash
2021-09-11 14:08:41 -04:00
ce747fac62
cuav/x7pro: disable modules to reduce flash
2021-09-11 14:08:41 -04:00
3e899564d4
cuav/nora: disable some modules to reduce flash
2021-09-11 14:08:41 -04:00
c49e78cbac
holybro/durandal-v1: disable modules to reduce flash
2021-09-11 14:08:41 -04:00
5b674ea831
ROMFS: remove some airframes and mixers on v2 to reduce flash
2021-09-11 14:08:41 -04:00
1a743e1117
collision_prevention: switch to events
2021-09-11 14:08:41 -04:00
5b70fd4a1d
airspeed_selector: switch to events
2021-09-11 14:08:41 -04:00
5fb16e4395
fw_pos_control_l1: switch to events
2021-09-11 14:08:41 -04:00
0a1ae37c1a
logger: switch to events
2021-09-11 14:08:41 -04:00
38eca0c64b
logger: start session & log index at 100
...
To avoid leading zeros, as the events interface does not support that (yet)
2021-09-11 14:08:41 -04:00
b31276a4f5
mavlink: switch to events
2021-09-11 14:08:41 -04:00
90940c3672
mc_pos_control: switch to events
2021-09-11 14:08:41 -04:00
79a0edafb5
vehicle_air_data: switch to events
2021-09-11 14:08:41 -04:00
a8cc2f9ef6
vehicle_imu: switch to events
2021-09-11 14:08:41 -04:00
acb73fde14
vehicle_magnetometer: switch to events
2021-09-11 14:08:41 -04:00
f8dc915789
vtol_att_control: switch to events
2021-09-11 14:08:41 -04:00
dc87f8a7a4
events: unescape message to match the behavior of the C++ compiler
2021-09-11 14:08:41 -04:00
e1b8611323
px4/fmu-v5/optimized: disable some modules to reduce flash
2021-09-11 14:08:41 -04:00
9bba13f3e2
px4/fmu-v2/multicopter: disable some modules to reduce flash
2021-09-11 14:08:41 -04:00
1f73294ad7
navigator: switch to events
2021-09-11 14:08:41 -04:00
5ac43e7236
commander: switch to events
2021-09-11 14:08:41 -04:00
8866215d1d
sensors/vehicle_imu: add protections for bad sensor data
...
- check for inconsistent timestamps, zero samples, and numerical issues in online mean
2021-09-11 13:04:46 -04:00
3c57c67ce3
Make arch setup script executable
...
I usually called it using `source arch.sh`
but if it's executable it could also be called using `./arch.sh`
and that's also what's done for the ubuntu setup script.
2021-09-10 07:50:23 +02:00
a238965228
boards: modalai_fc-v1 update default.cmake ( #18202 )
...
- makes TELEM/SERIAL-4 (VOXL-Flight J1009) work
2021-09-09 09:03:21 -04:00
28dbd8dc1d
NuttX at 10.1.0+
...
NuttX backport fixing ARM protected build
2021-09-09 04:43:22 -07:00
2e36fff31d
Implement option to reboot px4 using protocol_splitter format when flashing.
2021-09-09 10:12:11 +02:00
ffa5abbd65
ci: update container versions to 2021-09-08
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-09 09:43:15 +02:00
c5c80e31b6
boards: remove DIRECT_INPUT_TIMER_CHANNELS from board_config.h
2021-09-08 16:10:24 -04:00
ae8733c2d4
pwm_input: remove 'test' command and use 'status' instead
2021-09-08 16:10:24 -04:00
f1aafe83b3
pwm_out: cleanup, remove _output_mask & only update owned channels
...
_pwm_mask reflects the actually owned channels.
2021-09-08 16:10:24 -04:00
a8e75d174c
boards: remove BOARD_HAS_PWM and use DIRECT_PWM_OUTPUT_CHANNELS
2021-09-08 16:10:24 -04:00
1ee423e3c8
pwm_out, dshot: remove mode_* handling and capture ioctl's
...
They now use all unused pins, whereas camera_capture, camera_trigger and
pwm_input modules start before to reserve their pins.
2021-09-08 16:10:24 -04:00
062dd28f4d
camera_capture: use up_input_capture_set directly
...
It reserves the channel and pwm_out will not use it
2021-09-08 16:10:24 -04:00
78b5cdae4c
s32k1xx: io_timer: reserve pins & timers on first use
2021-09-08 16:10:24 -04:00
ab828b8e94
kinetis: io_timer: reserve pins & timers on first use
2021-09-08 16:10:24 -04:00
7d9a3bf29f
imxrt: io_timer: reserve pins & timers on first use
2021-09-08 16:10:24 -04:00
9a74c6f3c6
stm32: io_timer: lock around io_timer_allocate_channel and io_timer_get_channel_mode
...
This is to avoid potential race conditions during startup.
All startup code runs sequentially atm, so this is just for robustness
for later (e.g. concurrent pwm_out and dshot start).
2021-09-08 16:10:24 -04:00
847bd120fa
io_timer: reserve pins & timers on first use
...
This allows modules to do a first-come-first-serve pin/timer reservation
on bootup.
E.g. camera trigger reserves any of the pins, and then PWM/DShot output
will just use the rest of the available pins.
2021-09-08 16:10:24 -04:00
0d7176b766
boards: remove camera_capture from sitl and linux targets
...
It uses io_timer lib
2021-09-08 16:10:24 -04:00
422a0f7103
boards: px4_fmu-v5_debug enable more debug errors and warnings
2021-09-08 16:04:45 -04:00
aad11ecc65
PreFltCheck: do not force to report ekf2 failures on GCS connection
...
EKF2 has a grace period of 10 seconds after boot where it doesn't need
to warn the user while the sensors (especially GNSS) are still
converging.
A connection to a GCS shouldn't skip this grace period but
an arming request should.
2021-09-08 14:41:26 -04:00
58ea97a699
MulticopterPositionControl: add horizontal margin for saturation cases
2021-09-08 19:55:27 +02:00
06a91ec752
Improve offboard failsafe ( #18160 )
...
* state_machine_helper: improve offboard failsafe
* state_machine_helper: add missing parameter to set_link_loss_nav_state
* state_machine_helper: fix no rc and offboard reason
* Fix offboard test by enabling rcl_except
* mavros_test fix offboard_posctl_test with rcl_except
* autopilot_tester make RcLossException bits explicit
Co-authored-by: Julian Oes <julian@oes.ch >
* autopilot_tester change rcl_except to rc_loss_exception
Co-authored-by: Julian Oes <julian@oes.ch >
* autopilot_tester fix rc_loss_exception renaming errors
Co-authored-by: Julian Oes <julian@oes.ch >
2021-09-08 18:19:53 +02:00
686bcff8a7
new TDK ICM42670p IMU driver support ( #18141 )
...
Co-authored-by: zhaoxiaowei <zhaoxiaowei@efy-tech.com >
2021-09-08 10:24:22 -04:00
000765e9f0
NuttX mount procfs and binfs in px4 init
2021-09-08 10:21:24 -04:00
29a91306b5
lib/led: error if dropping ORB_ID(led_control) messages
2021-09-08 10:21:09 -04:00
5c7882b787
icm42688p: properly disable anti-aliasing and notch filter
2021-09-08 10:20:57 -04:00
4b5a91bf7d
experimental driver for the Tattu 12S 16000mAh Smart Battery on /dev/can0 ( #18164 )
...
- This driver is highly specific to this model of Tattu battery and cannot work with other models without code changes.
- The driver simply reads CAN frames using the NuttX CAN character device interface and converts the data into the proper format as specified in the Tattu datasheet
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com >
2021-09-08 10:20:14 -04:00
5eddf32cd3
boards: cubepilot_cubeorange only start ADSB mavlink if console not present
...
- cubepilot_cubeorange_test has the console enabled (used for test rack and bench debugging)
2021-09-06 11:52:58 -04:00
dbb0974b0c
Removed TEL3 from cube orange default.cmake as it is used for the built in ADS-B receiver
2021-09-06 09:51:38 +02:00
bce1c06174
Added new line at the end of the file as per code style
2021-09-06 09:51:38 +02:00
223410e17a
Enable Cube Orange built in ADS-B receiver by default
2021-09-06 09:51:38 +02:00
8c47a190ac
Jenkins: hardware stop sensors module before mirobenchmarks
...
- ignore irrelevant sensor timeouts during microbenchmarks
2021-09-05 23:18:28 -04:00
cf0a4e06db
boards: px4_fmu-v5x_test disable unused drivers to save flash
2021-09-05 23:18:28 -04:00
560ff42923
boards: px4_fmu-v2_test disable ms4525 to save flash
2021-09-05 23:18:28 -04:00
56a8f5f73e
boards: px4_fmu-v2_test disable mc_hover_thrust_estimator to save flash
2021-09-05 23:18:28 -04:00
3dda360fac
boards: px4_fmu-v5_optmized disable all additional barometers to save flash
2021-09-05 23:18:28 -04:00
476e050000
boards: cubepilot_cubeorange_test disable unused modules to save flash
2021-09-05 23:18:28 -04:00
291ca246d2
matrix: update submodule (improves matrix inversion)
2021-09-05 23:18:28 -04:00
73ab153fe0
fix test_microbench_math: don't try to measure single instructions
...
The clock is simply not accurate enough to do that.
Plus the measuring overhead is much higher than the executed instruction.
Remaining issue: memory transfers (due to volatile) add non-negligible
overhead and distort the result. Could be solved by using inline assembly.
2021-09-05 23:18:28 -04:00
02ca1a6711
Update submodule mavlink v2.0 to latest Sun Sep 5 12:39:18 UTC 2021
2021-09-05 20:42:54 -04:00
6278c072c9
Update submodule sitl_gazebo to latest Mon Sep 6 00:40:01 UTC 2021
...
- sitl_gazebo in PX4/Firmware (51697b0d07665d85ca1ebd9105e3cdc621b41969): https://github.com/PX4/PX4-SITL_gazebo/commit/7fda4d311a9daff4bec4f2fe83e63fde0b8f04b0
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/53d606b32f5729cc70d59281085d639bd97b30d7
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/7fda4d311a9daff4bec4f2fe83e63fde0b8f04b0...53d606b32f5729cc70d59281085d639bd97b30d7
53d606b 2021-09-01 stmoon - fix the bug for the low real time factor in gazebo
2021-09-05 20:42:33 -04:00
a4e9444ca4
Makefile: submodulesupdate include fetching all tags recursively
2021-09-05 14:50:56 -04:00
93075ad5e8
rtl: fixed computation of return altitude if destination is not home
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-09-05 10:26:24 +02:00
d32f0d6168
Support headless mode for ignition gazebo
...
This adds support for `HEADLESS=1` when starting ignition gazebo with headless mode
2021-09-04 14:01:39 +02:00
3aa3f542ae
Update simulation-ignition submodule
2021-09-03 15:54:46 +02:00
121bdfa630
Add verbose option for ignition gazebo
...
This commit adds verbose option for ignition gazebo
2021-09-03 15:54:46 +02:00
3c57626627
Update world path for ignition gazebo
2021-09-03 15:54:46 +02:00
c35293107d
tailsitter.cpp:If transition timeout,abort transition
2021-09-03 13:41:40 +02:00
92abf0545a
GeofenceBreachAvoidance: fixed bug which caused min vertical distance to fence
...
not to be calculated
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-09-02 15:45:19 +03:00
9418d36cc9
Tools/docker_run.sh: use recent docker image to fix missing python jsonschema when compiling linux arm based targets ( #18178 )
2021-09-01 19:11:54 -04:00
99d7cf4255
parameters: only warn on invalid parameter import
2021-09-01 15:16:00 -04:00
92a48657e3
Jenkins: hardware tolerate listener command failure
...
- these are only for casually inspecting the system
2021-09-01 15:16:00 -04:00
86bd6a253b
Jenkins: hardware test rebooting back to back multiple times
2021-09-01 15:16:00 -04:00
06c673a94f
Jenkins: hardware move sd_bench to test section
2021-09-01 15:16:00 -04:00
478cc576ee
commander: warn on offboard mission init
...
- this could happen because the SD card was formatted
2021-09-01 15:16:00 -04:00
347720e049
Jenkins: hardware always reset board when finished
2021-09-01 15:16:00 -04:00
e7607b858d
sensors: use vehicle_imu timestamp_sample instead of timestamp
2021-09-01 15:16:00 -04:00
45001d1ba4
boards: px4_fmu-v5x_test disable modules to save flash
2021-09-01 15:16:00 -04:00
f1d00fe697
Tools/HIL: only print timestamp if newline in output
2021-09-01 15:16:00 -04:00
6ee16156bb
Jenkins: hardware only list relevant parameters
2021-09-01 15:16:00 -04:00
33a3bc143b
boards: ark_can-gps_debug disable systemcmds to save flash
2021-09-01 15:16:00 -04:00
225bd2d5a3
Jenkins: hardware limit stackcheck and debug build cpu usage
2021-09-01 15:16:00 -04:00
a5a457d744
sensors: relax default data_validator timeout 20->40ms
2021-09-01 15:16:00 -04:00
3ff9295cbd
Jenkins: hardware nxp_fmuk66-v3 limit IMU_GYRO_RATEMAX to save cpu
2021-09-01 15:16:00 -04:00
bd8937642f
lib/sensor_calibration: only warn if external rotation resetting
...
- this also happens with the actual default parameter value (-1)
2021-09-01 15:16:00 -04:00
40e5477edb
NuttX boards fix mkfatfs and rcS logic
2021-09-01 15:16:00 -04:00
65b1a9648d
Tools/HIL/run_nsh_cmd.py: fail if ERROR printed in output
2021-09-01 15:16:00 -04:00
2f99857b0a
systemcmds/bl_update: add CONFIG_ARCH_CHIP_STM32F7 file size limit
2021-09-01 15:16:00 -04:00
369776cd4e
Jenkins: hardware don't tolerate px4io status on known hardware
2021-09-01 15:16:00 -04:00
c6dd03a8aa
Tools/HIL/run_nsh_cmd.py - raise timeout slightly
...
- helps on slower debug builds
2021-09-01 15:16:00 -04:00
c508404975
boards/px4/fmu-v4pro: fix incorrectly sized FRAM
2021-09-01 15:16:00 -04:00
61931fcbbc
Jenkins: hardware failure allow px4_fmu-v5_debug monitor firmware upload failure
...
- due to reported errors in NuttX low level drivers
2021-09-01 15:16:00 -04:00
9e0fa8e82b
boards: set SENS_TEMP_ID defaults
2021-09-01 15:16:00 -04:00
5dfc07cb1b
systemcmds/param: add set-default sient (-s) option
2021-09-01 15:16:00 -04:00
054d0b995c
px4iofirmware: remove police lights to avoid getting stuck
2021-09-01 15:16:00 -04:00
2864735c44
Tools/HIL/monitor_firmware_upload.py - fail if there's an ERROR during startup
2021-09-01 15:16:00 -04:00
70831a8e2c
px4io: checkcrc warn on mismatch
2021-09-01 15:16:00 -04:00
8434da6f79
px4io: reduce upload retries 5 -> 2
2021-09-01 15:16:00 -04:00
6be7926ed3
px4io: add watchdog
...
- F1 iwdg:Support optional configuable init
Co-authored-by: David Sidrane <David.Sidrane@NscDg.com >
2021-09-01 15:16:00 -04:00
f856b89723
boards: Holybro H7 boards clear MPU early in board init
...
- needed if the bootloader configures the memory protection unit (MPU)
2021-09-01 08:53:05 +02:00
c700ffff92
boards: CUAV H7 boards clear MPU early in board init
...
- needed if the bootloader configures the memory protection unit (MPU)
2021-09-01 08:53:05 +02:00
965f11e923
MRO: Set up MPU after boot to app
...
This is needed in case the bootloader configured the MPU, which could interfere with the app as the bootloader memory map / configuration is different.
2021-09-01 08:53:05 +02:00
a819a7b7c4
boards: cube orange fully clear any existing MPU configuration as soon as possible
2021-09-01 08:53:05 +02:00
7925787f62
px4io_serial: ensure TX DMA is stopped if exiting early on stream error
...
- otherwise the next retry can happen quickly enough that dma setup
hangs waiting for the stream
2021-08-31 23:11:07 +02:00
6cb0259b79
commander: improve progress output
...
Instead of outputting progress at weird percentages and dropping 100%,
this now sends the progress every 10 %.
2021-08-30 21:05:40 -04:00
ca685490a9
drivers/rc_input: only print vrssi if analog stable
2021-08-30 12:45:56 -07:00
15c01a9732
drivers/rc_input: flush buffers when beginning new scan state
2021-08-30 12:45:56 -07:00
a305fc9c34
drivers/rc_input: only invert RC when starting/ending SBUS
2021-08-30 12:45:56 -07:00
79703c9c7a
drivers/rc_input: don't resume scanning if armed
2021-08-30 12:45:56 -07:00
98f89aae9b
drivers/rc_input: always report new lock
2021-08-30 12:45:56 -07:00
34483aef0f
Do not resend a mission request if it is not the expected sequence number, this can cause an excessive increase of used bandwith ( #18082 )
2021-08-30 13:39:51 +02:00
a917793248
mavlink: only block parameter sync until boot complete
2021-08-30 13:27:51 +02:00
ab1c90d831
boards: cubeorange/cubeyellow use amber LED for armed state
2021-08-28 09:15:41 -04:00
c3c30e5d4f
Fix memory corruption when work queue is being deleted
...
When the last WorkItem is deleted, it is removed from a work queue and the
queue is being stopped. But, the queue itself might get deleted in the middle,
in a higher priority thread than where the WorkItem deletion was performed from
If the WorkQueue::Detach accesses the member variables after this, there is memory
corruption
This happens in particular when launching i2c or spi devices in
I2CSPIDriverBase::module_start:
- The "initializer" is deleted when the instance is not found and the iterator
while loop continues.
- The workqueue is deleted in the middle of "initializer" deletion when the
WorkQueueRunner returns.
This prevents deletion of the WorkQueue before the Detach has been finished,
in the specific case that the ::Detach triggers the deletion
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-08-27 10:43:45 +02:00
99463fce48
Update submodule mavlink v2.0 to latest Thu Aug 26 12:39:19 UTC 2021 ( #18153 )
...
- mavlink v2.0 in PX4/Firmware (c6a6403ce2https://github.com/mavlink/c_library_v2/commit/51204fc82bc89b6862ebf03a1f49e80c52feeecc
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/e0e24de6228326101ff85dd5cdea638f2569c70e
- Changes: https://github.com/mavlink/c_library_v2/compare/51204fc82bc89b6862ebf03a1f49e80c52feeecc...e0e24de6228326101ff85dd5cdea638f2569c70e
Co-authored-by: PX4 BuildBot <bot@px4.io >
2021-08-26 11:43:31 -04:00
c6a6403ce2
px4io: increase stack 1500 -> 1536 bytes
2021-08-25 21:32:05 +02:00
f59b54abd7
boards: io-v2 increase idle thread stack 280 -> 316 bytes
2021-08-25 21:32:05 +02:00
22e62a044a
px4iofirmware: never directly touch mixer from isr
2021-08-25 21:32:05 +02:00
1ee5f75aa5
uavcan_v1: Add PublicationManager and uORB Publisher ( #17863 )
2021-08-25 14:56:23 -04:00
d8214f5e00
component_information: merge extra component_information_header target
...
With Makefile build, generate_component_general.py was called twice during
build, which did not happen with the ninja build.
This created a race condition with the following error in rare cases:
Traceback (most recent call last):
File "/__w/PX4-Autopilot/PX4-Autopilot/src/lib/component_information/generate_component_general.py", line 79, in <module>
save_compressed(filename)
File "/__w/PX4-Autopilot/PX4-Autopilot/src/lib/component_information/generate_component_general.py", line 33, in save_compressed
with open(filename, 'r') as content_file:
FileNotFoundError: [Errno 2] No such file or directory: '/__w/PX4-Autopilot/PX4-Autopilot/build/px4_sitl_default/component_general.json'
make[3]: *** [src/lib/component_information/CMakeFiles/component_information_header.dir/build.make:68: component_general.json] Error 1
Merging the targets avoids the duplicate execution.
2021-08-25 10:04:39 -04:00
af53b60713
Revert "component_information: add debug instrumentation for FileNotFoundError exception"
...
This reverts commit ca454c93d1
2021-08-25 10:04:39 -04:00
8f03045fb2
Increase micrortps_client_rcv stack for 64 bit targets
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-08-24 10:16:27 -04:00
69021dbafa
Increase navigator stack for 64-bit targets
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-08-24 10:16:27 -04:00
e49791cdf2
Increase mavlink stack for 64 bit targets
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-08-24 10:16:27 -04:00
523578d2ce
Increase stack size of wq:manager and worker threads for 64 bit targets
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-08-24 10:16:27 -04:00
29248cb6b8
Increase gps stack for 64 bit targets
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-08-24 10:16:27 -04:00
733b1e9e67
Increase logger stack size for 64 bit targets
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-08-24 10:16:27 -04:00
8cf121fc9d
Increase dataman stack size for 64 bit targets
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-08-24 10:16:27 -04:00
62aa9c9f34
Correct conversion from sec to usec
2021-08-23 20:17:26 +01:00
04adf6c9be
drivers/distance_sensor/vl53l1x: added multiple region of interest settings ( #18073 )
...
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
2021-08-23 14:15:41 -04:00
a4527485a3
mavlink: update radio status timestamp atomically
...
- this is updated by the mavlink rx thread, but checked in the tx thread
2021-08-23 11:16:10 -04:00
61702d0d97
sensors: always start baro/GPS/mag aggregators if SYS_HAS_* set
...
- add new SYS_HAS_GPS parameter
2021-08-23 10:59:58 -04:00
6d3120d00d
lower case c in Quadchute
2021-08-23 09:08:53 -04:00
a260ea8233
more consistent quadchute messages
2021-08-23 09:08:53 -04:00
2b1c97eb37
Update world_magnetic_model to latest Sun Aug 22 11:14:24 UTC 2021
2021-08-22 16:28:00 -04:00
60d50b9d5d
boards: px4_fmu-v6x_default disable batmon to save flash
2021-08-22 14:48:01 -04:00
1339dd3681
px4_fmuv6x:Use parameter setting for ina22x
2021-08-22 14:48:01 -04:00
f2925d234e
px4_fmuv5x:Use parameter setting for ina22x
2021-08-22 14:48:01 -04:00
bf89771710
ina22x:Enabled by paramaters
2021-08-22 14:48:01 -04:00
f820771ea2
px4_fmuv6x:Add INA228
2021-08-22 14:48:01 -04:00
7e7cbceaea
px4_fmuv5x:Add INA228
2021-08-22 14:48:01 -04:00
f819be2075
Support INA228
2021-08-22 14:48:01 -04:00
fdb92d4746
protocol_splitter: check available bytes before read()
...
This is to avoid blocking in any case.
If we don't do that, ioctl() may signal data available while the other
protocol does a read(), and when the first protocol tries to do a read(),
it would not have data anymore and would block (so this avoids a race
condition).
2021-08-22 10:42:13 -04:00
5d1e78befb
protocol_splitter: return correct FIONSPACE
...
This is now possible since we don't parse the protocol.
2021-08-22 10:42:13 -04:00
6edb55c874
protocol_splitter: simplify write()
...
With the protocol header we don't need to parse the protocol anymore.
2021-08-22 10:42:13 -04:00
868f9cebb0
protocol_splitter: return 0 when no data to read instead of -1
...
This avoids mavlink adding another usleep() due to read error
2021-08-22 10:42:13 -04:00
375b014444
protocol_splitter: reduce poll timeout from 100ms to 10ms
...
This matches the timeout in mavlink_receiver.
With the higher timeout sending of e.g. mavlink logging was done at a lower
rate.
2021-08-22 10:42:13 -04:00
00d939995b
fix micrortps_transport: set poll fd when baudrate is 0
2021-08-22 10:42:13 -04:00
0885f37667
micrortps_bridge: add "msg/tools/urtps_bridge_topics.yaml" to CMAKE_CONFIGURE_DEPENDS
...
- this is necessary because urtps_bridge_topics.yaml is processed at
cmake configure time (via cmake execute_process)
2021-08-22 10:41:04 -04:00
4422030037
micrortps_bridge/micrortps_client: fix topic path dependencies
2021-08-22 10:41:04 -04:00
c0efbe1f9c
change PublicationMulti-> Publication as a temporary fix
2021-08-20 19:56:56 +01:00
376b1c9987
rgbled_ncp5623c:Add comand line mapping of PWM to color
2021-08-20 10:15:57 -04:00
8e04985940
rgbled_ncp5623c:Needs 2 retries
2021-08-20 10:15:57 -04:00
74903cf215
rgbled_ncp5623c:Can change address, return actual
2021-08-20 10:15:57 -04:00
cba78081af
rgbled_ncp5623c:Document support for ncp5623[c|b] parts
2021-08-20 10:15:57 -04:00
78b76cb636
i2c_spi_buses:Support devices that may change address
2021-08-20 10:15:57 -04:00
075cb39c34
vcm1193l:Bug Fix set default address
2021-08-20 10:15:57 -04:00
8f4811daa8
px4_fmu-v5x:Newer HW Start BARRO on bus 2
2021-08-20 10:15:57 -04:00
566d1499bc
px4_fmu-v6x:Use HB 10pin GPS rotation
2021-08-20 10:15:57 -04:00
dc5fd25e8c
px4_fmu-v5x:Use HB 10pin GPS rotation
2021-08-20 10:15:57 -04:00
1618933014
rcS:Scope netman to all 5X and 6X
2021-08-20 10:15:57 -04:00
69d1a73f85
Update submodule GPSDrivers to latest Fri Aug 20 12:39:20 UTC 2021 ( #18111 )
...
- GPSDrivers in PX4/Firmware (1cbb007b95d375ababeae79f753cfafae9a9a4de): https://github.com/PX4/PX4-GPSDrivers/commit/8af5336d3f112278fd321e2c512453f23a350540
- GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/6fcf06894973240d45dc49d3b31565917dc8f2f6
- Changes: https://github.com/PX4/PX4-GPSDrivers/compare/8af5336d3f112278fd321e2c512453f23a350540...6fcf06894973240d45dc49d3b31565917dc8f2f6
6fcf068 2021-08-18 Femtomes - Femto_gps_driver: change UNLOGALL command
c51adac 2021-08-18 Oleg Evseev - nmea: add rtcm parsing and add debug ouput
2021-08-20 10:14:47 -04:00
df3608d38a
Update submodule mavlink v2.0 to latest Fri Aug 20 12:39:17 UTC 2021
...
- mavlink v2.0 in PX4/Firmware (31545f85fbhttps://github.com/mavlink/c_library_v2/commit/5095bcd856537330e66e6fc833a1c7bf689bf5ed
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/51204fc82bc89b6862ebf03a1f49e80c52feeecc
- Changes: https://github.com/mavlink/c_library_v2/compare/5095bcd856537330e66e6fc833a1c7bf689bf5ed...51204fc82bc89b6862ebf03a1f49e80c52feeecc
2021-08-20 09:05:23 -04:00
31545f85fb
gitmodules update NuttX branches to latest v10.1.0
2021-08-19 13:02:31 -04:00
c4b91c8558
calibration params: avoid using NaN as default
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- NaN is not supported by JSON, and leads to parsing failure in QGC.
- fixes https://github.com/PX4/PX4-Autopilot/issues/18095
2021-08-19 11:29:26 -04:00
507cce78d5
boards: px4_fmu-v6{u,x} fix test variant flash overflow and sync defaults
2021-08-19 11:25:21 -04:00
c4499aa7bb
uavcan: save parameter after successful set
2021-08-19 02:06:02 -07:00
06c2d14903
ekf2: multi-mode allow first instance to save EKF2_MAG_DECL
2021-08-19 10:14:35 +02:00
1af2ecaff6
boards: px4_fmu-v5_test disable attitude_estimator_q and local_position_estimator to save flash
2021-08-18 19:31:24 -04:00
6423ea50e6
add sensor_combined to urtps_bridge_topics.yaml
2021-08-18 23:52:45 +01:00
3423c5e48a
boards: nxp_fmurt1062-v1_default disable attitude_estimator_q and local_position_estimator to save flash
2021-08-18 18:06:22 -04:00
3fc4ee6c90
boards: px4_fmu-v6x_default disable attitude_estimator_q to save flash
2021-08-18 18:01:14 -04:00
4c401b070e
boards: cuav_can-gps-v1 delete unused debug variant
2021-08-18 17:40:33 -04:00
7b9d16d2f8
fix gps: remove Wno-cast-align & fix it
2021-08-18 12:24:17 -04:00
4b49f9261e
gps: add generic nmea driver
2021-08-18 12:24:17 -04:00
22e2fc9465
gps: add missing case & arguments for femtomes driver
2021-08-18 12:24:17 -04:00
49f81a9e0e
boards: px4_fmu-v2_default disable load_mon to save flash
2021-08-18 12:20:13 -04:00
7b8ef07235
github actions: add all CAN nodes
2021-08-18 12:17:46 -04:00
2607527d63
Commander: improve user notification for yaw emergency
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-08-18 10:16:02 -04:00
d089d4a6a4
fix memory bugs in replay and bl_update
2021-08-18 07:45:51 +02:00
810dbbd25b
AFBR mode switching, rate switching, and test
2021-08-17 19:38:33 -04:00
c1f588806a
BAT_ADC_CHANNEL should point to BAT1_I_CHANNEL
2021-08-17 19:35:11 -04:00
cb610caf1e
drivers: minimize additional I2C retries
2021-08-17 09:54:50 -04:00
8a8171c7aa
platforms/nuttx: px4_init initialize and reset all I2C buses
2021-08-17 09:54:50 -04:00
2b581ef407
platforms/nuttx: s32k14x & s32k1xx add i2c_hw_description.h
2021-08-17 09:54:50 -04:00
29616ec387
Jenkins: remove modalai_fc-v1 temporarily
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- board test harness needs to be repaired
2021-08-16 21:45:37 -04:00
474b0188f7
mixer_module: set MAX_CUSTOM_OPT_LEVEL
2021-08-16 11:05:39 -04:00
f00f3d1a27
dshot: improve performance by removing extra motor_buffer array
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Reduces CPU load by almost 1.5% @ 2khz on F4 and F7.
This changes the motor ordering on boards where the timer ordering does
not match the order of the timer usage in the channels defintion.
Only omnibus f4sd is affected.
2021-08-16 11:05:39 -04:00
afed10618b
dshot: inline up_dshot_motor_data_set and up_dshot_motor_command
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Slight performance improvement (~0.1% @1khz on F4)
2021-08-16 11:05:39 -04:00
8aecc64a73
generate uorb - support multiline descriptions
2021-08-16 08:29:44 +02:00
9c081ed24b
ekf2_timestamps.msg - make first line a complete sentence
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Fixes the docs.
2021-08-16 08:29:44 +02:00
51fa834ac6
generate_msg_docs: generate better page title
2021-08-16 08:29:44 +02:00
ff39e27e2d
sensor calibration: save temperature at calibration time for monitoring
2021-08-15 11:19:24 -04:00
a76bcd3e01
CI fix renamed uorb_to_ros_rtps_ids.py -> uorb_to_ros_urtps_topics.py
2021-08-14 15:53:14 -04:00
c6931814fa
Jenkins: fix msg docs stash and archive
2021-08-14 15:18:57 -04:00
b98656ccb4
Jenkins: fix msg files stash
2021-08-14 14:58:57 -04:00
f2bae02f87
msg: purge unused qshell
2021-08-14 12:54:01 -04:00
5fb386a1bb
magnetometer/bosch/bmm150: free all perf counters
2021-08-14 11:42:53 -04:00
a83675c622
gyro_fft: improve scheduling
...
- move to high priority work queue (from low priority)
- schedule slightly more often to avoid missing messages
- perf counter include all FFT processing work
- lazily allocate gyro gap perf counters on initial sensor selection
2021-08-13 15:00:08 -04:00
8952fa2935
rc.sensors:Fix Shell Check warning
2021-08-13 14:22:00 -04:00
3c227b6f76
hardfault_log:Remove verbose output when CONSTRAINED_FLASH_NO_HELP is lit
2021-08-13 14:22:00 -04:00
53c81d986e
atl_mantis-edu:Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
c4b810eef9
tap_esc_uploader:Use inttypes
2021-08-13 14:22:00 -04:00
a7123f115c
sih:Fix type mismatch
2021-08-13 14:22:00 -04:00
e8c418caaf
EKF:Use inttypes
2021-08-13 14:22:00 -04:00
79f8865e65
px4_fmu-v2:All configs Use NO_HELP option to save flash
2021-08-13 14:22:00 -04:00
3e9c8e401e
freefly_can-rtk-gps_canbootloader: Stub out printf to remove write dependancy
2021-08-13 14:22:00 -04:00
518700b39b
platforms/nuttx/CMakeLists:Resolve fs->libc(strcat) libc->fs
2021-08-13 14:22:00 -04:00
bb913ae11a
system_load:Track Dynamic PID hash
2021-08-13 14:22:00 -04:00
e6d9c2b734
px4_fmu-v5_optimized: Fit in flash
2021-08-13 14:22:00 -04:00
cf292bef07
px4_fmu-v6x: Update nsh defconfig NuttX 10.1.0+ CONFIG_NET_SOCKOPTS Automatic
2021-08-13 14:22:00 -04:00
f5d679fae4
px4_fmu-v5x: Update nsh defconfig NuttX 10.1.0+ CONFIG_NET_SOCKOPTS Automatic
2021-08-13 14:22:00 -04:00
cab2ba209e
px4_fmu-v5x: Update base_phy_DP83848C defconfig NuttX 10.1.0+ CONFIG_NET_SOCKOPTS Automatic
2021-08-13 14:22:00 -04:00
53477a1f82
av_x-v1: Update nsh defconfig NuttX 10.1.0+ CONFIG_NET_SOCKOPTS Automatic
2021-08-13 14:22:00 -04:00
a1c90057cb
px4_fmu-v5:ARM Stack check (debug) needs headroom
2021-08-13 14:22:00 -04:00
10d3909087
px4_fmu-v5:ARM Stack check needs headroom
2021-08-13 14:22:00 -04:00
58fc5b21b8
NuttX at 10.1.0+
...
With PX4 contrib for building
2021-08-13 14:22:00 -04:00
e2d05157dd
afbrs50: Use inttypes
2021-08-13 14:22:00 -04:00
9455bfd857
px4_fmu-v5: Update uavcanv1 defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
e3104861df
cuav_can-gps-v1: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
8cdea33074
modalai_fc-v2: Update bootloader defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
02ef9dc188
modalai_fc-v2: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
5beda51fa4
modalai_fc-v1: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
b600c7cc55
cuav_x7pro: Update bootloader defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
a0c74a8563
cuav_x7pro: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
51b1cf774c
cuav_nora: Update bootloader defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
b8aa6ccaa1
cuav_nora: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
a73b688566
holybro_kakutef7: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
b3555ada6b
holybro_can-gps-v1: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
7d572c515c
holybro_pix32v5: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
55bf2c7610
holybro_durandal-v1: Update bootloader defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
b45e0dd872
holybro_durandal-v1: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
6b27c28787
uvify_core: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
9e3d275f0c
omnibus_f4sd: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
3c78d7285a
freefly_can-rtk-gps: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
24a263a6bc
av_x-v1: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
9676b3fd27
airmind_mindpx-v2: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
2731238ce3
ark_can-gps: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
7268c344e4
ark_can-flow: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
defbb0e17a
mro_ctrl-zero-f7-oem: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
47f1b934d3
mro_x21: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
0823bb5584
mro_x21-777: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
f527286200
mro_ctrl-zero-h7-oem: Update bootloader defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
5446d4bde8
mro_ctrl-zero-h7-oem: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
e96c3e5093
mro_pixracerpro: Update bootloader defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
1d789863b4
mro_pixracerpro: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
fe8c902f90
mro_ctrl-zero-f7: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
49c85e7713
mro_ctrl-zero-h7: Update bootloader defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
0d47f1a3cb
mro_ctrl-zero-h7: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
181e82dd17
nxp_fmurt1062-v1: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
89c553b161
nxp_fmuk66-v3: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
ea1538a04f
nxp_fmuk66-v3: Update socketcan defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
6ad56c537f
nxp_fmuk66-e: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
71d5de5715
nxp_fmuk66-e: Update socketcan defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
44b29b6126
nxp_ucans32k146: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
cc6d15b4fd
bitcraze_crazyflie: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
655a10ffdd
bitcraze_crazyflie21: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
64bf02384f
cubepilot_cubeyellow: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
281a238bb0
cubepilot_cubeyellow: Update test defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
9c1752bf4d
cubepilot_io-v2: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
d9da05bd02
cubepilot_cubeorange: Update bootloader defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
2a4b4824e5
cubepilot_cubeorange: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
f5b22d8832
cubepilot_cubeorange: Update test defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
9b15d2db10
px4_fmu-v6u: Update bootloader defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
d4d149758d
px4_fmu-v6u: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
ffc9ed8a75
px4_fmu-v5: Update debug defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
3e020a33b9
px4_fmu-v5: Update optimized defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
33897727cd
px4_fmu-v5: Update stackcheck defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
63198fb6cb
px4_fmu-v5: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
0b084461b5
px4_fmu-v4pro: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
6e93251169
px4_fmu-v5x: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
7344c050a8
px4_fmu-v5x: Update base_phy_DP83848C defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
cb150b3ced
px4_fmu-v3: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
c3d9504933
px4_io-v2: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
be479654c2
px4_fmu-v2: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
0316010027
px4_fmu-v6x: Update bootloader defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
639486f4ba
px4_fmu-v6x: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
d709bafa11
px4_fmu-v4: Update nsh defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
2e4e4018b6
px4_fmu-v5:ARM Stack check needs headroom (237 bytes)
2021-08-13 14:22:00 -04:00
bea495999f
spracing_h7extreme:Update defconfig NuttX 10.1.0+
2021-08-13 14:22:00 -04:00
173e5c7554
NuttX:Track Stack naming changes
2021-08-13 14:22:00 -04:00
069130403d
LoadMon:Support NuttX Dynamic FDs
2021-08-13 14:22:00 -04:00
4353d0faf3
print_load:Support NuttX Dynamic FDs
2021-08-13 14:22:00 -04:00
ec61512cdf
NuttX inits null console
2021-08-13 14:22:00 -04:00
01ef9cf3e6
NuttX at 10.1.0+
...
With PX4 contrib for building
2021-08-13 14:22:00 -04:00
40f9b53b90
Remove a couple of unnecessary reboot_required from parameter meta data
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-08-13 10:35:43 -04:00
d30760a2ea
Remove flap scaling to prevent flaps being deployed in manual mode
...
This commit restores the flap scaling since it was always getting deployed in manual flight modes
2021-08-13 15:46:23 +02:00
72bc8647a9
commander: add sensors reset to factory calibration
2021-08-12 10:20:33 -04:00
3f172dbfa7
ROMFS: new parameters for starting differential pressure sensors
2021-08-12 10:11:13 -04:00
c8346534f1
sih: using Quatf::expq(), fuselage added
2021-08-12 10:10:03 -04:00
265c77b02a
logger: remove unused topics, move some to debug profile
2021-08-12 10:09:11 -04:00
c0285611ec
fix logger: turn off lockstep when starting log streaming
...
Lockstep created deadlocks between logger and mavlink, due to logger
waiting for mavlink and mavlink waiting for lockstep.
2021-08-12 10:09:11 -04:00
f88f224fe6
logger: avoid data bursts by distributing slow subscription updates over time
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There's an increasing amount of slow logged topics at 1-2Hz, which were all
updated in the same logger iteration, leading to data bursts. For log
streaming this started to exceed uart buffer sizes. By distributing updates
more equal over time those bursts are removed, reducing buffer size
requirements.
Tests showed during steady state a reduction of maximum topic updates per
iteration from 40 down to 17.
Also the SD log buffer fill level is more constant.
2021-08-12 10:09:11 -04:00
d3c45c00c7
mavlink_ulog_streaming: when stopping, wait after receiving the ack
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So we log additional data send afterwards
2021-08-12 10:09:11 -04:00
e1ac6fe297
logger: send post-flight perf data when stopping mavlink log streaming
...
- send out VEHICLE_CMD_RESULT_IN_PROGRESS
- delete the ulog object when receiving the ACK from logger, instead of
the stop command
2021-08-12 10:09:11 -04:00
0f6bf6bc0e
refactor gps: use enum class for gps_driver_mode_t
2021-08-12 10:06:39 -04:00
09a42e7af2
gps: extend GPS_DUMP_COMM param to enable RTCM output + logging
2021-08-12 10:06:39 -04:00
159c87a6fb
ll40ls: add support for LidarLite V4
...
Co-authored-by: Claudio Micheli <claudio@auterion.com >
2021-08-12 10:05:19 -04:00
68dcc25709
flight_mode_manager: ManualAcceleration support weathervane yaw handler
...
- fixes https://github.com/PX4/PX4-Autopilot/issues/17911
2021-08-12 09:58:29 -04:00
21953daa3b
microRTPS: transport: fix UART configuration
2021-08-12 08:44:53 +02:00
4b6646c5f3
microRTPS: transport: normalize configs with mavlink/mavlink-router
2021-08-12 08:44:53 +02:00
af8a6117fa
microRTPS: agent: add missing 'g' option
2021-08-12 08:44:53 +02:00
2a368b4db1
uorb_to_ros_urtps_topics: minor cleanup
2021-08-12 08:44:53 +02:00
74557c9071
uorb_to_ros_msgs: minor cleanup
2021-08-12 08:44:53 +02:00
00ad0d3b82
microRTPS: add make targets to update the PX4-ROS2/microRTPS bridge
...
This allows to easily update the px4_ros_com and/or px4_msgs through a make target and by passing the location of their directories
2021-08-12 08:44:53 +02:00
8762dce762
microRTPS: transport: small format fix
2021-08-12 08:44:53 +02:00
fae1627d92
microRTPS: client: cleanup and make arguments consistent
2021-08-12 08:44:53 +02:00
109b031156
microRTPS: agent: cleanup and make arguments consistent
2021-08-12 08:44:53 +02:00
e83a3a6cf7
microRTPS: update RTPS message list naming from 'ids' to 'msgs'
2021-08-12 08:44:53 +02:00
0b23679f98
msg: templates: update empy contexts, required fields and license header years
2021-08-12 08:44:53 +02:00
ffa70ac0fd
microRTPS: generate_microRTPS_bridge: run fastrtsgen only once for all files
...
Reducing the generation time to a 4th of the time (!!)
2021-08-12 08:44:53 +02:00
a8a56a03a4
microRTPS: rename uorb_to_ros_rtps_ids to uorb_to_ros_urtps_topics and remove the 'id' references on it
2021-08-12 08:44:53 +02:00
4609949bbb
microRTPS: generate_microRTPS_bridge: only run the generator for the topics that are actually marked to be used
2021-08-12 08:44:53 +02:00
695e1fa574
uorb_to_ros_rtps_ids: add an header with a notice regarding the autogneration of the 'px4_ros_com' urtps_bridge_topics.yaml file
...
Although it can be modified manually, we are going to recommend the developer to generate it from the PX4-Autopilot side instead
2021-08-12 08:44:53 +02:00
c478e2985a
microRTPS: simplify the attribution of the RTPS IDs by makiing it automatic
...
1. The RTPS IDs are now automatically assigned to the topics
2. Only the topics that get defined to be sent or received in the urtps_bridge_topics.yaml (renamed, since now it doesn't contain IDs) receive the IDs
3. Any addition or removal on the urtps_bridge_topics.yaml file might update the topic IDs - this will require that the agent and the client ID list has to be in sync. This will further require a robustification of the way we check the IDs and the message definitions when starting the bridge.
2021-08-12 08:44:53 +02:00
f557fbc99f
protocol_splitter: add perf counters for the stats so they can be logged
2021-08-12 08:44:53 +02:00
5a75277ff1
protocol_splitter: update header length and payload length position
...
To match the change on the microRTPS message header, which adds the sys ID as the 5th byte of the header
2021-08-12 08:44:53 +02:00
ba3dbbd38d
microRTPS: send the system ID with the RTPS packet header and remove the need for extra id fields in uORB
...
This allows that all messages (not only timesync messages) that get received on the same system that sent them do not get parsed. As the microRTPS agent is built currently, this will only happen right now if someone sets the same UDP port to send and receive data, or by manually changing the agent topics (which were always autogenerated).
2021-08-12 08:44:53 +02:00
a10dab516c
timesync: remove system ID field from the timesync message
2021-08-12 08:44:53 +02:00
25dbffe1aa
microRTPS: agent: split FMU input from output topics in Pubs/Subs
2021-08-12 08:44:53 +02:00
d31b7feb31
microRTPS: agent: publish timesync status
2021-08-12 08:44:53 +02:00
a324e5465a
timesync: extend timesync_status message with protocol source field and enum
2021-08-12 08:44:53 +02:00
a930edf34b
init.d-posix: rcS: allow to use a different startup config to the micrortps_client in UDP
2021-08-12 08:44:53 +02:00
6d4f65a47a
microRTPS: allow timesync using ROS time
2021-08-12 08:44:53 +02:00
e762d57222
sitl_run: allow to start required ROS2 plugins with Gazebo when ROS_VERSION is set to 2
2021-08-12 08:44:53 +02:00
cb2b09b80f
protocol_splitter: implement with one read buffer
...
This is an attempt to implement the protocol_splitter with one
read buffer only. The idea is to prevent additional copy
operations from an incoming buffer to the respective protocol buffer.
Right now the benefit is not really there because we are not using a
ringbuffer and have to shift data around quite a bit.
We also try to parse and copy data to the reader immediately without
doing a read from the device which potentially takes 100ms.
We further use a timeout mechanism to prevent starvation if one reader
disconnects and the buffer would fill up from unread data.
2021-08-12 08:44:53 +02:00
0c9fefce32
urtps: rectify comment
2021-08-12 08:44:53 +02:00
31b1241de8
uorb_microcdr: collect all messages
...
Without this we are potentially too slow to collect them all which can
lead to the buffer in protocol_splitter to overflow and be reset.
2021-08-12 08:44:53 +02:00
326c4f95ce
ROMFS cmake remove directory VERBATIM
2021-08-11 13:29:14 -04:00
61e3ec53b0
mixer_module: check for motor test after topic update
...
Otherwise if a module restricts the update rate via setMaxTopicUpdateRate()
and then motor_test is used, the module might run faster than expected.
2021-08-11 12:06:32 -04:00
a6d88cad18
mavlink_main: add ESC_INFO & ESC_STATUS to onboard_lowbandwith configuration
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-08-11 17:20:08 +02:00
a93f8dade4
mavlink: receiver fix geo include
2021-08-10 08:18:28 -04:00
e9a21ee911
Update submodule devices to latest Mon Aug 9 00:39:11 UTC 2021
...
- devices in PX4/Firmware (48b31124a4cdab9f7f91dba14649206f41c30c97): https://github.com/PX4/PX4-GPSDrivers/commit/f51267815db3331723b880ab20afc5a67a87c22b
- devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/6815e1d3b294cd6ea583294ebadf191321e4beba
- Changes: https://github.com/PX4/PX4-GPSDrivers/compare/f51267815db3331723b880ab20afc5a67a87c22b...6815e1d3b294cd6ea583294ebadf191321e4beba
6815e1d 2021-08-04 zhangft - femtomes: add UAVSTATUS and fall back to 10Hz rate if 20Hz not supported
2021-08-08 22:31:14 -04:00
c8366e736e
ROMFS: update ATL Mantis EDU optical flow defaults
2021-08-08 14:21:28 -04:00
66cfacaec2
boards: px4_fmu-v6x_test disable attitude_estimator_q to save flash
2021-08-08 14:20:58 -04:00
2ad448a4e8
boards: holybro_pix32v5 remove unused test build
2021-08-08 14:20:58 -04:00
a904bb506f
Fix afbrs50 high cpu load from switching
2021-08-08 11:42:30 -04:00
741f9c6d1a
Commander: change attitude quaternion check to avoid numerical issues
2021-08-08 11:41:23 -04:00
fb4ac0f08c
ekf2: remove redundant IMU vibration metrics
...
- consume IMU vibration metrics from vehicle_imu_status
2021-08-08 06:26:03 -07:00
a397004bf8
adis16448: add additional delay after transfer in case of back to back transcations
...
- add verified register read method
2021-08-08 06:25:16 -07:00
0033c0fc51
navigator: fix param description
2021-08-05 15:18:55 +02:00
01d0b8800e
commander: report GNSS yaw fault to user
2021-08-05 11:10:02 +02:00
44219e9f45
EKF: add GNSS yaw to emergency yaw fallback test
2021-08-05 11:10:02 +02:00
11cd51c132
EKF: allow emergency reset in GNSS yaw and EV yaw aiding modes
2021-08-05 11:10:02 +02:00
4ebfbc6eab
GNSS yaw: use NIS sequence to detect bias in state
...
A constant large value in the (signed) normalized innovation test ratio is a sign
of bias in the state estimate. This metric can be used to trigger a
covariance boost or reset
2021-08-05 11:10:02 +02:00
3fe04a91f6
GNSS yaw: add observation jump on ground
...
Some receivers are initializing to some heading and then resetting to
the correct one after a couple of seconds. EKF2 should detect that and
reset to the new value
2021-08-05 11:10:02 +02:00
30c7a596af
GNSS yaw: allow unlimited resets on ground
2021-08-05 11:10:02 +02:00
e90e1c7e2a
GNSS yaw: use dedicated observation noise
2021-08-05 11:10:02 +02:00
718e5b5b5d
sih: add fixed-wing support
2021-08-05 09:16:14 +02:00
6060ec8c9a
Update submodule matrix to latest Thu Aug 5 00:39:10 UTC 2021
...
- matrix in PX4/Firmware (6be58a88905d2ef63bc3aaa1a01c82346c181742): https://github.com/PX4/PX4-Matrix/commit/b8568a89db8455d0ab2e2e391e2149ba2e5e10dd
- matrix current upstream: https://github.com/PX4/PX4-Matrix/commit/3d1c9b988dff1d95f36cdd1df3e84d7a2365501c
- Changes: https://github.com/PX4/PX4-Matrix/compare/b8568a89db8455d0ab2e2e391e2149ba2e5e10dd...3d1c9b988dff1d95f36cdd1df3e84d7a2365501c
3d1c9b9#164 )
2021-08-04 21:59:01 -04:00
be2f65be35
drives/tap_esc: refactor to use OutputModuleInterface
2021-08-04 17:15:24 -04:00
2e02ad7c4e
atl_mantis-edu front and rear status LEDS
2021-08-04 17:15:24 -04:00
89b920333b
boards: px4_fmu-v2_multicopter disable gyro_calibration module to save flash
2021-08-04 17:15:24 -04:00
fb3b7a4649
mavlink: receiver handle RC_CHANNELS if from MAV_COMP_ID_SYSTEM_CONTROL
2021-08-04 17:15:24 -04:00
2b96e330a5
boards: atl_mantis-edu add bootloader
2021-08-04 17:15:24 -04:00
5d06ef8256
drivers/barometer/mpc2520: MaierTek MPC2520 barometer support
...
- used in the Advanced Technolgy Labs (ATL) Mantis EDU
2021-08-04 17:15:24 -04:00
6ab8153f32
drivers/tap_esc: Advanced Technology Labs (ATL) Mantis EDU ESC support
...
Co-authored-by: Julian Oes <julian@oes.ch >
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-08-04 17:15:24 -04:00
e900f2ea54
boards: Advanced Technology Labs (ATL) Mantis EDU support and airfarme (SYS_AUTOSTART 4061)
...
Co-authored-by: Julian Oes <julian@oes.ch >
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-08-04 17:15:24 -04:00
8f64f7ce90
uavcan_1:Fixed hardfault on stop
2021-08-04 10:40:34 -04:00
6aa4e12b5f
Typo in LTEST_MEAS_UNC docs
2021-08-04 08:01:39 +02:00
f5dd0edc9f
LTEST_VEL_UNC_IN typo in docs
2021-08-04 08:01:39 +02:00
b157bc407e
Typo in docs for LPE_VIS_DELAY
2021-08-04 08:01:39 +02:00
b82464f0ef
Parameter typo PLD_MAX_SRCH
2021-08-04 08:01:39 +02:00
ca454c93d1
component_information: add debug instrumentation for FileNotFoundError exception
...
The following exception occurs in some rare cases (but only with make build: NO_NINJA_BUILD=1 px4_sitl_default):
Traceback (most recent call last):
File "/__w/PX4-Autopilot/PX4-Autopilot/src/lib/component_information/generate_component_general.py", line 79, in <module>
save_compressed(filename)
File "/__w/PX4-Autopilot/PX4-Autopilot/src/lib/component_information/generate_component_general.py", line 33, in save_compressed
with open(filename, 'r') as content_file:
FileNotFoundError: [Errno 2] No such file or directory: '/__w/PX4-Autopilot/PX4-Autopilot/build/px4_sitl_default/component_general.json'
make[3]: *** [src/lib/component_information/CMakeFiles/component_information_header.dir/build.make:68: component_general.json] Error 1
2021-08-03 10:36:25 +02:00
b9e2d2c0f2
4100_tiltquadrotor: remove LED_RGB_MAXBRT
2021-08-03 10:36:25 +02:00
95789252d0
airframes: minor param cleanups (remove commented 'param set')
2021-08-03 10:36:25 +02:00
0e1f3a2d62
px4_add_board: infer VENDOR, MODEL & LABEL from cmake file name
2021-08-03 10:36:25 +02:00
86dc35022a
generate_msg_docs.py: simplify logic a bit
2021-08-03 07:54:41 +02:00
45ed1c5b5d
uorb_graph: improve module dependency search
2021-08-03 07:54:41 +02:00
91cae70097
uorb_graph: fix module scope logic
2021-08-03 07:54:41 +02:00
bf59fd84ba
Add simple comment parser
2021-08-03 07:54:41 +02:00
fccb56d76b
Jenkinsfile: deploy uorb graph
2021-08-03 07:54:41 +02:00
2320477839
uorb graph: some minor fixes, add full graph w/o mavlink
2021-08-03 07:54:41 +02:00
da6275e43a
msg: add script structure to generate docs from .msg files
2021-08-03 07:54:41 +02:00
b2def13d6f
NCP5623c RGB LED driver I2C address auto detect
...
* Enables the LED on mRobotics GPS receivers
* Probes I2C addresses and sets colors accordingly
2021-08-02 20:36:09 -04:00
93aa6e3f78
ekf2: baro bias publish minor cleanup
...
- naming consistency (estimator prefix as "namespace")
- only publish if baro is available and bias is changing as a small logging optimization
- avoid unnecessary copying (get const reference to status directly)
- trivial code style fixes
2021-08-02 13:59:38 -04:00
d997a8d308
mavlink: receiver fix HIL_STATE_QUATERNION map projection init
...
- fixes https://github.com/PX4/PX4-Autopilot/issues/17977
2021-08-02 09:59:09 -04:00
9c36236565
ekf2: increase stack size to 3600
2021-08-02 09:47:38 -04:00
219c9cf4b7
More specific airframe css
2021-08-02 08:26:46 +02:00
1e2877cedf
Tune down solo roll rate controller
2021-08-02 07:51:13 +02:00
e33d2141ec
px4io: Changing the timeout time description (NFC)
2021-08-01 20:27:25 -04:00
e01ae95768
Update submodule jMAVSim to latest Sun Aug 1 16:12:33 UTC 2021
...
- jMAVSim in PX4/Firmware (8261aa1f0bhttps://github.com/PX4/jMAVSim/commit/0a816d8100e9860a031ccfccfb9941bcd6eedc81
- jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/0a5375a70689aac53143768de9033034f3636022
- Changes: https://github.com/PX4/jMAVSim/compare/0a816d8100e9860a031ccfccfb9941bcd6eedc81...0a5375a70689aac53143768de9033034f3636022
0a5375a 2021-07-24 Romain Chiappinelli - vehilce model selectio
5f51d98 2021-07-19 Romain Chiappinelli - added cessna visual model
2021-08-01 17:03:03 -04:00
1c48a81993
Jenkins fix compile job
...
- this was broken during the Snapdragon purge (#17921 ) that happened to correspond with the primary Jenkins master (ci.px4.io) being down.
2021-08-01 17:02:47 -04:00
4ca6e42c47
Update submodule sitl_gazebo to latest Sun Aug 1 16:12:39 UTC 2021
...
- sitl_gazebo in PX4/Firmware (d6eb3b0cb90d4988409b1aaf3e10662ecc361aac): https://github.com/PX4/PX4-SITL_gazebo/commit/b6be00542be4d77f436c66ee48c22ca911601a2a
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/7fda4d311a9daff4bec4f2fe83e63fde0b8f04b0
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/b6be00542be4d77f436c66ee48c22ca911601a2a...7fda4d311a9daff4bec4f2fe83e63fde0b8f04b0
7fda4d3 2021-07-27 Jaeyoung-Lim - Reduce yaw authority for tecpod
6b87853 2021-07-27 Jaeyoung-Lim - Reduce yaw authority on plane
7505aee 2021-07-18 Jaeyoung-Lim - Add glider model
32893bc 2021-07-14 Jaeyoung-Lim - Add control allocation module for the typhoon h480
55e479a 2021-06-12 TSC21 - gazebo_mavlink_interface: get latest occurrence of '::' to obtain the sensor name
f650396 2021-07-13 Jaeyoung-Lim - Add Believer fixedwing model
2021-08-01 13:55:15 -04:00
8963c403c6
Update submodule v2.0 to latest Sun Aug 1 16:12:42 UTC 2021
...
- v2.0 in PX4/Firmware (c82a4412bd255753bf802b90d2e9bd459ca626aa): https://github.com/mavlink/c_library_v2/commit/94963ac650f39709df20e4fc03c1a9ed8f740b35
- v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/5095bcd856537330e66e6fc833a1c7bf689bf5ed
- Changes: https://github.com/mavlink/c_library_v2/compare/94963ac650f39709df20e4fc03c1a9ed8f740b35...5095bcd856537330e66e6fc833a1c7bf689bf5ed
5095bcd8 2021-07-29 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/b030a760e8c350aa078542036bd9e8f39a494ac1
f57b9ff5 2021-07-29 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/2cc1a22e30e0f8ef4e119424e968a82877636c67
a3b97841 2021-07-29 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/d484de4eb18906a94104ca56026391304be31aa1
f66b31fc 2021-07-15 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/a764308f30903e269090c8cda87d92f46d318b3e
2021-08-01 13:54:18 -04:00
54918f650b
Update world_magnetic_model to latest Sun Aug 1 16:57:37 UTC 2021
2021-08-01 13:53:53 -04:00
8261aa1f0b
boards: cuav_nora_test disable local_position_estimator to save flash
2021-07-31 20:59:45 -04:00
af2247bd94
mavlink: use dynamic camera comp id instead of hardcoded value
2021-07-31 12:41:49 -04:00
6379f2b032
px4_fmu-v2:Use NO_HELP option to save flash
2021-07-30 22:35:02 -04:00
ced366b74e
Add Option NO_HELP for CONSTRAINED_FLASH system
2021-07-30 22:35:02 -04:00
d08d0443bc
Add internal combustion engine status uavcan bridge and mavlink EFI_STATUS stream
2021-07-30 22:31:43 -04:00
7764183f89
Broadcom AFBR-S50LV85D Distance Sensor Driver: Automatic Range Mode Switching
2021-07-30 22:27:27 -04:00
1016600ded
Revert "mc_pos_control: omit initial warning"
...
This reverts commit 446598d003
2021-07-30 21:39:18 -04:00
e7a2c1d88e
MCPosControl: fix invalid setpoint race condition
...
Only modify the _setpoint for takeoff when there is a new uORB message
to avoid a race condition where both vel_sp(2) and accel_sp(2) can be
NAN at the same time.
2021-07-30 21:39:18 -04:00
44f12acafe
mavsdk tests: remove hover missions for VTOL
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-07-30 21:27:53 -04:00
713a1d08a3
sensors: add accel/gyro current priority to sensors_status_imu
...
- later the sensor priorities (user configurable) can be factored into the estimator selection criteria
2021-07-30 21:20:01 -04:00
b33fdf704b
boards: px4 fmu-v2/v3 swap external SPI chip select order
...
- fixes https://github.com/PX4/PX4-Autopilot/issues/17858
2021-07-30 09:28:04 -04:00
607be59fd5
Github: Issue Template update link to Slack invite
2021-07-28 07:39:20 +02:00
5918fe6a37
README: update slack invite and badge
2021-07-28 07:39:20 +02:00
e6166dfc76
AirspeedSelector: Improve wording of sensor failure message
2021-07-28 07:37:38 +02:00
521b9f5dcc
control: do not constantly ask for mag reset if yaw not aligned
...
This also prevents triggering the `_mag_yaw_reset_req` flag in magless
mode; preventing the GNSS fustion from starting.
2021-07-27 13:34:53 +02:00
639e0a39cf
EKF2: add yaw estimator alignment test
2021-07-27 13:34:53 +02:00
17ebcd2456
mag_control: fuse fake heading during leveling fine alignment ( #17964 )
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-07-27 11:50:50 +02:00
f2ae8ae814
sensors/vehicle_imu: vibration metrics use acceleration and angular velocity
...
- this avoids any jitter in the integration timespan from impacting the vibration metrics
- vehicle_imu_status vibration metrics are not consumed by anything
(yet), so changing the scaling of the metric shouldn't matter
2021-07-26 13:55:47 -04:00
e01b631465
ekf2: change indication test limit float precision to minimize false positives
2021-07-26 13:54:36 -04:00
e84c6664bb
ROMFS: update airframes/4901_crazyflie21 legacy battery parameter
2021-07-23 19:58:38 -04:00
6f4111e073
ROMFS: update airframes/17003_TF-G2 legacy battery parameter
2021-07-23 19:58:38 -04:00
e9f84ba708
keep minimal legacy battery parameters for older QGC usability
...
- BAT_V_EMPTY, BAT_V_CHARGED, BAT_V_LOAD_DROP, BAT_N_CELLS
2021-07-23 15:07:53 -04:00
fe1eb8cd62
cmake cleanup jlink flashing helpers
2021-07-23 15:07:25 -04:00
7846771c68
sensors: populate sensors_status_imu healthy flags even in multi-EKF mode
2021-07-23 11:17:08 -04:00
af50e25647
mavsdk_tests: update to MAVSDK v0.41.0
...
This required replacing some of the methods which had been deprecated
and now removed.
2021-07-23 09:05:31 +02:00
11480cdbc7
mavlink: fix offboard velocity input
...
This reverts the behavior for offboard velocity setpoint.
Back in v1.11, the velocity input in NED_BODY was assumed to be in the
world frame but rotated by yaw to the vehicle frame. With the current
state the frame is completely fixed to the body. While this might be
technically correct, it doesn't seem much intuitive for multicopters
and breaks the MAVSDK offboard velocity API.
So as an example, with a velocity setpoint of 5 m/s forward, the drone
would in
- v1.11: fly forward with 5 m/s
- v1.12: start to fly forward by pitching down but then descend rapidly
as the forward velocity would translate to a setpoint in Z into the
ground as it is pitched down.
This commit restores the behavior to what we had previously.
2021-07-22 09:40:29 +02:00
Jukka Laitinen
