849f4531a3
commander: automatically initialize to assist mode if using mavlink manual control
2021-01-22 11:12:15 -05:00
fa5a6cf712
Add option for custom mavlink configuration
...
This commit enables a option for users to add a custom mavlink configuration through rc.mavlink_override
2021-01-22 17:03:09 +01:00
17ea6f68e2
fix variable name in EKF2Selector ( #16621 )
2021-01-22 15:32:32 +01:00
da7f6d06f3
AirspeedSelector: set default of ASPD_DO_CHECKS to 1 and ASPD_FS_INTEG to 5.
...
That enables the sensor checks by default
The default for the innovation check integral of 5 is rather conservative, thus
makeing it less likely to be triggered by accidnet (e.g. due to bad wind estimate).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
28f9214e56
AirspeedSelector: parameter clean up and disable re-enabling if clear delay negative
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
98d057b8c9
AirspeedValidator: change logic for innovation checks
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Previously, the logic was not consistent with the description in the params.
It now, if the integral is enabled, declares innovation check failed if
integral is above threshold.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
0c2099e788
AirspeedSelector: improve messaging on airspeed sensor switches
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
aecc0aa0c3
AirspeedSelector: do checks for data stopped in airspeed selector, not validator
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
7132e674d6
AirspeedValidator: Simplify data missing check
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The data_stopped check should be independent of the innovation
and load factor check.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
083cd6f1c1
AirspeedValidator: remove unnecessary _checks_failing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
37a49dbb6a
AirspeedValidator: improve readability
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
061fb9ac07
AirspeedSelector: add const
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
cd2c366e22
AirspeedSelector: remove unnecessary reboot required and Experimental comments in params
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
11dbc7e17f
AirspeedSelector: improve description of ASPD_FALLBACK_GW
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
0f1207dd7e
AirspeedSelector: improve readability
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-22 14:16:22 +01:00
1d8808183d
Update submodule ecl to latest Thu Jan 21 17:04:02 UTC 2021
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- ecl in PX4/Firmware (18bac6aff5https://github.com/PX4/PX4-ECL/commit/99575d73e10aad06eb7d5b6415ea2db4151c5045
- ecl current upstream: https://github.com/PX4/PX4-ECL/commit/b919f3ddf41ab422d09af91eaea2b2f9729fab13
- Changes: https://github.com/PX4/PX4-ECL/compare/99575d73e10aad06eb7d5b6415ea2db4151c5045...b919f3ddf41ab422d09af91eaea2b2f9729fab13
b919f3defb78de556a195
2021-01-21 12:33:25 -05:00
18bac6aff5
ROMFS: posix rcS set EXTRA_MIXER_MODE
2021-01-21 11:26:23 -05:00
e0b33ba842
mavlink: temporarily disable ACTUATOR_OUTPUT_STATUS stream by default
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- the presence of this stream appears to be causing the MAVSDK tests to fail and needs to be investigated
2021-01-21 11:25:42 -05:00
7cdb9e9412
MulticopterPositionControl: altitude comment typo
2021-01-21 09:43:12 -05:00
4ce4fe05c5
BlockLowPass: initialize state in definition
2021-01-21 09:43:12 -05:00
82d32c7f3f
mavlink: add ACTUATOR_OUTPUT_STATUS stream
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Co-authored-by: Lise Prunier <lise.prunier@aerialcoboticus.com >
2021-01-21 09:30:43 -05:00
4becf74cbc
.gitmodules: adapt submodule names to repo renaming
2021-01-21 11:52:14 +01:00
65884960fa
Remove ancient submodules
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that were accidentally added back without URL in #16471
2021-01-21 10:46:29 +01:00
bd00aec936
Parameter markdown use page css for layout
2021-01-21 09:08:26 +01:00
9a066959d4
delete empty src/lib/DriverFramework
2021-01-20 14:15:49 -05:00
64c857562d
Crazyflie v 21 ( #16502 )
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Build model name fix.
Co-authored-by: TheLegendaryJedi <goncalo.atanasio@gmail.com >
2021-01-20 19:51:45 +01:00
dd9b0ded0f
[UPDATE] - Remove duplicate syslink code
2021-01-20 19:51:45 +01:00
641665f2e9
[UPDATE] - Workflows and Jenkins CI builds CF21
2021-01-20 19:51:45 +01:00
b3d9efedfa
[UPDATE] - Code clean and format
2021-01-20 19:51:45 +01:00
e450c5a9d9
[UPDATE] - Crazyflie parameter config
2021-01-20 19:51:45 +01:00
40f971c082
[NEW] - bmi088 i2c drivers and crazyflie 2.1 conf
2021-01-20 19:51:45 +01:00
d7812f83f1
mag_cal: fix race condition causing invalid mag calibration
...
In some cases, the fitness of the optimizer does not shrink at each
iteration, causing the "decreasing fitness check" to fail. This stops
the optimization and returns with sub-optimal, or unrealistic results.
2021-01-20 10:50:35 -05:00
b190d98d6d
Jenkinsfile: remove dev-guide metadata deployment
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dev guide got merged with the user guide.
2021-01-20 10:03:00 -05:00
8d8b58efc3
Add logging of mag calibration data (mag_worker_data)
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Co-authored-by: Julian Kent <julian@auterion.com >
2021-01-20 09:44:45 -05:00
6a32301ed5
Add NXP FMUK66E build to CI
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This build was not yet available in the CI. We just got the first hardware and are doing the first tests right now. So far most things seem to work.
2021-01-20 05:52:50 -08:00
59a1148aec
Modify airframe gen to use html.escape
2021-01-20 00:22:30 +01:00
d2eefbf2fb
Escape < and > in maintainer field
2021-01-20 00:22:30 +01:00
386b56fbce
drivers/imu/bosch/bmi088: Add BMI090L accel ID
2021-01-19 15:49:53 -05:00
d22eef9396
boards: mRo Control Zero F7 fix for voltage/current sensing
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* Rename GPIO_nVDD_BRICK1v to GPIO_VDD_BRICK1
2021-01-19 15:48:17 -05:00
bed77c2988
add notes
2021-01-19 20:42:58 +01:00
297a428cc0
Fix the case where the flight controller is connected to the battery (charge 100), QGC shows no battery
2021-01-19 20:42:58 +01:00
cea8ad4236
Control Zero F7 - RSSI Fix - SBUS Only/PPM Partial
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This fixes RSSI for the Control Zero F7 but I have noticed that while this works perfectly for SBUS receivers, for PPM receivers it does not decrease the RSSI visual value in QGC when removing the RC transmitter connection.
When a PPM receiver is connected and the connection is lost the autopilot goes into RC Scan Mode (in the RC Update Module) to determine what is connected (even though something already is connected).
The main issue with this is that PPM receivers don't go into RC Failsafe but I don't think it is an issue with this autopilot. It looks to be an issue with the RC Update Module and how it is handled at the module level for non I/O coprocessor autopilots.
Tested with an X8R (SBUS) and a Dragonlink (PPM) as well as a Dragonlink set to SBUS as the output. SBUS worked as intended. See screenshots below.
2021-01-19 20:42:28 +01:00
ac8f4e3c48
mc_pos_control: only update constraints if topic updated
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- update failsafe constraints
2021-01-19 14:44:42 +01:00
39b0c7b2bf
battery: report at least one cell for a connected battery
2021-01-18 17:53:17 +01:00
d9954ecaf0
lib/magnetometer_bias_estimator: Add library for online magnetometer calibration on the ground
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Co-authored-by: bresch <brescianimathieu@gmail.com >
2021-01-18 11:44:58 -05:00
36d15ada1c
vscode: do not enable smart case search
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in workspace settings. This comes down to user preference
and there's no particular reason to change this based on the workspace.
I found it confusing to have this non-default behavior
just for PX4 editing.
2021-01-18 11:33:21 -05:00
77b21680fb
sync ctrlalloc boards and add to CI
2021-01-18 11:25:37 -05:00
311a2bd3e8
update ctrlalloc airframe location
2021-01-18 11:25:37 -05:00
3e5e5ab1d5
control_allocator and angular_velocity_controller throttle parameter_update subscription
2021-01-18 11:25:37 -05:00
c36340d29a
ActuatorEffectivenessMultirotor: set effectiveness to zero when computing the matrix
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Just to be on the safe side.
2021-01-18 11:25:37 -05:00
212ec821b1
control_allocator: set unused actuators to trim instead of min
2021-01-18 11:25:37 -05:00
3606f86518
control_allocator: ensure unused outputs are initialized to min
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Mostly important in cases where the ouputs would change (e.g. param change)
2021-01-18 11:25:37 -05:00
3dad79d8f5
control_allocator: inline one-line setters & getters
2021-01-18 11:25:37 -05:00
164511a7b5
control_allocator: avoid vector copies and sqrt()
2021-01-18 11:25:37 -05:00
0e66b0876b
control_allocator: change SequentialDesaturation to existing MC mixer
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And limit the operations to the number of configured outputs.
Only using the number of configured actuators reduces CPU load by ~2% on
F7 @1khz.
2021-01-18 11:25:37 -05:00
308f614735
refactor control_allocator: directly get the effectiveness matrix when updated
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Reduces stack + RAM usage
2021-01-18 11:25:37 -05:00
38782029ad
fix control_allocator: set _last_run at the correct place
2021-01-18 11:25:37 -05:00
0e86ab47f6
fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory
2021-01-18 11:25:37 -05:00
066464c4e8
control_allocator: remove unused _task_start
2021-01-18 11:25:37 -05:00
25f3fe8456
fix control_allocator_status: torque_setpoint_achieved and thrust_setpoint_achieved are bool
2021-01-18 11:25:37 -05:00
343cf5603e
initial control allocation support
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- control allocation module with multirotor, VTOL standard, and tiltrotor support
- angular_velocity_controller
- See https://github.com/PX4/PX4-Autopilot/pull/13351 for details
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Roman Bapst <bapstroman@gmail.com >
2021-01-18 11:25:37 -05:00
fc6b61dad1
Try 'min' for units
2021-01-18 16:26:53 +01:00
d99d52960e
Fix default _rtl_xxx values
2021-01-18 16:26:53 +01:00
d965f1cbc0
Add rtl_flight_time message
2021-01-18 16:26:53 +01:00
5a9fe312b5
Fix test failure on rebase: set lpos valid
2021-01-18 16:26:53 +01:00
af8d178ae5
Fix spurious RTL triggers
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Two sources:
1. global to local conversion was sometimes giving issues, so do everything in global
2. on startup the RTL didn't check if the home position was valid before processing it
2021-01-18 16:26:53 +01:00
b5f0a7ea03
Fix RangeRTL test
2021-01-18 16:26:53 +01:00
5500a84b6a
Add timestamp to RTL message
2021-01-18 16:26:53 +01:00
f169247bc2
Add RTL topics to ulog default profile
2021-01-18 16:26:53 +01:00
67082ccb2b
Test the vehicle type parameter usage
2021-01-18 16:26:53 +01:00
100c64c790
Test the navigator side, and fix another trig edge case
2021-01-18 16:26:53 +01:00
a736ba2435
Minor tweak in wind handling
2021-01-18 16:26:53 +01:00
e847ef1a4d
Add trig tests for wind calculations, and fix bugs / edge cases
2021-01-18 16:26:53 +01:00
7482413005
Add Range-based RTL
2021-01-18 16:26:53 +01:00
e817fb83f5
pwm_extra: Add PWM_EXTRA parameters.
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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2021-01-18 15:43:28 +01:00
7a8203bf19
Enable third mixer when using UAVCAN for main mixer.
2021-01-18 15:43:28 +01:00
02c0f08060
flashfs: fix alignment ambiguity
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Instead of ignoring the warnings.
Thanks to @Ole2mail and @yuhaim for the suggestions.
2021-01-18 14:19:29 +01:00
920d6d84b5
rtps: increase non-alias ID range by reducing the alias space ID
2021-01-18 09:33:14 +01:00
54486b995e
uorb_rtps_message_ids: add required topics to enable offboard control from DDS
2021-01-18 09:33:14 +01:00
dab90f86a4
drivers/gps: limit to ublox only flash constrained targets
2021-01-18 09:30:01 +01:00
78c05275d2
tailsitter: Fix differential thrust in FW mode.
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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2021-01-18 09:04:27 +01:00
e4d223f098
boards: CUAV Nora fix BMI088 orientation
2021-01-17 23:19:18 -05:00
1ec10bfcc6
boards: disable CONFIG_ARMV7M_LAZYFPU again ( #16573 )
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- this was causing hard faults on the CUAV Nora and possibly other boards, disabling everywhere until we fully understand the root cause
2021-01-17 22:40:21 -05:00
3abe2e82d1
mpu9250: create dedicated i2c version and delete legacy driver
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- update crazyflie and bbblue usage
- eventually this should be merged with the SPI version after interface
changes are made
2021-01-17 16:11:19 -05:00
c9a7894230
boards: bitcraze crazyflie fix boot
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- add console to USART3 for now
2021-01-17 16:11:19 -05:00
2ed48f041c
mavlink: Templated SCALED_IMU mavlink stream
2021-01-17 12:32:51 -05:00
031bbb7f3e
FlightModeManager: handle commands all the time
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Moving the command handling to a separate function that gets called
whenever a vehicle command is available to always react on commands
and not just when already a task is running.
This solves e.g. commanding an Orbit when in Staibilized.
2021-01-17 15:46:30 +01:00
df54f938ef
FlightModeManager: correct setpoint struct initialization
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It is important that setpoints get initialized with NAN and not overwritten
if specifically set by a successful flight task execution. It's then
clear if any setpoints were intentionally and successfully set.
Crucial for the position controller's emergency failsafe and the
seamless setpoint handover to the next flight task.
2021-01-17 15:46:30 +01:00
63db61a700
FlightModeManager: correct acceleration setpoint feedback naming
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The variable was never renamed correctly in this in between layer when
we switched from normalized thrust to acceleration setpoints.
2021-01-17 15:46:30 +01:00
4d7b875ee2
flight_mode_manager: merge with flight_tasks
2021-01-17 15:46:30 +01:00
b1e442b830
vehicle_local_position: added bitfield for terrain estimate sensor info
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- indicate how the distance to the bottom is estimated as this is important
to know in the context
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-17 12:06:59 +01:00
eaa2ae9dc9
ekf2: add param to enable synthetic mag Z fusion mode
2021-01-17 12:06:59 +01:00
983234e29d
ekf2: add param to set rng check hysteresis
2021-01-17 12:06:59 +01:00
195a900ecf
change default of RTL_LAND_DELAY to 0
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-17 12:05:30 +01:00
037c821142
ROMFS: increase max distance between waypoints for VTOL and FW to 5km
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-17 12:05:30 +01:00
8e8497ff77
heater: px4io: Add support for heaters on IO MCU
2021-01-17 12:03:53 +01:00
653fef56de
Update sitl_gazebo
2021-01-17 11:18:11 +01:00
af1b4c473e
Start user camera plugin
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This commit starts the gazebo_user_camera_plugin together with the gzclient, so that it is always following the vehicle
2021-01-17 11:18:11 +01:00
8a7878f65c
arch.sh: update zsh support, latest ARM GCC, gazebo AUR
2021-01-17 10:58:39 +01:00
cee4016665
Preflight checks: Airspeed checks update
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-check for valid airspeed_validated (declared valid plus updated less than 1s ago)
-added param (COM_ARM_ARSP_EN) to enable/disable check for max airspeed for arming set max
airspeed limit to half of stall airspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-16 10:26:55 -05:00
ba9611621d
Retune Typhoon H480 PID
2021-01-16 09:32:09 +01:00
1c0ed74d6a
platforms/nuttx/NuttX/nuttx net backports
2021-01-15 11:44:21 -08:00
ade3871bee
adc: add support for multiple sensor voltage channels
2021-01-15 10:57:20 -05:00
e2337a34eb
system_power: add comp_5v_valid and can1_gps1_5v_valid
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And fill it in from the v5x GPIO expander.
2021-01-15 10:57:20 -05:00
704a82aaa6
gpio: extend support for /dev/gp* GPIO's
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Note that there's a small CLI interface change.
2021-01-15 10:57:20 -05:00
88fe047556
px4/v5x: enable mcp23009 GPIO driver
2021-01-15 10:57:20 -05:00
3e4b8763a5
nuttx: add mcp23009 gpio driver
2021-01-15 10:57:20 -05:00
e1983381e7
rcS: add SYS_PARAM_VER to param reset_all exception list
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Avoids an extra reboot when resetting the airframe
2021-01-15 10:57:20 -05:00
ba6a8080ea
mavlink: don't respond to MAV_CMD_REQUEST_MESSAGE if component doesn't match
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PX4 is responding with NACK to MAV_CMD_REQUEST_MESSAGE from a GCS to
payload-manager which confuses a GCS.
PX4 shouldn't respond to commands that are not broadcasted or specificaly
addressed to it.
2021-01-15 10:57:20 -05:00
26e8c231b0
v5x,v6x: move mtd_caldata after mtd_id partition
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to avoid losing factory calibration params on existing setups
2021-01-15 10:57:20 -05:00
a282f3df8d
CLI test: Disable by default on NuttX
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First target is to enable this for POSIX tests and then later to roll them out to NuttX.
2021-01-15 10:57:20 -05:00
03e9e10847
Add CLI tests for basic soak testing
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This is in no way a complete test suite but is intended as a starting point to get minimal
test coverage for CLI handling tests in. This is necessary to QA the CLI handling
(e.g. removal of commands) and to ensure that we are exercising these code paths in
stack check and alike tests.
2021-01-15 10:57:20 -05:00
5ae5c03c66
mavlink: handle param4/5 from mission_item_int
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It turns out that we did not properly handle param4 and param5 if they
are transferred using mission_item_int if the frame is
MAV_FRAME_MISSION.
2021-01-15 10:57:20 -05:00
12ebbd995d
bmp388: wait a bit longer to schedule first cycle after reset
2021-01-15 10:57:20 -05:00
529c3112ac
bmp388: quiet if startup fails (no sensor on bus)
2021-01-15 10:57:20 -05:00
1e7dfe227a
stm32_common:board_hw_rev_ver Use Analog resistor detection
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When the VER_DRIVE and REV_DRIVE are the same GPIO
we need to use Analog detection.
2021-01-15 10:57:20 -05:00
b87dd317d4
airframes: add new airframe for ThunderFly TF-G2 autogyro ( #16551 )
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Co-authored-by: Roman Dvorak <romandvorak@mlab.cz >
2021-01-15 13:54:17 +01:00
df41c99b61
make failsafe handling consistent over all VTOL types
2021-01-15 09:19:07 +03:00
38e46ff341
Rename VtolAttitudeControl::abort_front_transition(const char *reason) to VtolAttitudeControl::quadchute(const char *reason)
2021-01-15 09:19:07 +03:00
40fbfdc054
Undo make format change
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-01-15 09:19:07 +03:00
83ddb77a5f
delete excess empty lines
2021-01-15 09:19:07 +03:00
b90fafd5cd
Fix quadchute logic so that it also works during back transition
2021-01-15 09:19:07 +03:00
420ceb76fc
cmake: NuttX generated vscode launch.json requires DEBUG_DEVICE found
2021-01-14 10:32:26 -05:00
1ee98417f8
scumaker pilotpi updates
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* replace default mag with qmc5883l
* fix rotation and quiet startup
* fixedwing script & Multi-EKF cfg
* set default params only when initial startup
2021-01-14 09:16:13 -05:00
52b07a932a
github actions build and store cannode uavcan firmware
2021-01-14 08:52:38 -05:00
96dfa7fc71
ROMFS: set cruise throttle correctly for all gazebo vtol configs
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-14 09:58:37 +03:00
0633c3956f
ROMFS: improve tuning of tailsitter VTOL SITL
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-14 09:58:37 +03:00
6104fe8932
ROMFS: improve tuning of tiltrotor VTOL SITL
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-14 09:58:37 +03:00
2ce310925c
ROMFS: improve tuning of standard VTOL SITL
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-14 09:58:37 +03:00
e96571b45d
uavcannode: GPS working on cuav_can-gps-v1
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- use sensor_gps directly from sensor rather than vehicle_gps_position (aggregated value)
2021-01-13 22:06:46 -05:00
d8e8e23947
vscode: add cuav_can-gps-v1_canbootloader variant
2021-01-13 22:06:46 -05:00
58909b208d
boards: cuav can-gps-v1 add safety button and LED
2021-01-13 22:06:46 -05:00
a894ca30e8
cmake: add STM32F412CE debug helper
2021-01-13 22:06:46 -05:00
529841ba7c
make_can_boot_descriptor:Get padding math correct
2021-01-13 22:06:46 -05:00
1ac70cc72f
can-gps-v1:Correct Memory size used by app and bootloader size
2021-01-13 22:06:46 -05:00
d04216aa48
Nuttx with stmf412 fixes
2021-01-13 22:06:46 -05:00
618bd5978a
can-gps-v1:canbootloader SAFETY is GETNODEINFO_JUMPER
2021-01-13 22:06:46 -05:00
2deef30d12
canbootloader:Add 48Mhz CAN Clock Settings
2021-01-13 22:06:46 -05:00
177109a1af
can-gps-v1:LED Trimming
2021-01-13 22:06:46 -05:00
54abd997de
canbootloader:Update to use NuttX
2021-01-13 22:06:46 -05:00
271f87f8d2
canbootloader:Fixed Warning
2021-01-13 22:06:46 -05:00
238c28d458
SK6812 Led driver
2021-01-13 22:06:46 -05:00
85bd04f0c7
can-gps-v1:canbootloader Fixed
2021-01-13 22:06:46 -05:00
3e08fd6682
can-gps-v1: Removed GPIO_CAN_CTRL
2021-01-13 22:06:46 -05:00
c2c92cb2c8
can-gps-v1: Added LED pin
2021-01-13 22:06:46 -05:00
cdae8bf168
can-gps-v1:Fixed Clock
2021-01-13 22:06:46 -05:00
a0d8d5ac74
sensors/vehicle_gps_position: untangle and remove unnecessary state
2021-01-13 20:17:49 -05:00
bc8ec5d1f5
uavcannode: support optical_flow
2021-01-13 19:35:28 -05:00
47364ce8d6
updated tuning for gazebo plane airframe config
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
f05599caff
tecs: use speed derivative provided by local position
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
b230bbfe88
ROMFS: remove outdated TECS parameter from configs
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
e546584555
tecs: moved trivial getter methods to header file
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
701c105ab6
Update src/lib/tecs/TECS.cpp
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2021-01-13 21:21:07 +03:00
fa559aef43
TECS: stop learing integrator if airspeed is not available, but don't zero it
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
d4d1c0fe01
TECS: some cosmetics
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
97cc1e25dd
TECS: hande pitch and throttle integrator saturation consistently
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- don't decay integrator during saturation but prevent it from being learned
into the direction which causes more actuator saturation
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
77627a08ca
TECS: don't allow speed height weights to be larger than one
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
dca89763b3
TECS: apply FW_LND_THRTC_SC to altitude error time constant
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
3d3ff75495
TECS: update some params to latest results from flight testing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
3102b9f071
TECS: remove throttle integral limits
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
987c320825
TECS: removed unused parameter
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
5c4c2c240c
tecs: dot not clip throttle integrator during saturation but only allow
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it to propagate into a direction which does not saturate
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
2ca4269464
TECS: separate integral gains for throttle and pitch loops
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
72dfb2078a
TECS: adapt params to new control structure
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-13 21:21:07 +03:00
01f891618b
TECS: move to new control loop architecture
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
447e14906c
TECS: log more TECS states to enable better analysis
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
8823f5e1ec
TECS: added method to get SKE weighting
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
d0e8b882a2
TECS: added alpha filter classes to energy rate and tas derivative
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
cabb50a67b
13001_caipirinha_vtol:Ensure that the max/min pwm changes take effect
2021-01-13 11:32:01 +01:00
be0f5a7fe4
Fix implicit float->double conversions in tests
2021-01-13 10:26:10 +01:00
2d6758a39d
Cleanup of dataman mocks and check interval definition
2021-01-13 10:26:10 +01:00
a97a4d8bb8
Fix enum and param update
2021-01-13 10:26:10 +01:00
c745c8bb45
Small navigator refactor/cleanup
2021-01-13 10:26:10 +01:00
04d859e36e
Fix test failure from parameter autosave starting WQ
2021-01-13 10:26:10 +01:00
f97dcde4e2
GeofenceBreachAvoidanceTest: added tests for max dist to home
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
3fa15cec91
GeofenceBreachAvoidance: improve behavior when using max dist to home option
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- ensure that the vehicle is loitering with sufficient clearance to the boundary
Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
a5dfa0c803
Add helper function for decel distances
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Co-authored-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 10:26:10 +01:00
0ac597fba8
Use new GeofenceBreachAvoidance from Navigator
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
e536868104
Add GeofenceBreachAvoidance class
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
8622c21496
Move VelocitySmoothing to new motion_planning library
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Co-authored-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 10:26:10 +01:00
3834690c4b
Add parameter to select the set of used GNSS systems
2021-01-13 08:33:07 +01:00
917fef546a
uavcan: Remove single-GNSS limitation from UavcanGnssBridge
2021-01-12 22:04:52 -05:00
a57b9f9381
delete drv_baro.h, drv_mag.h, drv_range_finder.h, drv_device.h and purge UAVCAN CDev usage
2021-01-12 22:04:52 -05:00
7f5fae91b0
boards: mro ctrl zero f7 fix default power module calibration
2021-01-12 16:51:05 -05:00
16b1b220fd
Fix roslaunch multivehicle regression caused by #16497
2021-01-12 21:19:36 +01:00
daaf8b61dc
drivers: remove ism330dlc
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not used anymore
2021-01-12 09:55:59 -05:00
9f5dee2ecf
v5x/v6x: update IMU sensors (remove ISM330DLC)
2021-01-12 09:55:59 -05:00
48f125f150
estimated IMU bias preflight checks
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- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
- ekf2 publish estimated bias limits in estimator_sensor_bias
- preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
2021-01-12 09:09:42 +01:00
7c95e99156
tools: make sure that uORB type names found as part of field names are not capitalized as ROS types
2021-01-12 09:05:59 +01:00
cb74cb8692
boards: enable CONFIG_ARMV7M_LAZYFPU everywhere
2021-01-12 09:04:38 +01:00
abec2bd8df
msg: estimator_status_flags shorten fields
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- previously this message exceeded the logger total field length (1500 bytes)
2021-01-11 11:49:51 -05:00
04f9ada500
ekf2: selector improve fallback selection when the primary becomes unhealthy
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- if an ekf instance becomes unhealthy prefer switching to the next best healthy instance on a different IMU
2021-01-11 09:38:26 -05:00
967d35a6b6
rate limit most parameter_update subscriptions
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- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
2021-01-10 21:09:15 -05:00
70e503cb91
rotation: use Dcmf for all rotations that aren't direct swaps
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- increase optimization to ${MAX_CUSTOM_OPT_LEVEL} (max per board)
2021-01-10 18:08:41 -05:00
06b733bb86
msg: rtps: improve verbosity when the the client is not capable of parsing a specific ID
2021-01-10 22:22:22 +01:00
3f1c303b16
msg: rtps: improve verbosity when the the agent is not capable of parsing a specific ID
2021-01-10 22:22:22 +01:00
9b9163813d
avoid re-initiate RTL or land in battery emergency
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if the mode is already running
2021-01-10 21:19:52 +01:00
6260c164e7
fmu v4: make starting mavlink on WIFI port configurable and make it start by default
2021-01-10 21:16:02 +01:00
653b7c0007
fmu v4: add option to run DShot telemetry on UART usually used for the ESP WIFI module
2021-01-10 21:16:02 +01:00
3cc8e7a210
commander_params: Make multicopter only COM_RC_OVERRIDE more visible
2021-01-10 21:12:09 +01:00
cef3d36af2
simulator: delete PublicationMulti ptrs for sensor_gps
2021-01-10 19:58:54 +01:00
f73d93ef6c
ekf2: selector improve status reporting
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- publish estimator_selector_status at minimal rate or immediately on change
- log all estimator_selector_status updates
2021-01-10 19:25:53 +01:00
2fc212e064
geofence_params: clarify EKF vs baro altitude source
2021-01-10 18:40:58 +01:00
d5c8d0a233
GF_ALTMODE: Update in line with Lorenz feedback
2021-01-10 18:40:58 +01:00
d43444fce7
geofence: GF_ALTMODE clarification
2021-01-10 18:40:58 +01:00
fe7908feb0
Simulator: Added remote host option ( #15443 )
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* Added an option to the Simulator module to connect to remote Gazebo servers.
This is usefull when the Gazebo simulation is running on a different host than the PX4 instance.
For example, we are running instances of PX4 with a companion application in multiple Dockers, for swarming simulations, which then connect to a remote Gazebo server.
A "-t" input argument has been added and can be called from the rcS startup script as: simulator start -t "192.168.178.122" $simulator_tcp_port
* _tcp_remote_ipaddr defaults to nullptr. This way testing against nullptr it can be determined if localhost or remote host is desired by the user.
* Documented the option in usage().
Signed-off-by: Peter Blom <peterblom.mail@gmail.com >
2021-01-10 18:37:37 +01:00
763c3b8fda
boards: start enabling multi-EKF by default on F7/H7
2021-01-10 17:56:34 +01:00
b3257c0bf2
Support relative altitude for offboard global position setpoints
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Previously the coordinate_frame flag for setpoint_target_global_int message was not handled, resulting in the vehicle to not handle altitude correctly. This commit handles the relative altitude correctly.
2021-01-10 17:54:53 +01:00
662f177830
ekf2: multi instance numbering consistent with uORB publication instances
2021-01-09 13:20:26 -05:00
c3fc96fd42
uORB::PublicationMulti add get_instance()
2021-01-09 13:20:26 -05:00
0398a936e3
Update submodule ecl to latest Sat Jan 9 16:06:23 UTC 2021
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- ecl in PX4/Firmware (c6af260a41https://github/commit/c212975abe83bf462bc512288ba30358f9a17865
- ecl current upstream: https://github/commit/99575d73e10aad06eb7d5b6415ea2db4151c5045
- Changes: https://github/compare/c212975abe83bf462bc512288ba30358f9a17865...99575d73e10aad06eb7d5b6415ea2db4151c5045
99575d7ff3c0a6c25c97f96418101b1c049dd259a23e1f2d8
2021-01-09 12:57:25 -05:00
c6af260a41
log_message increase queue depth 2->4
2021-01-09 11:04:32 -05:00
d42e57a066
Update sitl_gazebo to latest
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This PR updates sitl_gazebo to latest
2021-01-08 21:33:22 -05:00
b9a721726d
sensors/vehicle_magnetometer: respect calibration offset update success
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- the magnetometer calibration offset setter returns false if the new offset change is negligible
2021-01-08 15:34:48 -05:00
80dd841cad
Update launch files to enable multi-video stream in SITL ( #16497 )
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* Update launch files to support multi-video stream in SITL
* Pass extra args to jinja_gen.py inside gazebo_sitl_multiple_run.sh to enable multi-video streaming
2021-01-08 19:29:47 +01:00
706f806943
VTOL: standard VTOL and Tiltrotor manual MC throttle during transition
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This sets the throttle of the Multicopter actuators to the throttle stick position
while in Stabilized, Acro or Manual mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-08 10:28:00 +01:00
802c68a62e
Do not run transition flight task when not enable altitude control
2021-01-08 10:28:00 +01:00
bf330a51b2
sensors/vehicle_magnetometer: reduce offset update message length to fit
2021-01-08 01:22:31 -05:00
eb60479e4c
UUV introduce param to skip controller ( #15706 )
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* added skip_ctrl param to uuv
* fixed formatting
2021-01-08 06:50:40 +01:00
064511c2df
Update submodule flightgear_bridge to latest Fri Jan 8 00:39:45 UTC 2021
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- flightgear_bridge in PX4/Firmware (168468c12ahttps://github.com/PX4/PX4-FlightGear-Bridge/commit/44b51d5b1ccc6679e82090e24177ed73a3d4f5de
- flightgear_bridge current upstream: https://github.com/PX4/PX4-FlightGear-Bridge/commit/7c2c623da9f5dcb3f01d32830af1a2ed958de363
- Changes: https://github.com/PX4/PX4-FlightGear-Bridge/compare/44b51d5b1ccc6679e82090e24177ed73a3d4f5de...7c2c623da9f5dcb3f01d32830af1a2ed958de363
7c2c623 2021-01-06 slimonslimon - Switch Ign-math to Eigen3 (#5 )
2021-01-07 21:21:02 -05:00
168468c12a
Update submodule ecl to latest Thu Jan 7 12:50:52 UTC 2021
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- ecl in PX4/Firmware (c999734463c9b23c6b56670d5242ca4496f9e6ef): https://github/commit/03fed323ab950125114eb34309d3a79119e572ee
- ecl current upstream: https://github/commit/c212975abe83bf462bc512288ba30358f9a17865
- Changes: https://github/compare/03fed323ab950125114eb34309d3a79119e572ee...c212975abe83bf462bc512288ba30358f9a17865
c212975
2021-01-07 12:08:21 -05:00
88f8da27ef
save learned mag bias per sensor (Multi-EKF support)
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- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
- this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
- ekf2 reset mag mag bias on any magnetometer or calibration change
- use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor
Co-authored-by: Paul Riseborough <gncsolns@gmail.com >
2021-01-07 09:54:13 -05:00
537ee5b19b
FlightTaskOrbit: smooth yaw like in missions
2021-01-07 13:31:05 +01:00
44606ca872
FlightTaskOrbit: further simplify circling yaw setpoint calculation
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The whole angle adding and pi wrap was just necessary because the
correct atan2 arguments were never completely thought through.
2021-01-07 13:31:05 +01:00
f435bea57c
state_machine_helper: orbit failsafe just with data link loss
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RC is like the comment says not required.
2021-01-07 13:31:05 +01:00
6b8fa417e1
SlewRate: Add SlewRateYaw handling [-pi,pi] wraps
2021-01-07 13:31:05 +01:00
6c9072720e
invensense/icm42688p: use full 20 bit data, increase ODR, disable all filters
2021-01-06 17:03:39 -05:00
d2b0f63e1f
Handle offboard mode with acceleration setpoints
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The case when acceleration setpoints were being passed in offboard mode was triggering control_climbrate_mode. This prevented the vehicle from taking off, since it made the vehicle skip the rampup phase of the takeoff
This commit fixes this by handling the case properly
2021-01-06 20:38:18 +01:00
3fb8f5df62
drivers/lsm303agr: fixed bug incorrectly assembling signed 16 bit integer from bytes
2021-01-05 21:37:08 -05:00
01e3f0d586
Update submodule matrix to latest Tue Jan 5 12:40:51 UTC 2021
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- matrix in PX4/Firmware (fd97e28019fa9c665d9b3c6995098dd51b4ab022): https://github/commit/15e54ceda176f05e1ae38e71692d15cafb9e3a62
- matrix current upstream: https://github/commit/054f8b12f4da79767df6e05bb1d2cc8d679b99f3
- Changes: https://github/compare/15e54ceda176f05e1ae38e71692d15cafb9e3a62...054f8b12f4da79767df6e05bb1d2cc8d679b99f3
054f8b1
2021-01-05 19:24:42 -05:00
ff82911d86
Update submodule ecl to latest Tue Jan 5 12:40:47 UTC 2021
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- ecl in PX4/Firmware (824f78466ac4e32aecd6bda785e95eb348e1b31e): https://github/commit/78ce46f00777f07d24c31bdc5e2edb203be2c0f4
- ecl current upstream: https://github/commit/03fed323ab950125114eb34309d3a79119e572ee
- Changes: https://github/compare/78ce46f00777f07d24c31bdc5e2edb203be2c0f4...03fed323ab950125114eb34309d3a79119e572ee
03fed3231fca9cc65cf13211c84c
2021-01-05 19:23:25 -05:00
64ed96bd95
ekf2: Correct airspeed used by EKF for calibration errors
2021-01-05 19:22:53 -05:00
b94e346488
Update submodule sitl_gazebo to latest Tue Jan 5 12:40:40 UTC 2021 ( #16493 )
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- sitl_gazebo in PX4/Firmware (850d0bc588https://github.com/PX4/PX4-SITL_gazebo/commit/054e0a1be67b715ca1802397082e7814a1427f52
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/44de4acc3f9cf9e44db58006f99ea190d217017a
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/054e0a1be67b715ca1802397082e7814a1427f52...44de4acc3f9cf9e44db58006f99ea190d217017a
44de4ac 2021-01-02 Lorenz Meier - Update README.md
Co-authored-by: PX4 BuildBot <bot@px4.io >
2021-01-05 19:34:11 +01:00
850d0bc588
vtol_type: remvoe const from function declaration
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-04 15:32:00 +01:00
0871f0f52d
vtol: refactor of maximum pwm value settings for main and alternate motors
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- main motors are the ones which are meant to be used as propulsion in fw mode
- alternate motors are the ones usually meant to be switched off in fw mode
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 15:32:00 +01:00
bc1e9f72f7
Jenkins hardware temporarily remove px4_fmu-v2
2021-01-04 09:30:47 -05:00
92634e7549
RTL: during climb, set NAV_CMD_WAYPOINT for RW modes, NAV_CMD_LOITER_TO_ALT for FW
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Do not use LOITER_TO_ALT for rotary wing mode as it would then always climb to
at least MIS_LTRMIN_ALT, even if current clib altitude is below
(e.g. RTL immediately after take off)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-04 11:58:16 +01:00
0b86c11c66
FW POS: remove setting of curr_sp to LOITER if next wp invalid
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-04 11:58:16 +01:00
55a1d090a1
RTL: use NAV_CMD_LOITER_TO_ALT for Climb state
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-04 11:58:16 +01:00
68f27ba7b7
navigator: deactivate line following after backt-ransition and before landing
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- especially when there are strong winds it's better to just go straight
to the landing point instead of trying to follow the planned path
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
b63f756745
navigator: don't execute land pattern if vtol in rotary wing mode
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- if vtol and in rotary wing mode then don't execute the mission landing
because it's designed to be flow as a fixed wing
- if vtol and in rotary wing mode and mission land is available then fly directly
to landing point and don't go home!
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
6c3f413379
mission: reset work_item_type during mission inactivation
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- this fixes a race condition which happens when an RTL is triggered
during the final approach of a mission landing. In that case the mission inactive
method is never called.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
b63f202b3c
various fixed for bugs encountered during testing
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
cfb3cdc82f
rtl: use math namespace
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
94d3ab28ee
rtl: fixed computation of return altitude when mission landing is available
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
12875f7869
mission: when land start marker present, look for loiter to altitude item
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instead of using the previous waypoint as landing target
- the previous waypoint could be miles away
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
e0c394a00b
mission: fixed bug in computation of landing altitude
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
a4a03e86da
mission: be more intelligent about saying that we are on a mission landing
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- previously the decision of being on a landing pattern was taken by just
looking at the current mission index. However, even if the current mission
index indicates a landing pattern the vehicle could be at an arbitrary location, far
from being established on the pattern.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
29c3ce6d5d
reworked RTL cone implementation
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
dad5ce1e41
rtl: set proper acceptance radius for move_to_land item
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
6ff95ae645
RTL: implement proper RTL sequence for VTOL
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- descend to RTL descend altitude
- transition
- move to land waypoint
- loiter and then land
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
197a21a22e
rtl: for fixed wing (also vtol) make the descend state of RTL use type
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NAV_CMD_LOITER_TO_ALT
- this allows vtol to track the loiter circle during the transition instead
of trying to fly to the landing position
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
bb2826ad27
rtl: for vtol first desend down to RTL descend altitude before doing a transition
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
e81d5daa66
rtl: if very close to home then do not descend if higher than RTL_DESCEND_ALT
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before reaching home
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-04 11:58:16 +01:00
7c727edc3f
Simple mixer: add output slew rate
...
This adds the option to limit the rate of change (slew rate) of an output that's mixed by a simple mixer.
To enable it, a positive number has to be added at the end (6th number) of the output scaler line of the mixer,
specifying the min rise time of this output.
E.g. O: 10000 10000 0 -10000 10000 20000 for a rise time of 2s, resp. a max slew rate of 0.5s^-1.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-04 11:32:22 +01:00
98cff94702
px4_work_queue: directly support SITL lockstep
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- the purpose is to ensure that every WorkItem (and WorkItems scheduled
by WorkItems) is allowed to run to completion every step
- per workqueue register a lockstep component whenever a work item is
added (if not already registered)
- once the work queue is empty unregister component
2021-01-04 09:38:05 +01:00
8c71ecd97e
Update submodule ecl to latest Sat Jan 2 12:39:29 UTC 2021
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- ecl in PX4/Firmware (03925cc70fd13c15a5dfe8ecc5653b91098ac68d): https://github/commit/18f334f4dbca61e3bcd1743c22cf820b5a8ff7ef
- ecl current upstream: https://github/commit/78ce46f00777f07d24c31bdc5e2edb203be2c0f4
- Changes: https://github/compare/18f334f4dbca61e3bcd1743c22cf820b5a8ff7ef...78ce46f00777f07d24c31bdc5e2edb203be2c0f4
78ce46f
2021-01-02 11:54:56 -05:00
d502292d07
mission: for vtol takeoff don't use next waypoint as target during transition
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- this caused the navigator to use the next waypoint (after the vtol takeoff item)
to be used as target during the transition. If the altitude of that waypoint
was much higher than the takeoff altitude then there were FOH effects
after the transition which caused the vehicle to first descend before
climbing again.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-02 02:18:59 +01:00
a1b81df445
Update submodule sitl_gazebo to latest Fri Jan 1 12:39:16 UTC 2021
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- sitl_gazebo in PX4/Firmware (a444d2610ahttps://github.com/PX4/PX4-SITL_gazebo/commit/ca6c738fff30c516a5d2b9866ad268826a9ff0ff
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/054e0a1be67b715ca1802397082e7814a1427f52
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/ca6c738fff30c516a5d2b9866ad268826a9ff0ff...054e0a1be67b715ca1802397082e7814a1427f52
054e0a1 2021-01-01 pjdewitte - Jinja generation: add protection against accidental overwriting (#682 )
869225e 2020-12-31 JaeyoungLim - Fix lightsource for high fidelity worlds (#680 )
2021-01-01 21:57:05 +01:00
0bdae5745a
Update dsm.cpp
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Fix documentation comment (reported by @Roman-, thanks!)
2021-01-01 15:30:25 +01:00
9409122638
RC tests: Add new test file
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This file is using a PX4IO-bound receiver on a DX9
2021-01-01 14:26:36 +01:00
8d6239f11f
PX4IO: Use DSM frame drops
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These will now be reported the same as on SBUS.
2021-01-01 14:26:36 +01:00
47fcf97442
DSM: Report frame drops
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Frame drops were measured but not reported on PX4IO.
2021-01-01 14:26:36 +01:00
00e6d11dfa
PX Uploader: Disable windowed mode
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The windowed mode has been added for Windows targets originally. It gets very often incorrectly detected and slows down flashing considerably. This even applies to serial links. We are disabling it now in most circumstances.
2021-01-01 14:26:36 +01:00
95dd2f7e8d
rc/dsm: remove system field check, add new validity checks
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- unfortunately we can't depend on the system field due to potential
external binding and non-genuine Spektrum equipment
- reject any DSM frame with duplicate channels
- add 16 channel mask
- tighten valid PWM range 990-2010us (±100% travel is 1102-1898µs)
- update RCTest rejected frame count
2021-01-01 14:26:36 +01:00
d7b89ecc86
boards: px4/fmu-v5 disable px4io in rc.board_defaults
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- avoid keeping this kind of logic in the common rcS
2021-01-01 14:12:26 +01:00
a444d2610a
Spektrum passive power: Only use if present
2020-12-31 13:22:52 +01:00
641cc33d79
RC input: Always report DSM state
2020-12-31 13:22:52 +01:00
e85afb22a5
FMUv5: Default Spektrum power to passive
2020-12-31 13:22:52 +01:00
cc34d4601d
FMUv5: Support passive power controls
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This ensures that FMU-side power controls are not interfering with IO-side power controls of DSM receivers if they happen to be OR-ed in the schematics
2020-12-31 13:22:52 +01:00
6529e1444f
RC input: Better monitoring
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The output is now less confusing in terms of which protocol is currently active.
2020-12-31 13:22:52 +01:00
af28a298e5
DSM driver: Add option for passive power controls
2020-12-31 13:22:52 +01:00
4237c8be25
Commander: Do not acknowledge binding
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This is now done in the respective modules directly and based on implementation and execution state.
2020-12-31 13:22:52 +01:00
2d1551e5bf
PX4IO: Acknowledge binding
2020-12-31 13:22:52 +01:00
8445a08bff
RC input: Acknowledge binding (or indicate that feature is not implemented)
2020-12-31 13:22:52 +01:00
44bdd5456f
PX4IO: Bind if not armed
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DSM binding was disabled before if safety was off, which on a lot of multicopters is today the default. The logic is now checking instead for wether the system is armed.
2020-12-31 13:22:52 +01:00
a34e57a4cc
Simulator: Increase stack, publication affinity
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This commit increases the send thread stack size and changes the thread affinity of the lockstep clocking topic. It also improves verbosity in case error states occur.
2020-12-31 01:05:30 +01:00
fda63f802e
Tone alarm: Adjust log levels
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The earlier log levels represented normal operation scenarios as errors, this aligns the log levels.
2020-12-31 01:05:30 +01:00
3cc53f551d
MAVSDK tests: Use full system timeout off
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Depending on loop iterations for timeouts is not accurate, as usleep behavior depends on the system load and asking for a 0 ms sleep can potentially return immediately.
2020-12-31 01:05:30 +01:00
e27d80abc4
Camera feedback: Indicate success
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If the feedback module is loaded then we want to provide capture feedback.
2020-12-30 23:36:47 +01:00
404f74f996
boards: mro/pixracerpro add flight_mode_manager
2020-12-30 10:25:08 -05:00
fe2e299046
FlightModeManager: small rebase change
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-12-30 10:25:08 -05:00
e92795b474
Temporary logging addition to debug CI
2020-12-30 10:25:08 -05:00
fafbb687d8
FlightModeManager: fix integral reset on ground
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This information could also be used for yaw and integral
resets of the lower level controllers.
2020-12-30 10:25:08 -05:00
7de288877a
MulticoperPositionControl: 3rd pass get rid of zombie members
2020-12-30 10:25:08 -05:00
62ada2e2dc
FlightModeManager: restore weathervane calls
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I had to do an extra subscription to the vehicle attitude.
I don't know how to test this.
2020-12-30 10:25:08 -05:00
aa888223f0
FlightModeManager: fix takeoff state in stabilized mode
2020-12-30 10:25:08 -05:00
8edb06e94f
FlightModeManager: make sure emergency failsafe works
2020-12-30 10:25:08 -05:00
8329208b84
FlightModeManager: fix takeoff ramp from zero
2020-12-30 10:25:08 -05:00
88c274b3cd
MulticopterPositionControl: 2nd pass to move to FlightModeManager
2020-12-30 10:25:08 -05:00
f52bad87e2
mc_pos_control: separate out flight_tasks (into FlightModeManager)
2020-12-30 10:25:08 -05:00
7545249215
Add flight_mode_manager to all targets with mc_pos_control
2020-12-30 10:25:08 -05:00
fa7170bc4f
Add FlightModeManager
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to separate out setpoint generation from controllers
2020-12-30 10:25:08 -05:00
49d4cc7d5b
commander: CMD_NAV_LAND/CMD_NAV_PRECLAND reply RESULT_ACCEPTED unless transition is denied
2020-12-30 12:05:41 +01:00
80068093d6
add esc_battery module to modalai/fc-v1 build
2020-12-29 23:41:22 -05:00
91f5f26618
commander: main_state_transition call trivial style fixes
2020-12-30 00:26:14 +01:00
4f62355dec
msg: new estimator_status_flags message for more accessible ekf2 status logging
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- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
- this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
- for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2020-12-29 11:27:21 -05:00
ddc1f964d2
Mac OS CI: Harden against intermittent install failures
2020-12-28 23:43:57 +01:00
565da15f2f
MAVSDK test: Increase timeout
2020-12-28 22:04:08 +01:00
7510e6ba0a
FMUv2: Exclude rarely used configurations
2020-12-28 21:02:03 +01:00
53711926ab
FMUv2: Exclude specialized fixed wing configs
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The FMUv2 users can default back to generic configs for those.
2020-12-28 21:02:03 +01:00
aa28c3bd3c
VTOL airframes: Exclude FMUv2
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This excludes FMUv2 targets, since VTOL is already disabled on FMUv2.
2020-12-28 21:02:03 +01:00
3d809134f5
Updating SITL gazebo (Mac OS fixes)
2020-12-28 20:41:48 +01:00
adb98d5702
mavlink: move HIL_ACTUATOR_CONTROLS to separate streams header
2020-12-28 11:09:46 +01:00
3b20310e9c
mavlink: move POSITION_TARGET_GLOBAL_INT to separate streams header
2020-12-28 11:09:46 +01:00
672a1c90aa
mavlink: move POSITION_TARGET_LOCAL_NED to separate streams header
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- position type_mask
2020-12-28 11:09:46 +01:00
6b1d02feb7
mavlink: move RC_CHANNELS to separate streams header
2020-12-28 11:09:46 +01:00
48be6962d1
mavlink: move MANUAL_CONTROL to separate streams header
2020-12-28 11:09:46 +01:00
629d03b684
mavlink: move TRAJECTORY_REPRESENTATION_WAYPOINTS to separate streams header
2020-12-28 11:09:46 +01:00
5762c3b356
mavlink: move NAV_CONTROLLER_OUTPUT to separate streams header
2020-12-28 11:09:46 +01:00
9f57df75e8
remove rotation 41 (ROLL_270_YAW_180)
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- duplicate of 31 (ROLL_90_PITCH_180)
2020-12-28 11:07:08 +01:00
a66cb0cbaf
mavlink: check TX buffer before processing command ack
2020-12-28 11:05:42 +01:00
8d5813994f
format smart battery serial number as string on mavlink
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according to change on mavlink protocol message
formatted as 'dd/mm/yy-123456'
2020-12-28 11:04:54 +01:00
ceadcd74d0
mavlink: CAMERA_TRIGGER stream check free tx buf before send
2020-12-28 11:03:53 +01:00
ae706537b8
mavlink: CAMERA_IMAGE_CAPTURED stream check free tx buf before send
2020-12-28 11:03:53 +01:00
27b631e827
mavlink: ADSB_VEHICLE stream check free tx buf before send
2020-12-28 11:03:53 +01:00
0d72b47571
mavlink: COLLISION stream check free tx buf before send
2020-12-28 11:03:53 +01:00
dcb897307d
mavlink: HEARTBEAT stream check free tx buf before send
2020-12-28 11:03:53 +01:00
e06d218ff2
commander: disable arm_auth request for prearm status continuous publication
2020-12-27 16:23:05 -05:00
02a08c42b7
tests: perf don't bother printing all perf counters
2020-12-27 15:29:45 -05:00
12bf035642
uORB: tests limit latency to only orb_test_medium and remove some unnecessary output
2020-12-27 15:29:45 -05:00
409ea2ac02
mavlink: parameters manually mark active minimal QGC set on first send
2020-12-27 13:54:03 -05:00
4b0d8efbc1
Commander: move static overload_start to class
2020-12-27 13:44:32 -05:00
4f30037980
Add yosemite world as SITL target for gazebo
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This commit adds yosemite world as a SITL target for gazebo
2020-12-27 12:53:25 -05:00
092060cde2
posix: improve error out for mlockall() and pthread_create
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- add strerror
- mlockall skipped in lockstep builds (ENABLE_LOCKSTEP_SCHEDULER)
2020-12-27 12:43:32 -05:00
48da0055a1
boards: add initial mRo Pixracer Pro (M10064C) support
2020-12-27 12:12:15 -05:00
aa54db42ed
Update submodule ecl to latest Sat Dec 26 12:39:53 UTC 2020
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- ecl in PX4/Firmware (6a278fb230365aaf369956878ee08c3161ae739d): https://github/commit/df7f261e038aa80b07a91857f2f952280938bfc6
- ecl current upstream: https://github/commit/18f334f4dbca61e3bcd1743c22cf820b5a8ff7ef
- Changes: https://github/compare/df7f261e038aa80b07a91857f2f952280938bfc6...18f334f4dbca61e3bcd1743c22cf820b5a8ff7ef
18f334f#950 )
2020-12-26 14:39:47 -05:00
051bcf75b3
Fix PX4_CMAKE_BUILD_TYPE=Debug configuration
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Set CMAKE_RUNTIME_OUTPUT_DIR_DEBUG & _RELEASE to match
CMAKE_RUNTIME_OUTPUT_DIR as is already done in top level CMakeLists.txt.
Fixes Issue 16445 - px4-alias.sh: not found
Co-authored-by: Dan George <dgeorge@anduril.com >
2020-12-24 19:02:07 -05:00
92afe45f7f
vtol_att_control: improve readability of fill_actuator_outputs()
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- vtol standard pass through landing gear for MC and flaps for FW
2020-12-24 09:29:17 -05:00
9849ff4a9c
Standard VTOL: set idle PWM during backtransition
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-24 09:25:08 +01:00
7e01938341
VTOL: rename class variable flag_idle_mc to _flag_idle_mc
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-24 09:25:08 +01:00
5c93403db7
Tools: Python >3.7 requires the wheel packge
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currently installing pymavlink witouth the wheel package results in an
error when using Python 3.7 or later
https://github.com/ArduPilot/pymavlink/issues/486
2020-12-23 23:56:05 -05:00
70c372329c
MAVLink FTP: Update implementation according to updates specs
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The MAVLink specs for CreateFile in MAVLink FTP were updated on Dec 23, 2020 (today) with a behavior change to truncate a file if it already existed, following the UNIX standard behavior: https://pubs.opengroup.org/onlinepubs/9699919799/functions/creat.html . This change is tracking that spec change. While it is a functional change, the limited usage of the FTP protocol and the fact that implementations should not rely on error states to determine wether to truncate a file or not makes this a viable change.
2020-12-23 13:45:01 +01:00
7861377e20
Update submodule devices to latest Tue Dec 22 00:39:39 UTC 2020
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- devices in PX4/Firmware (68b6cca3bc4cd3c70ab1ea5c439e5941370e801e): https://github/commit/86b09d332041acebc35c9a0476d8dfc2752dfe39
- devices current upstream: https://github/commit/9282d3d73391859f51c759a343a052dfb1be02e0
- Changes: https://github/compare/86b09d332041acebc35c9a0476d8dfc2752dfe39...9282d3d73391859f51c759a343a052dfb1be02e0
9282d3d 2020-12-21 Silvan Fuhrer - ubx: change uart2_baudrate to 230400
2020-12-22 07:43:50 +01:00
a88b7fc517
ROMFS: Tiltrotor SITL: improve tuning and remove unnecessary params from config
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-20 21:25:50 -05:00
3ff7cd94dd
Update submodule ecl to latest Mon Dec 21 00:39:54 UTC 2020
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- ecl in PX4/Firmware (caa35af3961aa96e2549a36f1fddb1a10ee802b2): https://github/commit/a8e0e82858318042500f96f5ee882c638f201426
- ecl current upstream: https://github/commit/df7f261e038aa80b07a91857f2f952280938bfc6
- Changes: https://github/compare/a8e0e82858318042500f96f5ee882c638f201426...df7f261e038aa80b07a91857f2f952280938bfc6
df7f261
2020-12-20 21:24:52 -05:00
ec79361548
Update submodule sitl_gazebo to latest Mon Dec 21 00:39:43 UTC 2020
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- sitl_gazebo in PX4/Firmware (5868463d06https://github.com/PX4/PX4-SITL_gazebo/commit/563f0876a52d5c0fba1b7cd1aa420c613ec7025b
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/4043287bbe07a9d091d579b755796e70d45058e8
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/563f0876a52d5c0fba1b7cd1aa420c613ec7025b...4043287bbe07a9d091d579b755796e70d45058e8
4043287 2020-12-20 Silvan Fuhrer - tiltrotor: increase wing area to 0.5 per side (#678 )
f004811 2020-12-20 JaeyoungLim - Update mavsdk version for SITL tests (#673 )
2020-12-20 21:23:34 -05:00
5868463d06
Update submodule matrix to latest Fri Dec 18 12:38:33 UTC 2020
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- matrix in PX4/Firmware (a505e82391bdb9d81c03d45919f2158cee6baa8c): https://github/commit/ea43303c1cd55b0da8e152373b49dd2d5e381772
- matrix current upstream: https://github/commit/15e54ceda176f05e1ae38e71692d15cafb9e3a62
- Changes: https://github/compare/ea43303c1cd55b0da8e152373b49dd2d5e381772...15e54ceda176f05e1ae38e71692d15cafb9e3a62
15e54ced9a5e3d
2020-12-18 10:15:20 -05:00
39c585ac97
Enable SITL tests for macos ( #16329 )
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This commit enables SITL testing on macOS
2020-12-18 20:31:51 +09:00
c8d18c2719
Fix tiltrotor model for sitl_gazebo
2020-12-18 12:27:07 +01:00
c253badba4
HTE: remove dist_bottom validity check
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Without range finder, the validity flag goes to false quite quickly and
if can be that a vehicle never starts HTE is the takeoff is too slow.
In this specific context of takeoff detection, since
the exact value is not important, we can safely ignore the validity flag.
2020-12-18 12:05:22 +01:00
690c1158ad
HTE: do not update the estimator during fast up/down motions
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Drag and prop wash effects produce significant forces at high speed
that can bias the estimator when applied for an extended period of time
2020-12-18 12:05:22 +01:00
39251daf28
HTE: pull status from class instead of returning struct
2020-12-18 12:05:22 +01:00
652cc4350e
HTE: empty braces initialization of struct
2020-12-18 12:05:22 +01:00
d532bc9555
HTE: only run in air
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the _landed flag only is not enough to tell if the drone is still touching
the ground, so an additional check based on the altitude AGL is required.
to have this in_air detection correctly updated, the module needs to be
scheduled on the vehicle_local_position message as no setpoint is
produced in non-assisted modes.
2020-12-18 12:05:22 +01:00
c05c213042
mavlink: ALTITUDE stream initialize local_pos
2020-12-18 08:32:04 +01:00
66b3562080
Update submodule ecl to latest Fri Dec 18 00:39:53 UTC 2020
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- ecl in PX4/Firmware (dc358857c877ae01b922d84a6c6fffe6d8c46810): https://github/commit/1541e4b414fe63ec9d6c3077375db7e20c20ef4a
- ecl current upstream: https://github/commit/a8e0e82858318042500f96f5ee882c638f201426
- Changes: https://github/compare/1541e4b414fe63ec9d6c3077375db7e20c20ef4a...a8e0e82858318042500f96f5ee882c638f201426
a8e0e82398fe15123708737e84b75ccb8b4#943 )
9d22f14b0cf45e62f2e26f7bddda02369cd
2020-12-17 20:13:03 -05:00
e5a00033f5
Update submodule matrix to latest Thu Dec 17 23:05:20 UTC 2020
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- matrix in PX4/Firmware (788e6b9ad163f314ddd53a23f3705ca0018519f4): https://github/commit/a504b6e88152d88dba936bc74e449f2f281b84e2
- matrix current upstream: https://github/commit/ea43303c1cd55b0da8e152373b49dd2d5e381772
- Changes: https://github/compare/a504b6e88152d88dba936bc74e449f2f281b84e2...ea43303c1cd55b0da8e152373b49dd2d5e381772
ea43303158409a
2020-12-17 19:05:46 -05:00
2a187a76d6
Update submodule sitl_gazebo to latest Thu Dec 17 23:05:03 UTC 2020
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- sitl_gazebo in PX4/Firmware (90f61c2f9ahttps://github.com/PX4/PX4-SITL_gazebo/commit/19981d61cfe656d2985fef5285b4a4d14f3be199
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/563f0876a52d5c0fba1b7cd1aa420c613ec7025b
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/19981d61cfe656d2985fef5285b4a4d14f3be199...563f0876a52d5c0fba1b7cd1aa420c613ec7025b
563f087 2020-12-17 JaeyoungLim - Fix tiltrotor model (#675 )
0e2d63a 2020-12-17 JaeyoungLim - Fix wind transmormations for motor model (#674 )
e5d0d65 2020-12-13 JaeyoungLim - Update container versions for tests (#672 )
bccb487 2020-12-12 BazookaJoe1900 - mavlink_interface: rename serial link related function to include 'serial' (#670 )
2020-12-17 18:45:08 -05:00
90f61c2f9a
Update submodule GPSDrivers to latest Wed Dec 16 18:45:08 UTC 2020
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ubx: fix #63 : NAV-SAT/ SVINFO parser bug https://github.com/PX4/PX4-GPSDrivers/commit/86b09d332041acebc35c9a0476d8dfc2752dfe39
2020-12-17 08:28:25 +01:00
74083d6bd1
optical_flow/paw3902: minor improvements
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- verify register writes
- cleanly reset on lighting mode changes as per the datasheet
- perf counters for mode switches and other errors
- cleanly reset on false motion detection
- minimize sleep on reset
- allowing setting custom rotation yaw angle directly on command line with -Y (ignoring SENS_FLOW_ROT)
- enable LED output
2020-12-16 20:04:46 -05:00
43b4cf39bd
sitl_gazebo build single threaded
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- building sitl_gazebo in parallel within a parallel PX4 build isn't load balanced
2020-12-16 19:45:08 -05:00
4d30f327f9
Github Actions: skip Mavros tiltrotor mission for now ( #16405 )
2020-12-16 17:34:32 +01:00
a152fb65cb
parameters: remove unnecessary duplicated shutdown lock in param_save_default()
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- param_export already takes the shutdown lock
2020-12-16 10:50:05 -05:00
c7db0942ba
sensors: vehicle_imu don't round measured accel and gyro sample rates
2020-12-16 10:12:27 -05:00
bf5ee99952
sensors: acceleration always get accel rate from vehicle_imu_status
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- sensor rate is used for control data low pass and notch filters
2020-12-16 10:12:27 -05:00
7038cb8518
sensors: angular_velocity always get gyro rate from vehicle_imu_status
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- sensor rate is used for control data low pass and notch filters
2020-12-16 10:12:27 -05:00
336176b2f0
Mavlink FLIGHT_INFORMATION fix arming time (ms -> us) and add takeoff time
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- fixes https://github.com/PX4/PX4-Autopilot/issues/16393
2020-12-16 09:38:05 -05:00
b23d8244f0
ekf2: fix dist bottom constraint
2020-12-16 09:33:38 -05:00
acc647c518
remove duplicate this in COM_HLDL_LOSS_T
2020-12-16 08:37:42 +01:00
4bc60cca69
remove more occurrences
2020-12-16 08:37:42 +01:00
d58ee9400c
system_params - remove duplicate text in param
2020-12-16 08:37:42 +01:00
8e14e13369
README.md update PX4/Firmware -> PX4/PX4-Autopilot
2020-12-15 20:27:03 -05:00
aa244a098c
Clarification of coordinate systems for sensors_* and vehicle_* messages ( #16339 )
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Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups.
Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local >
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2020-12-15 09:18:05 +01:00
fdd1d6d244
Multicopter rounded turns ( #16376 )
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* AutoLineSmoothVel: Implement l1-style guidance in turns
2020-12-14 13:04:01 +01:00
9b065b4975
Update src/systemcmds/tests/test_dataman.c
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Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2020-12-14 09:26:18 +01:00
5cb1bb7731
systemcmds: fix dataman test
2020-12-14 09:26:18 +01:00
1719ff9892
simulator: fix after px4_task_spawn_cmd change
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argv[0] now contains the task name, so everything moves by one.
2020-12-14 09:26:18 +01:00
dba3c642d2
posix: set task name as argv[0] to match Nuttx
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This changes px4_task_spawn_cmd to match the NuttX task_spawn. It adds
the task name as argv[0]. See example below:
px4_task_spawn_cmd("task_name",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1024,
(px4_main_t)&Something::start_helper,
(char *const *)argv);
with:
argv[0]: "something"
argv[1]: "start"
argv[2]: nullptr
becomes in Something::start_helper:
argv[0]: "task_name"
argv[1]: "something"
argv[2]: "start"
argv[3]: nullptr
2020-12-14 09:26:18 +01:00
862fd1d450
module: remove NuttX only quirk
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The behaviour on NuttX and Posix should now be the same anyway.
2020-12-14 09:26:18 +01:00
314b5e721f
src: remove NuttX ifdefs around args
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It doesn't look like they are required anymore.
2020-12-14 09:26:18 +01:00
5be2066e1a
posix: small cleanup
2020-12-14 09:26:18 +01:00
e51000c5be
fix syntax of prev commit
2020-12-11 22:00:56 +01:00
eec64c5c0f
More compact if statement
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Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-11 22:00:56 +01:00
d025787334
replace _vehicle_status
2020-12-11 22:00:56 +01:00
db58269577
Add support for set_position_target_local_ned message
2020-12-11 22:00:56 +01:00
1e6976234f
Remove reset_offb_cruising_speed(). Make more explicit that this PR only affects offboard mode.
2020-12-11 22:00:56 +01:00
f1524fe27d
renaming the new functions
2020-12-11 22:00:56 +01:00
9cc9e4f89f
Handle MAV_CMD_DO_CHANGE_SPEED command for FW Offboard global position control.
2020-12-11 22:00:56 +01:00
0433f4d33c
land_detector: decrease default LNDFW_AIRSPD_MAX 8 -> 6 m/s
2020-12-11 21:58:43 +01:00
ae2b1a265c
commander: POSCTL optical flow aiding continue updating GPOS validity
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- updating the global position validity should happen regardless of
being in manual position control mode with only optical flow
- condition_global_position_valid needs to be accurate to adjudicate
main state changes (eg going into AUTO MISSION)
2020-12-11 15:33:50 -05:00
6bda8af97c
commander: merge duplicated position and velocity validity checks
2020-12-11 15:33:50 -05:00
5cd4a9c73f
commander: global position validity respect local position xy_valid
2020-12-11 15:33:50 -05:00
ef6209ba03
new manual_control_switches msg (split out of manual_control_setpoint) ( #16270 )
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- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2020-12-11 12:11:35 -05:00
25ef76b3b8
navigator: fix LOITER_TO_ALT
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- this was overzealously removed in https://github.com/PX4/PX4-Autopilot/pull/15677
2020-12-11 16:28:08 +01:00
c5a6a60903
Also log transponder_report and satellite_info
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* log full data rate transponder_report message by default
* log satellite_info (GPS_STATUS) as part of debug topics
2020-12-11 12:44:23 +01:00
fd18ba6496
tiltrotor: allow to finish transition if groundspeed is below cruise speed
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-12-11 09:40:47 +03:00
842d98d572
AirspeedValidator: fuse true airspeed before sideslip ( #742 )
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- the states can be initialised more accurately using an airspeed measurement
and the wind estimator uses the first measurement to initialise
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-12-11 09:37:09 +03:00
d44e537084
ekf2: update to new ecl to fix fault status getter
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- estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits
2020-12-10 12:45:41 -05:00
72420dfff3
mavlink_receiver: remove unused _param_com_flight_uuid
2020-12-10 08:47:04 +01:00
7db555573b
Update submodule ecl to latest Wed Dec 9 12:40:07 UTC 2020
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- ecl in PX4/Firmware (ef162f7629ce29be8fd556b81357b96720d8e21f): https://github/commit/da7d41e78aecdc07d226bd7d723c747895d1c615
- ecl current upstream: https://github/commit/8f3df7a97b348dd7bf06233004f9821fe2ea88d1
- Changes: https://github/compare/da7d41e78aecdc07d226bd7d723c747895d1c615...8f3df7a97b348dd7bf06233004f9821fe2ea88d1
8f3df7a#928 )
3835800688a054944b18cee9498044ebfb8
2020-12-09 13:12:58 -05:00
bca2d3139a
Enable dshot driver for fmu-v4pro
2020-12-09 17:56:11 +01:00
f2aa7d3f88
Update ROMFS/px4fmu_common/init.d/rc.sensors
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parameter comparison logic is changed.
Co-authored-by: Daniel Agar <daniel@agar.ca >
2020-12-09 17:55:38 +01:00
a6b7add2fe
SENS_EN_VL53L1X parameter is implemented to enable VL53L1X distance sensor
2020-12-09 17:55:38 +01:00
9c3b70d517
remove default value for roll angle
2020-12-09 17:54:53 +01:00
bbad1bdd6e
add comment.
2020-12-09 17:54:53 +01:00
33b831efe3
rename variables
2020-12-09 17:54:53 +01:00
dfcd6a7c16
fix typo
2020-12-09 17:54:53 +01:00
c316af6ec7
update to match new feature as a new mavlink command Oblique Survey 260
2020-12-09 17:54:53 +01:00
390ed3765f
disable pseudo-oblique mode if param4 is 0.
2020-12-09 17:54:53 +01:00
38a5b8a502
fix comment description for pitch angle
2020-12-09 17:54:53 +01:00
d0ae931543
adjust minimum number of positions to 2.
2020-12-09 17:54:53 +01:00
0cb3ce4886
fix readability
2020-12-09 17:54:53 +01:00
e1e06364da
fix formatting
2020-12-09 17:54:53 +01:00
73f7b08873
add Camera Auto Mount Pseudo Oblique Solution (CAMPOS)
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add target system and component ids to vmount commands
Signed-off-by: Igor Campos <igor.gama.90@gmail.com >
2020-12-09 17:54:53 +01:00
7e2da11d67
reenable WV after FT alignment
2020-12-09 17:36:20 +01:00
a1b54eb655
mavlink: check index for out-of-bounds
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If a MAP_RC_PARAM message is sent with an index > 2, this would lead
to undefined behaviour or a segfault/hardfault.
2020-12-09 08:59:57 +01:00
dd4ee5c48c
dshot: breakout driver header file, use static_casts, add const specifiers ( #15908 )
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* Break out dshot.h from dshot.cpp and rename files to reflect the class name.
Move DShot class specific #defines from drv_pwm_output.h to dshot.h.
Replace c-style casts with static_casts, standardize method naming, single line comment styles, and formatting.
Rename update_dshot_out_state() to enable_dshot_outputs().
2020-12-09 08:51:47 +01:00
cf010f44d0
Update submodule sitl_gazebo to latest Wed Dec 9 00:39:59 UTC 2020 ( #16354 )
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- sitl_gazebo in PX4/Firmware (cd1ffa63cdhttps://github.com/PX4/PX4-SITL_gazebo/commit/e01ba8f78c185fab0b0ceb1e6407b5e1cc7c07d4
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/19981d61cfe656d2985fef5285b4a4d14f3be199
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/e01ba8f78c185fab0b0ceb1e6407b5e1cc7c07d4...19981d61cfe656d2985fef5285b4a4d14f3be199
19981d6 2020-12-08 Flavio Tonelli - Fix plugin misspelling (#665 )
Co-authored-by: PX4 BuildBot <bot@px4.io >
2020-12-09 08:43:45 +01:00
cd1ffa63cd
commander: auto transition to LOITER if disarmed with no RC only requires a valid global position
2020-12-08 18:26:03 -05:00
82746af07a
ekf2: use new IMU and mag bias and variance getters in ecl/EKF
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- reset IMU bias on calibration change (only works with multi-ekf)
- standardize PX4_INFO/PX4_WARN/PX4_ERR output for multi-ekf with instance number
- https://github.com/PX4/PX4-ECL/pull/924
2020-12-08 16:06:18 -05:00
8f5f564c05
commander: preflightcheck only report failure once per sensor type
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- either way the user action is to recalibrate, so we might as well try
to minimize the noise/annoyance
2020-12-08 13:18:22 -05:00
edaf9f2bb6
FW Position Controller: consolidate mission throttle adaptions for position and loiter waypoints
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-08 12:08:36 -05:00
6d255df0a8
airspeed selector: disable beta fusion when not in fixed-wing mode
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-08 11:43:27 -05:00
59564af860
wind_estimate message: add identifier for source
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-08 11:43:27 -05:00
bc1c8fb73a
GPS_DUMP_COMM: dump all gps instances
2020-12-08 11:45:24 +01:00
fd261b590c
battery: don't init uint16_t with -1.0f
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This was flagged as undefined behaviour by fuzz testing.
2020-12-08 09:58:29 +01:00
681590c510
ekf2: multi-ekf force initial selection (and sensor_selection publication)
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- depending on the particular sensor configuration and startup timing we were getting an initial sensor_selection publication without valid accel & gyro device ids (only applies to Multi-EKF)
- fix faulty accel and gyro device ids
- initialize unused test ratio fields to NAN for logging clarity
2020-12-07 21:37:24 -05:00
3276916df9
HomePos: check corresponding validity before using data
2020-12-07 10:24:23 -05:00
711bd2ce87
Commander: use helper to set home position
2020-12-07 10:24:23 -05:00
f3e5b86b06
Commander: set home position in air
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en/dis-able in-air home position via parameter COM_HOME_IN_AIR
2020-12-07 10:24:23 -05:00
e8cefcafbc
Fix gazebo_sitl_multiple_run.sh scripting ( #16340 )
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This commit fixes the problem when using scripting options. This regression was introduced by #15463
2020-12-07 06:17:15 +01:00
a2ff53b018
mavlink: remove typedef of anonymous struct
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Clang doesn't seem to like these.
2020-12-06 23:55:59 -05:00
8900c6200d
commander: remove typedef of anonymous struct
...
Clang doesn't seem to like these.
2020-12-06 23:55:59 -05:00
1cd36d4c8c
PX4 NuttX 10.0.0+ With IMX backports
2020-12-04 12:59:09 -05:00
1b70e5f978
nxp_fmurt1062-v1:Rev B will be Using active CD
2020-12-04 12:59:09 -05:00
394c2edea3
nxp_fmurt1062-v1:Added Single wire support for SBUS
2020-12-04 12:59:09 -05:00
171cb7119e
nxp_imxrt,rt106x add imxrt_gpiosetevent
2020-12-04 12:59:09 -05:00
d4a78cea5a
nxp_fmurt1062-v1:Correct intial state of PIO_nVDD_5V_{HIPOWER|PERIPH}_E to OFF
2020-12-04 12:59:09 -05:00
67a78a70ea
nxp_fmurt1062-v1:Telem 1 & 2 Swapped to have real HW HS on Telm2
2020-12-04 12:59:09 -05:00
1dd22acd12
nxp_fmurt1062-v1:Fix memory overflow
2020-12-04 12:59:09 -05:00
0ca7783ea5
nxp_fmurt1062-v1:Refreshed defconfig fixing 'if-then' disabled
2020-12-04 12:59:09 -05:00
8d8a31c56d
WorkQueueManager:Increase stack size
2020-12-04 12:59:09 -05:00
e6992db1ca
Use enums for set attitude setpoint typemasks for offboard mode ( #16327 )
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This commit switches the typemask comaparision to enums for better readability
2020-12-04 17:44:33 +01:00
3783ab4a6a
Update submodule sitl_gazebo to latest Fri Dec 4 00:39:14 UTC 2020
...
- sitl_gazebo in PX4/Firmware (25c113a527https://github.com/PX4/PX4-SITL_gazebo/commit/cd8ba25c81f32d6fe088482e37f8a38892209ef4
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/e01ba8f78c185fab0b0ceb1e6407b5e1cc7c07d4
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/cd8ba25c81f32d6fe088482e37f8a38892209ef4...e01ba8f78c185fab0b0ceb1e6407b5e1cc7c07d4
e01ba8f 2020-12-03 JaeyoungLim - Add macos build tests for Bigsur (#663 )
a6698f5 2020-11-19 Daniel Agar - update gitignore (#658 )
2020-12-03 23:50:40 -05:00
5e6189ee5a
Update submodule mavlink v2.0 to latest Fri Dec 4 00:39:20 UTC 2020
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- mavlink v2.0 in PX4/Firmware (dce7cfbddefe53fd0381582121883134a4df1b73): https://github.com/mavlink/c_library_v2/commit/1de17e039b27c541ccdb9ed214ea41aaaf180ae0
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/8f481688d70541e8f91ee8c4fc233ca70cd7fad9
- Changes: https://github.com/mavlink/c_library_v2/compare/1de17e039b27c541ccdb9ed214ea41aaaf180ae0...8f481688d70541e8f91ee8c4fc233ca70cd7fad9
Co-authored-by: PX4 BuildBot <bot@px4.io >
2020-12-03 23:49:28 -05:00
cc979d2249
Update submodule GPSDrivers to latest Fri Dec 4 00:39:25 UTC 2020
...
- devices in PX4/Firmware (1303a8f17c5174a02b1c3ed22acd88da499e5a53): https://github/commit/0bf63c9820f4af997d0a48743dcc1008d119e49c
- devices current upstream: https://github/commit/5afc11588b2b6ec0861ecf9ef673c7a9e2109129
- Changes: https://github/compare/0bf63c9820f4af997d0a48743dcc1008d119e49c...5afc11588b2b6ec0861ecf9ef673c7a9e2109129
5afc115 2020-11-30 Beat Küng - gps_helper: define M_PI_F if not defined (was missing for ubx)
2020-12-03 23:48:29 -05:00
01620420fa
ekf2: update to latest ecl with RingBuffer minor improvements
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- includes https://github.com/PX4/PX4-ECL/pull/938
2020-12-03 21:17:22 -05:00
25c113a527
StickAccelerationXY: boost low speed brake
2020-12-03 18:19:42 +01:00
badaf1eae0
Functions: add squareroot linear function
2020-12-03 18:19:42 +01:00
3f3a82e034
FlightTaskManualAcceleration: reset position lock on reactivation
...
to prevent having a fixed position lock while moving the vehicle
on the ground before flying.
2020-12-03 18:19:42 +01:00
66f8fc08c0
FlightTasks: refactor to use isAnyTaskActive()
2020-12-03 18:19:42 +01:00
229f02a4f9
mtd:Reduce functionality on memory constrained systems
2020-12-02 20:40:23 -05:00
b4693f41da
rcS:Use mft query not mtd start
2020-12-02 20:40:23 -05:00
22bc176885
Added mft for queries
2020-12-02 20:40:23 -05:00
f8148593ad
uvify_core: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
94825ddc6e
spracing_h7extreme: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
44ffc855dc
px4_fmu-v6x: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
d9151af291
px4_fmu-v4pro: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
c9063beacc
px4_fmu-v4: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
79bedbc908
px4_fmu-v3: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
313b3edc04
px4_fmu-v2: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
6e9f50f48e
omnibus_f4sd: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
74a0693040
nxp_ucans32k146: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
ad1c603af4
nxp_fmurt1062-v1: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
65b3b0b2e7
nxp_fmuk66-v3: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
6f27deab40
nxp_fmuk66-e: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
434f63d479
mro_x21: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
7c07ce9649
mro_x21-777: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
5703070974
mro_ctrl-zero-f7: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
2247779216
modalai_fc-v1: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
6dba2425c2
intel_aerofc-v1: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
a2a8d2fcf2
holybro_pix32v5: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
2b69fad3ac
holybro_kakutef7: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
79744ec156
holybro_durandal-v1: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
55c091e0fc
cubepilot_cubeyellow: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
6b93865cfc
cubepilot_cubeorange: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
16f388d625
cuav_x7pro: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
26e164c3ba
cuav_nora: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
79f177fe94
cuav_can-gps-v1: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
1bb2b0b06c
bitcraze_crazyflie: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
a09d240c72
av_x-v1: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
4c5aa12a18
airmind_mindpx-v2: Use px4_platform_configure
2020-12-02 20:40:23 -05:00
52b5856ff0
px4_fmu-v5:Use px4_platform_configure
2020-12-02 20:40:23 -05:00
a60df85a09
px4_fmu-v5x:Use px4_platform_configure
2020-12-02 20:40:23 -05:00
e83a00c604
px4_manifest:Add Queries
2020-12-02 20:40:23 -05:00
68ab736b16
Refactor mtd to make available to board startup
2020-12-02 20:40:23 -05:00
1b9ab2a3e2
px4_fmu-v5x:Manifest Update Adde Rev 1 HW and fix VER 1
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VER is on BASE
REV is on FMU
ver|rev
bas|fmu
{0x0000, hw_mft_list_v0500, ...(hw_mft_list_v0500)},
{0x0001, hw_mft_list_v0501, ...(hw_mft_list_v0501)}, <-- was wrong
This falsly selected the NO I/O version
2020-12-02 19:56:14 -05:00
378c0b5093
parameters: find and get perf counters aren't threadsafe
2020-12-02 10:11:42 -05:00
e69aea0a9b
parameters: don't keep in memory if set to default
2020-12-02 10:11:42 -05:00
c305774fae
commander: move vehicle_status into class
2020-12-02 10:20:50 +01:00
b7de10fca3
commander: move vehicle_status_flags to class
2020-12-02 10:20:50 +01:00
dc435c4c90
commander: control_status_leds() use _armed directly
2020-12-02 10:20:50 +01:00
8ac2581d7b
commander: handle_command() use _armed directly
2020-12-02 10:20:50 +01:00
741a0b43e8
commander: move mavlink_log_pub into class
2020-12-02 10:20:50 +01:00
a03b91c01e
commander: move answer_command() to class
2020-12-02 10:20:50 +01:00
d5dc7e2873
commander: move actuator_armed state into class
2020-12-02 10:20:50 +01:00
de66616341
MulticopterPositionControl: don't switch out of Orbit task
...
when it got started via vehicle_command
2020-12-01 10:00:46 -05:00
8f40558f41
MulticopterPositionControl: reset task when switching mode
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to make sure the state is clean between auto mode switches.
2020-12-01 10:00:46 -05:00
85f3ab1960
rc_update: only decode if RC input is stable (channel count and source)
2020-12-01 09:40:24 -05:00
d654be761c
ms4525: remove old voltage corrections
...
- this isn't correct for all boards and we now have airspeed scale
factor estimation
2020-12-01 09:34:47 -05:00
378b41af6a
tunes: Improve logic for interrupting tunes
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src/lib/tunes already knows which tunes are interruptable, so add
return values to expose than and use than in tone_alarm.
This fixes the issue that repeating tunes cannot be interrupted without
tune_override set to true.
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com >
2020-11-30 16:56:13 -05:00
bd943d872c
Use explicit typemasks for offboard position setpoints ( #16296 )
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This uses enums of the POSITION_TARGET_TYPEMASK in order to separate typemasks that are part of the mavlink specs more explicitly
2020-11-30 22:12:06 +01:00
a63e8cc149
fix mavlink: ensure vehicle_command topic exists
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If the first publisher publishes multiple commands right after each other
(e.g. on 'commander takeoff'), mavlink would miss the first and print an
error like 'vehicle_command lost, generation 0 -> 2'.
This is due to a recent uORB behavior change.
2020-11-30 11:53:22 -05:00
05a3492174
commander: remove low priority thread, run tasks in a worker thread on demand
...
- removes race conditions
- removes dependencies on static data & methods
- reduces RAM usage by ~3.8KB
2020-11-30 11:53:22 -05:00
419b336a15
commander: fix ModuleBase usage, remove volatile flag
2020-11-30 11:53:22 -05:00
aa80167b47
mavlink: rename OPTICAL_FLOW header and defines to OPTICAL_FLOW_RAD
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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
7dde298664
mavlink: move COLLISION to streams hpp
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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
2243931abd
mavlink: move ATTITUDE_TARGET to streams hpp
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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
ce28aa089b
mavlink: move ATTITUDE_QUATERNION to streams hpp
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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
8ac2ada0e6
mavlink: move ATTITUDE to streams hpp
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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
0bf622e211
mavlink: move OPTICAL_FLOW to streams hpp
...
Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com >
2020-11-29 20:26:07 -05:00
5f0ecc893e
boards: holybro/durandal add TELEM3 (/dev/ttyS4)
2020-11-29 10:17:18 -05:00
d59ba2032f
Handle takeoff waypoints for rover
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Fix
2020-11-29 00:08:53 +01:00
1d1fbdb1d3
microRTPS: remove byte ordering for nested types
2020-11-28 21:26:50 +01:00
2d0eb4a41a
pca9685_pwm_out: small improvement ( #16196 )
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* reduce I2C transfers and enable EXTCLK support
* schedule rate limit arg
* apply state machine and do actual init in Run()
2020-11-27 17:17:45 -05:00
3309bf21dd
FW att C: do not lock or reset integrator if tailsitter and in hover
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-11-27 17:28:52 +03:00
efe42451b6
tailsitter_duo mixer: remove output scaling (that reduced the max deflection of the elevons)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-11-27 17:28:52 +03:00
646b5bb578
L1: Do only check for wrong tangent_vel if in circle_mode
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-11-27 17:04:06 +03:00
c5486ca47e
sitl: fix sitl_run to run on macOS ( #16287 )
...
This commit removes the readarray command from the Tools/sitl_run.sh.
This fixes the issue where SITL was not able to run due to readarray not being available on macOS
2020-11-27 10:49:22 +01:00
3215c50660
commander: Fix comment typos.
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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2020-11-27 10:25:32 +01:00
336639897e
Fix incorrect docs URLs in airframes definitions ( #16288 )
2020-11-27 07:44:02 +01:00
bd09be43c0
simulator mavlink actuator limits ( #15861 )
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using unified way to decide which output should be scale as rotor
fixed case that actuator that wasn't set (value 0 "PWM") results output of -3
make default actuator mode to set all actuator to range of -1 to +1
cleanups
2020-11-26 14:42:31 +01:00
fdb4ede6c2
Add topic namespace support for micrortps agent generation
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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2020-11-26 12:34:56 +00:00
ce8f4dece2
rc_update_params: clarify failsafe channel and threshold
2020-11-26 10:55:35 +01:00
5382d3b8fb
rc.VTOL_defaults: enable wind estimation in EKF by default and remove MPC_LAND_SPEED being, as it's just set to param default
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-11-26 08:50:49 +01:00
ec9f8998a7
commander: limit mode switch re-evaluation logic on estimate validity changes
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- re-evaluating mode switches on altitude or position validity change can create confusing when also relying on mode changes via mavlink
- limiting this logic to only apply when disarmed solves the original problem (respecting initial switch position) without introducing potential problems mid-flight
- fixes https://github.com/PX4/PX4-Autopilot/issues/16235
2020-11-25 21:14:55 -05:00
3e4c38f6e8
ekf2: Fix bug causing excessive lane selection switching
2020-11-25 10:00:07 -05:00
5e855c6747
commander: preflightcheck and calibration remove hash (#) from mavlink message
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- QGroundControl is reading these as "Hash" and I don't think it's ambiguous if removed
2020-11-23 21:56:23 -05:00
615333badb
logger: log gps_dump if GPS_DUMP_COMM is set
2020-11-20 11:04:52 -05:00
0db70ea475
nxp_fmurt1062-v1:Track fixes on schematic USDHC CD now correct polarity
2020-11-20 00:48:31 -05:00
136b6a3509
nxp_fmurt1062-v1:Track fixes on schematic OC/EN had been swapped
2020-11-20 00:48:31 -05:00
71306f7f83
update all container tags to 2020-11-18
2020-11-19 13:37:57 -05:00
ee3285a34f
Fixed PX4IO uploader debug output
2020-11-19 13:35:36 -05:00
65e1b702c9
GPS_GLOBAL_ORIGIN: simplify send logic
2020-11-19 19:00:37 +01:00
0ca63120eb
mavlink_messages: add GPS_GLOBAL_ORIGIN
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sending out local position reference.
Only send as anser to a request message command or
when the origin was changed from externally to verify.
2020-11-19 19:00:37 +01:00
41b56f20b8
mavlink_messages: fix raw rpm message size
2020-11-19 19:00:37 +01:00
c845265b1b
mavlink_receiver: use SET_GPS_GLOBAL_ORIGIN to set the origin
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The message GPS_GLOBAL_ORIGIN is meant as a telemtry information message
to send out the components reference and not to set it. I had to switch
to listen to SET_GPS_GLOBAL_ORIGIN such that I can implement sending out
GPS_GLOBAL_ORIGIN.
2020-11-19 19:00:37 +01:00
1425d87640
boards: px4_fmu-v5 sync all defconfigs
2020-11-19 11:21:47 -05:00
fb3b1f8bd9
Update sitl_gazebo submodule
2020-11-19 10:03:59 -05:00
68855b5c9b
Update mavlink
2020-11-19 10:03:59 -05:00
b6f24eefb2
The PX4IO driver uses DMA but not NuttX's TXDMA
2020-11-19 09:39:08 -05:00
f18e70029a
Correct topic name for thermal corrections
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The message used is ./msg/sensor_correction.msg
2020-11-19 08:23:25 +01:00
80df04ddca
UAVCAN: publish ardupilot::indication::SafetyState (enables CUAV NEO v2 pro GPS)
2020-11-18 10:00:49 -05:00
a246defb68
NXP UCANS32K146: Configure PWM timer for production version
2020-11-18 04:54:38 -08:00
5e693180d9
Fix bash error when running SITL Gazebo ( #16221 )
2020-11-18 04:23:19 +01:00
fabeb22ae4
mavlink_receiver: remove unused decode_switch_pos function
2020-11-17 19:48:01 -05:00
7baeb78964
mavlink: STATUSTEXT track missed mavlink_log messages
2020-11-17 19:47:06 -05:00
e1168070d1
mavlink: decrease task stack
2020-11-17 19:47:06 -05:00
3f9e5a6934
drivers/device/ringbuffer: move into crazyflie syslink (only remaining user)
2020-11-17 19:47:06 -05:00
ed8a30d73e
mavlink: STATUSTEXT directly use mavlink_log subscription
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- ORB_ID(mavlink_log) increase queue depth now that mavlink ringbuffer is gone
2020-11-17 19:47:06 -05:00
387659d615
Added support for models located in all paths defined in GAZEBO_MODEL_PATH ( #16214 )
...
Co-authored-by: Sander Swart <sander.swart@live.nl >
2020-11-17 16:12:31 +01:00
5e6f8a9606
Add typhoon h480 support to gazebo multiple sim ( #16210 )
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* Add typhoon h480 support to gazebo multiple sim
This commit adds support for the typhoon_h480 model for the
gazebo_sitl_multiple_run.sh script.
* Update sitl_gazebo to latest version
2020-11-17 04:20:45 +01:00
fb1f360724
mavsdk_tests: consistent 180s disarm timeout
2020-11-16 15:55:10 -05:00
f5660c6b0c
mavsdk_tests: adjust px4 and gzserver priority relative to mavsdk_test
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- this is to avoid starving the test runner
2020-11-16 15:55:10 -05:00
22fbcf98cf
Tools/setup: requirements.txt add pymavlink
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- needed for Tools/mavlink_shell.py
2020-11-16 12:14:41 -05:00
ce51a01822
boards: cubepilot orange and yellow start isolated sensor bus (SPI4) first
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- this makes the isolated sensors primary by default
2020-11-16 09:31:12 -05:00
f7452bff4d
ROMFS: startup remove bootlog.txt
2020-11-16 09:19:35 -05:00
b58e270fd4
FW Position Control: remove manual climbout mode trigger via pitch stick
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-11-16 14:41:01 +01:00
ad4068f472
platforms/posix: mlockall() support
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* add basic mlock support to increase stability when system is under high load and RAM is almost full
* mainly about minimizing or completely eliminating RAM page swap time
2020-11-15 23:53:10 -05:00
37567bbee0
Update submodule sitl_gazebo to latest Mon Nov 16 00:38:40 UTC 2020
...
- sitl_gazebo in PX4/Firmware (eb3135e79chttps://github.com/PX4/PX4-SITL_gazebo/commit/27e06e2a4906cc0a028d8e688f243dfafa7920a4
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/0a4d0708e839388668575d61623903c297a73a34
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/27e06e2a4906cc0a028d8e688f243dfafa7920a4...0a4d0708e839388668575d61623903c297a73a34
0a4d070 2020-11-13 BazookaJoe1900 - clean build warning due to wrong string size
2020-11-15 21:32:51 -05:00
eb3135e79c
systemcmds/tests: always build with optimization
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- needed to keep Matrix stack usage reasonable
- split matrix tests to further minimize stack usage
2020-11-15 19:15:56 -05:00
963d101375
boards: fmu-v5 debug and stackcheck increase interrupt stack
2020-11-15 17:00:11 -05:00
053bf7e732
Jenkins HIL tolerate certain failures
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- px4_fmu-v5 debug and stackcheck builds initial configuration is best effort
- nxp_fmuk66-v3 allow overall tests command to fail due to intermittent serial console issues
2020-11-13 21:50:13 -05:00
ee9ce1087a
IMU_DGYRO_CUTOFF add conservative default (0 Hz -> 30 Hz)
2020-11-13 21:26:35 -05:00
683fcdc910
Update submodule sitl_gazebo to latest Fri Nov 13 20:14:29 UTC 2020
...
- sitl_gazebo in PX4/Firmware (40bf460717https://github.com/PX4/PX4-SITL_gazebo/commit/ee7661eeab1952bb4d2a94e2cb8afd0159a6e1f1
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/27e06e2a4906cc0a028d8e688f243dfafa7920a4
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/ee7661eeab1952bb4d2a94e2cb8afd0159a6e1f1...27e06e2a4906cc0a028d8e688f243dfafa7920a4
27e06e2 2020-11-12 JaeyoungLim - Add catkin build test (#652 )
6f6f420 2020-11-12 JaeyoungLim - Replace water level to ocean model (#649 )
2020-11-13 19:00:32 -05:00
174c5c5797
Jenkins HIL fmu-v5 debug and stackcheck attempt to config conservative defaults before flashing
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- keep minimal rate for expensive fmu-v5 debug and stackcheck builds
2020-11-13 18:03:09 -05:00
dd3c1a3653
Tools/HIL: relax command retry for now
2020-11-13 18:03:09 -05:00
40bf460717
Update jsbsim bridge to latest
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This commit updates the jsbsim bridge to the latest
2020-11-13 12:45:21 -05:00
29658961ef
mavlink: move DISTANCE_SENSOR to streams header
2020-11-13 10:05:22 -05:00
860a7fd1db
mavlink: move ALTITUDE to streams header
2020-11-13 10:05:22 -05:00
a8f0987028
mavlink: move WIND_COV to streams header
2020-11-13 10:05:22 -05:00
4a9f293596
mavlink: move MOUNT_ORIENTATION to streams header
2020-11-13 10:05:22 -05:00
4a6c90b8ea
mavlink: STATUSTEXT check TX buffer before sending
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- Note the TX buffer size check is lazily ignoring the possibility of messages that span multiple Mavlink STATUSTEXT. This at least accommodates the calibration use case and it's no worse than before for longer messages.
2020-11-13 09:52:05 -05:00
e399dbc440
boards: CUAV Nora support cuav_neo_v2_pro and disable CONFIG_STM32H7_BDMA
2020-11-13 09:45:57 -05:00
66edc822fe
boards: px4/fmu-v5 fix DMAmap documentation
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- fixed notes and removed none used definitions
- set defconfig to define UART8_RXDMA and UART8_TXDMA though the DMA is not handled by nuttx, just to clarity
2020-11-12 11:26:45 -05:00
d14b4221f1
sensor calibration: apply board level adjustment to external sensors ( #16127 )
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- apply SENS_BOARD_{X,Y,Z}_OFF to external sensors to prevent unnecessary misalignment with internal IMU
2020-11-12 10:37:30 -05:00
5f0c572c61
GPS_YAW_OFFSET: fix param description
2020-11-12 09:35:40 +01:00
3cf072debc
HIL tests remove deleted smoothz test
2020-11-11 20:22:06 -05:00
1659447abb
px4_work_queue: reduce INS (ekf2) stack by 1200 bytes
2020-11-11 20:17:52 -05:00
5d7ea62190
estimator_innovations: remove unimplemented fake vel & pos fields
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- easy to readd if and when they're needed
2020-11-11 20:17:52 -05:00
880dc6accd
ekf2: compile at MAX_CUSTOM_OPT_LEVEL
2020-11-11 20:17:52 -05:00
1e03285405
ekf2: avoid storing in_ground_effect state
2020-11-11 20:17:52 -05:00
26de630dc5
ekf2: remove landed flag and use control_status directly
2020-11-11 20:17:52 -05:00
89ab6a5dbf
ekf2: preflight checks only reset on STANDBY change
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- avoid storing unnecessary state and call setVehicleCanObserveHeadingInFlight() directly
2020-11-11 20:17:52 -05:00
b9fff2c221
ekf2: sensor_selection only updated in non-multi mode
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- publish attitude as soon as possible
2020-11-11 20:17:52 -05:00
7264577eec
ekf2: split perf counters (full update or not) and reorganize Run() slightly
2020-11-11 20:17:52 -05:00
a68fe4dbd7
ekf2: move parameter update to beginning of cycle
2020-11-11 20:17:52 -05:00
5ae7c80a18
ekf2: move rangeSample update to UpdateRangeSample()
2020-11-11 20:17:52 -05:00
991015c5c6
ekf2: move magSample update to UpdateMagSample()
2020-11-11 20:17:52 -05:00
68f49619b7
ekf2: move gps_message update to UpdateGpsSample()
2020-11-11 20:17:52 -05:00
0db706011a
ekf2: move FlowSample update to UpdateFlowSample()
2020-11-11 20:17:52 -05:00
8ee197acad
ekf2: move vehicle_odometry_aligned publication to PublishOdometryAligned()
2020-11-11 20:17:52 -05:00
b29f3c7ce5
ekf2: move ExtVisionSample update to UpdateExtVisionSample()
2020-11-11 20:17:52 -05:00
0f56793116
ekf2: move BaroSample update to UpdateBaroSample()
2020-11-11 20:17:52 -05:00
6b30f01daf
ekf2: move AuxVelSample update to UpdateAuxVelSample()
2020-11-11 20:17:52 -05:00
651e292d42
ekf2: move AirspeedSample update to UpdateAirspeedSample()
2020-11-11 20:17:52 -05:00
f4f3ba47a2
ekf2: move mag calibration to UpdateMagCalibration()
2020-11-11 20:17:52 -05:00
96178a6fb0
ekf2: publish yaw estimator status last
2020-11-11 20:17:52 -05:00
05de61ff15
ekf2: move estimator innovations publication to method
2020-11-11 20:17:52 -05:00
387186c11d
ekf2: move estimator innovation test ratios publication to method
2020-11-11 20:17:52 -05:00
3b9965ff8d
ekf2: move estimator innovation variances publication to method
2020-11-11 20:17:52 -05:00
94415a45fa
ekf2: move estimator status publication to method
2020-11-11 20:17:52 -05:00
03388f4656
ekf2: move estimator states publication to method
2020-11-11 20:17:52 -05:00
98334d1325
ekf2: move local position publication to method
2020-11-11 20:17:52 -05:00
c09a5e0d9f
ekf2: move global position publication to method
2020-11-11 20:17:52 -05:00
8616345346
ekf2: move estimator_sensor_bias publication to method
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- only publish if there's a change in bias
- publish current estimated mag bias, including saved mag bias
2020-11-11 20:17:52 -05:00
e397cbf8bb
ekf2: move ekf_gps_drift publication to method
2020-11-11 20:17:52 -05:00
0d657c74bf
ekf2: rename publish helpers mixed case (google style guide)
2020-11-11 20:17:52 -05:00
68f24954cf
imu/st/lsm9ds1: refactor to same form as other new IMU drivers
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- register configuration captured in table and checked periodically
- simple state machine
- all driver sleeps removed
- driver respects IMU_GYRO_RATEMAX
2020-11-11 19:22:12 -05:00
5dd14dfd54
FW Position Control: re-add wrongly removed airspeed_poll()
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-11-11 19:20:03 -05:00
a8f665739d
mavsdk_tests: manual fly forward for slightly longer
2020-11-11 19:16:39 -05:00
756609c3e8
mavsdk_tests: relax corridor radius default for missions
2020-11-11 19:16:39 -05:00
ff801fbc08
FlightTasks: remove FlightTaskManualPositionSmooth
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alias first smooth position control version from 2017.
RIP it served well.
2020-11-11 21:16:18 +01:00
e6338d8a2f
MulticopterPositionControl: default cases with unsupported POS_MODE
2020-11-11 21:16:18 +01:00
0b8f092d2b
Add acceleration stick mapping for position mode
2020-11-11 21:16:18 +01:00
b50e6bda69
cmake: NuttX apps build updates
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- NuttX Apps no longer generates the .built file
2020-11-11 12:06:39 -05:00
9767a73619
ROMFS: silently compare optional parameters
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- not all build configurations have these parameters/modules
2020-11-11 08:03:48 +01:00
7ba73b46ca
uORB: tests decrease stack
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- save a bit of memory for running on older boards
2020-11-10 23:44:02 -05:00
3924792c20
Jenkins: HIL improve run_tests.py and run_nsh_cmd.py helper
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- switch to python3
- run_nsh_cmd.py return error if command fails
- decrease timeout in checking for output
- Jenkins hardware tests tolerate certain command failures that aren't available on all boards (flash constrained, etc)
2020-11-10 22:45:50 -05:00
ea09d9ebbf
landing_slope: added wrap_pi to getLandingSlope and getFlareCurve
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- fixes https://github.com/PX4/PX4-Autopilot/issues/16132
2020-11-10 18:58:14 -05:00
f4964aea52
Update submodule sitl_gazebo to latest Tue Nov 10 19:18:06 UTC 2020
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- sitl_gazebo in PX4/Firmware (79ad5eab34b76fbe54c2056974230a122362a62f): https://github.com/PX4/PX4-SITL_gazebo/commit/487f6283f4c0923f52bdc253dbf04d0e66cdb3a5
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/ee7661eeab1952bb4d2a94e2cb8afd0159a6e1f1
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/487f6283f4c0923f52bdc253dbf04d0e66cdb3a5...ee7661eeab1952bb4d2a94e2cb8afd0159a6e1f1
ee7661e 2020-11-06 Julian Oes - cmake: don't link to protobuf
2020-11-10 18:54:08 -05:00
824238ecb8
Update submodule devices to latest Tue Nov 10 19:18:16 UTC 2020
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- devices in PX4/Firmware (e65317c5fd7440ebb983cb8b07f48d67678ab86e): https://github/commit/592e4289d941eb0b7d84e6da9d72d731083633ee
- devices current upstream: https://github/commit/0bf63c9820f4af997d0a48743dcc1008d119e49c
- Changes: https://github/compare/592e4289d941eb0b7d84e6da9d72d731083633ee...0bf63c9820f4af997d0a48743dcc1008d119e49c
0bf63c9 2020-11-05 Morton Lin - replace non-ascii characters in source code (#61 )
2020-11-10 18:53:40 -05:00
8b9ae49508
Update submodule ecl to latest Tue Nov 10 19:18:21 UTC 2020
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- ecl in PX4/Firmware (579a8c3a688e536b1ae4177c3e3edcea438e74d5): https://github/commit/a21092804a784d012939f96cc633e7da5f5e8cde
- ecl current upstream: https://github/commit/da9f314b69585ba169d033fec293e9ea48b9d1fd
- Changes: https://github/compare/a21092804a784d012939f96cc633e7da5f5e8cde...da9f314b69585ba169d033fec293e9ea48b9d1fd
da9f314c4d162f6158d6d
2020-11-10 18:53:03 -05:00
b491929ad6
Jenkins: HIL tests only finish on PASSED, FAILED, or timeout
2020-11-10 16:41:13 -05:00
Daniel Agar