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