f23740a3c5
parameters: add boolean support (PARAM_DEFINE_BOOL)
...
- real boolean parameter support saves a bit of space in export (bson)
and in mavlink sync
2021-12-23 17:08:12 -05:00
38af93085b
linux_pwm_out: use PWM_MAIN parameter prefix
...
- this keeps things simpler for now across the old and new output
configuration
2021-12-23 15:57:11 -05:00
64e00c41d4
posix-configs: fix bbblue and rpi param import
2021-12-23 15:57:11 -05:00
c8f2a29d67
boards: beaglebone_blue_default fix missing linux_pwm_out driver
2021-12-23 15:57:11 -05:00
a5f58d321e
boards: emlid_navio_default fix missing drivers/modules
2021-12-23 15:57:11 -05:00
7d7d707db9
commander: add COM_HOME_EN parameter to enable/disable home position
2021-12-23 15:46:31 -05:00
28c34a0484
Jenkins: hardware don't force tests dataman to pass and add to stackcheck build
2021-12-23 14:50:47 -05:00
a069a47d50
Update submodule nuttx to latest Thu Dec 23 18:11:37 UTC 2021
...
- nuttx in PX4/Firmware (d0ce5705359f8beeb9faf7fa0d12279e03bb7ac7): https://github.com/PX4/NuttX/commit/d4c06e9dfb7bb14d0f19ef47b94d838b1caf50f3
- nuttx current upstream: https://github.com/PX4/NuttX/commit/378032a44ba1ec0e7e3df16a23d21a6e77a2d816
- Changes: https://github.com/PX4/NuttX/compare/d4c06e9dfb7bb14d0f19ef47b94d838b1caf50f3...378032a44ba1ec0e7e3df16a23d21a6e77a2d816
378032a44b 2021-12-15 David Sidrane - [BACKPORT] stm32f7:sdmmc invalidate before DMA to avoid eviction overwrite
2021-12-23 14:50:47 -05:00
a4040f7afd
px4io_serial: always perform full abort DMA on error
...
- enable DMA error perf count
2021-12-23 12:48:42 -05:00
f68ae39840
Commander: avoid RC actions during calibration
2021-12-22 09:08:23 -05:00
89974c46b9
mavlink streams: add return in all cases
...
Generally not needed here, but GCC produced an error when compiling with
-finstrument-functions.
2021-12-22 08:47:33 -05:00
e29759d877
WorkQueueManager: explicitly convert PTHREAD_STACK_MIN to int
...
fixes a compiler error on GCC 11.2.1:
error: no matching function for call to ‘max(long int, int)’
2021-12-22 08:47:33 -05:00
2c8a92c628
sitl config: put model name first
...
Github constructs the workflow names from the
matrix configurations. Having latitude and longitude
in the fist columns makes these names rather cryptic.
2021-12-22 12:48:54 +01:00
47fcdb1fdb
sensors/vehicle_angular_velocity: replace ESC/FFT elapsed perf counters with single cycle perf counter
...
- non-trivial perf counters (elapsed & interval) are relatively expensive
- if ESC and FFT notch filtering are enabled this reduces 6 updates (2 per axis) to 1
2021-12-21 14:21:10 -05:00
5894f302b5
mavlink: add test for zero padding
...
We want to avoid publishing garbage leftover from earlier publications.
2021-12-21 09:40:36 -05:00
5cfe30fa2e
mavlink: fix include for unit tests
...
This is required to find the include directory for the unit test of the
MavlinkStatustextHandler.
2021-12-21 09:40:36 -05:00
2e0286e6bb
mavlink: support receiving multi-chunk statustexts
...
This adds support for mavlink statustext messages arriving in multiple
chunks.
2021-12-21 09:40:36 -05:00
0029a75ab0
systemcmds: convert c -> c++
2021-12-21 09:22:49 -05:00
d2e931858d
px4io: remove unused cmake_policy
...
This should fix the build with older cmake versions.
2021-12-21 09:21:25 -05:00
9686c81f7d
boards: enable flow control on CDCACM
...
This enables flow control on CDCACM for the NuttX boards which fixes a
problem where HITL would stall.
The stall could happen if the hardware would be a bit too slow in
keeping up with the incoming messages. Often, this happened on arming
because the logger would take some time to log all parameters right at
the beginning.
The stall would then not recover due to NuttX bug where the rx interrupt
would not be restored correctly and instead only a slower watchdog would
release the next read. This watchdog takes 200ms which means it's hard
to impossible to get out of the situation without restarting sim and/or
PX4. For more information about the issue, see:
apache/incubator-nuttx#3633
As a workaround, until that bug is fixed, and because it makes sense
anyway, I propose to enable FLOWCONTROL for the serial via USB.
2021-12-21 08:01:38 +01:00
88521b0145
print error only if the mavlink command fails
...
In some cases we printed also the mavlink commands that replied
to be unsupported. This is not an error to show in the log.
2021-12-21 07:37:23 +01:00
199b5e7d48
Revert "mavsdk_tests: retry gz model spawn command"
...
This reverts commit c15d3f7cfa
2021-12-20 13:05:46 -05:00
9184038359
mavsdk_tests: try to restart gzserver
...
Sometimes gzserver seems to just not start correctly. With this commit
we try to just restart.
2021-12-20 13:05:46 -05:00
9894598b63
mavsdk_tests: update to be able to fetch rtps builds as well
2021-12-20 13:05:46 -05:00
9312c772f1
mavsdk-tests: Re-try to launch a mission for some time before failing. This mitigates an issue where the flight controller has an uploaded mission, but has not finished the mission feasibility checks yet.
2021-12-20 13:05:46 -05:00
764af19da4
mavsdk_tests: bump MAVSDK version to v0.48.0
...
This might help with CI tests where we get RC loss because, presumably,
MAVSDK is not sending them in time.
2021-12-20 13:05:46 -05:00
9d02851893
vmount: increase stack size to 2100
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-12-20 13:05:15 -05:00
90fe4b7a54
vmount: publish gimbal v2 protocol for v1 gimbals
...
This enables the use case where the gimbal v2 protocol is used
between the ground station and the drone, and the gimbal v1 protocol is
used between the drone and the gimbal.
2021-12-20 13:05:15 -05:00
6d74b390d9
vmount: use absolute angle for location tracking
...
I'm pretty sure it makes more sense to use an absolute angle to track a
lat/lon location.
2021-12-20 13:05:15 -05:00
d88f9353e8
vmount: improve debug message
...
This should help to figure out when gimbal commands don't work.
2021-12-20 13:05:15 -05:00
f7c4034f3c
vmount: fix v1 frames with v2 input
...
It looks like the frames for pitch and roll were not set correctly when
v1 is used in v2 input.
2021-12-20 13:05:15 -05:00
0ce4eae314
vmount: fix v1 frames for v1 input
...
This basically means that we want roll and pitch to be absolute, so
relative to the horizon.
2021-12-20 13:05:15 -05:00
3c5bf497a3
esc_calib: remove unused variable
2021-12-20 10:56:24 -05:00
a6431ab8f0
simulator: fix implicit-const-int-float-conversion
2021-12-20 10:56:24 -05:00
019eaf7038
multicopter: minimize dt jitter by using estimate timestamp_sample
2021-12-17 17:52:28 -05:00
dcf69144cb
mavsdk_tests: fix type for mypy check
...
This was probably triggered due to a mypy update.
2021-12-17 17:28:54 +01:00
2cfe08b3b1
small typo in vehicle_local_position msg
2021-12-17 15:45:07 +01:00
2d680dfd1a
pps_capture: fix PARAM_PREFIX for boards with px4io (CONFIG_BOARD_IO)
2021-12-17 07:56:08 +01:00
89f828fba7
pps_capture: advertise for logging
2021-12-17 07:56:08 +01:00
17f5df2d3e
pps_capture: add argument guard
2021-12-17 07:56:08 +01:00
f6ced71d26
pps_capture: make it configurable via output functions
2021-12-17 07:56:08 +01:00
0f60e7debf
pps_capture: add kconfig
2021-12-17 07:56:08 +01:00
064a602962
Add PPS capture message to logged topics, simplify timestamp logic and small cleanup
2021-12-17 07:56:08 +01:00
5ad8b84dec
Fix PPS based UTC timestamp in camera trigger and capture messages
...
The existing implementation has about 100ms difference to a reference clock. With the changes this error less than 25us.
- Use sensor_gps messages with hrt timestamps as RTC reference and not the system realtime clock. The PPS interrupt can then be aligned with the GPS clock system.
- Keep fallback based on system RTC when no PPS pulse was captured
2021-12-17 07:56:08 +01:00
ebb657bcf4
Fix camera trigger via MAVLink when camera capture feedback is enabled
...
- camera_trigger module always publishes the camera_trigger msg (independent of the camera feedback)
- Use camera_trigger msg and set the feedback flag
- Subscribing modules determine if the message is relevant based on the feedback message
2021-12-17 07:56:08 +01:00
3e4031cf0f
Set rtc_edge_time also in capture_callback
...
When using an FMU channel as PPS capture GPIO, the rtc_edge_time is now set as well. The delay between actual capture and callback is compensated with the elapsed time of the rtc clock.
2021-12-17 07:56:08 +01:00
43bc6db99e
PPS capture: Add a param to enable / disable PPS capture module. This is important, since it takes over an FMU pin which can no longer be used for actuator output.
2021-12-17 07:56:08 +01:00
298a8c4637
boards/fmu-v5x: allocating PPS pin
...
- start pps_capture before pwm_out
2021-12-17 07:56:08 +01:00
60a212f717
px4_arch: add PX4_MAKE_GPIO_EXTI
2021-12-17 07:56:08 +01:00
c6098ef3dd
camera_capture: update to use PPS correction for UTC time
2021-12-17 07:56:08 +01:00
8eca35111e
camera_trigger: update to use PPS correction for UTC time
2021-12-17 07:56:08 +01:00
72b1db4a63
pps_capture: implementation of pulse per second capture driver
2021-12-17 07:56:08 +01:00
43a04c9bca
fix PARAM_PREFIX for boards with px4io (CONFIG_BOARD_IO)
2021-12-16 07:20:12 +01:00
ecc2ca7f98
mathlib: int16_t negate explicitly handle both INT16_MIN and INT16_MAX
...
- technically negating INT16_MAX doesn't need special handling, but
this ensures any simple saturation logic downstream works by default
2021-12-15 12:45:58 -05:00
d59d16a6cd
drivers/accelerometer: adjust int16_t clipping threshold slightly
...
- consider data clipped/saturated if it's INT16_MIN/INT16_MAX or within 1
- this accommodates rotated data (|INT16_MIN| = INT16_MAX + 1) and sensors that may re-use the lowest bit for other purposes (sync indicator, etc)
2021-12-15 12:45:58 -05:00
ea29b45282
ekf2: enable mag check by default, but commander only warn
2021-12-15 09:43:46 -05:00
3fba7288af
ekf2: selector use hysteresis for healthy flag
...
- require that an instance is healthy continuously for >= 1s before
allowing it to be used
2021-12-14 09:52:36 -05:00
eb69f15d3a
health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message
...
Add SYS_STATUS flag for parachute
2021-12-14 09:41:12 -05:00
37099f85b9
mavlink: Update to newest mavlink master
2021-12-14 09:41:12 -05:00
e9b9176ce2
param translation: fix for FW_GPSF_LT and FW_GPSF_R
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-12-14 08:27:04 +01:00
ce6147f570
uORB: Remove transfer of memory allocation ownership to CDev
...
- Allocate and free the node name in uORBDeviceNode.
- Add protected build support by de-allocating the name with kmm_free, when
running in kernel side. strdup allocates from the kernel heap in NuttX kernel
space.
- Remove the CDev::unregister_driver_and_memory(), it is no longer used
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-12-13 22:52:36 -05:00
25c10eb124
cdev: build & link fixes for NuttX protected build
...
- Always link to nuttx_fs for register/unregister_driver calls
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-12-13 22:52:36 -05:00
acdcc35392
tests: dataman fix ssize_t printf
2021-12-13 22:51:23 -05:00
6133ef0d63
Dronecan fix beep driver
2021-12-13 14:52:46 -05:00
67a893ac6d
WelfordMean: remove unnecessary case for first sample
...
setting the mean to the sample value and then adding 0 is the same as
setting the mean to zero and then add the sample value divided by 1
2021-12-13 11:42:48 -05:00
5468841aa5
WelfordMean: add unit test
2021-12-13 11:42:48 -05:00
fc17797548
ekf2: delete obsolete _bad_vert_accel_detected
2021-12-13 09:13:39 -05:00
986cf288da
dataman: remove obsolete persistence and reset reason
2021-12-12 12:06:35 -05:00
ad1bfb5410
Tools/HIL/reboot.py retry every 90 seconds for up to 5 minutes
2021-12-12 11:53:01 -05:00
63189067f6
set the transponder_report message of uavs with no icao address to be their mav id
2021-12-11 15:29:43 -05:00
167edcc77b
simulator: add standalone sensor_gps_sim module
2021-12-11 15:03:15 -05:00
95b961c622
simulator: add standalone sensor_baro_sim module
2021-12-11 15:03:15 -05:00
4edfb4799f
simulator: add standalone sensor_mag_sim module
2021-12-11 15:03:15 -05:00
b71b908ac7
Tools/HIL: explain cmd, use monotonic time
2021-12-11 15:02:49 -05:00
0f6e30599c
Jenkins: hardware tolerate px4_fmu-v5_debug dataman failures for now
2021-12-10 10:28:19 -05:00
66290de745
ekf: improve range primary height source
...
allow range fusion to start with fake measurements if the sensor is
providing bad measurements because too close to the ground
2021-12-10 15:18:10 +01:00
9147d5ea5c
ekf2: use ground as ekf altitude datum when in range primary hgt mode
2021-12-10 15:18:10 +01:00
5e790da634
ekf2: reset the timeout timer in the reset function directly
2021-12-10 15:18:10 +01:00
0d874cf00a
ekf2: move aiding start details in dedicated function
...
When an aiding source needs to be started, simply call the corresponding
starting function and any required reset is handled in there.
2021-12-10 15:18:10 +01:00
897775f38d
ManualControlSelector: Allow disabling stick input
2021-12-10 09:11:08 -05:00
300e439144
ManualControlSelector: Enable original PX4 default behavior until QGC catches up
2021-12-10 09:11:08 -05:00
d961a067b9
navigator: reduce NUM_MISSIONS_SUPPORTED 2000->500 for dataman RAM usability
2021-12-10 09:10:02 -05:00
ca3f6f59f9
dataman: add SYS_DM_BACKEND parameter
2021-12-10 09:10:02 -05:00
f76086ffa1
microRTPS_agent_CMakeLists.txt.em: add install section
2021-12-10 09:03:08 -05:00
a9e918c7b2
fix ina226: use shunt param value
2021-12-10 09:03:08 -05:00
a4ca298ee9
simulator_mavlink: handle MAV_TYPE_VTOL_RESERVED3
2021-12-10 09:03:08 -05:00
7aed8c4f47
sd_bench: print errno on write failure
2021-12-10 09:03:08 -05:00
80300c36b4
parameter units: add 'A' (Ampere)
2021-12-10 09:03:08 -05:00
10f49c99ef
px4_add_gtest.cmake: add optional COMPILE_FLAGS, INCLUDES, EXTRA_SRCS and LINKLIBS
2021-12-10 09:03:08 -05:00
87ec8839c4
px4/fmu-v5x: remove unused base_phy_DP83848C build variant
2021-12-10 09:03:08 -05:00
d1aec01b86
uavcan/actuators: stop update esc status if there is no UAVCAN ESCs
2021-12-10 09:03:08 -05:00
aa96e39306
kconfig: do not inherit for recovery.px4board from default.px4board
2021-12-10 09:03:08 -05:00
ca6df035b4
px4/fmu-v5x: add arch_io_pins dependency (required in init.cpp)
2021-12-10 09:03:08 -05:00
0d1d454a4c
mavlink: add missing 'sensor_calibration' lib dependency
2021-12-10 09:03:08 -05:00
31af09f8e7
Fix uavcan distance sensor not being logged
2021-12-10 07:19:34 +01:00
24d871f792
FW land detector: tighten thresholds in airspeed-less case
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-12-09 20:55:09 -05:00
16621b19b3
Update submodule sitl_gazebo to latest Fri Dec 10 00:38:56 UTC 2021
...
- sitl_gazebo in PX4/Firmware (95222baa33https://github.com/PX4/PX4-SITL_gazebo/commit/ffb87ef4a312564cf91791bd5a9d683aacd085a6
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/27298574ce33a79ba6cfc31ed4604974605e7257
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/ffb87ef4a312564cf91791bd5a9d683aacd085a6...27298574ce33a79ba6cfc31ed4604974605e7257
2729857 2021-12-06 Silvan Fuhrer - Plane.sdf: reduce flaps and aileron effectiveness by reducing the angle-to-lift ratio
2021-12-09 20:52:31 -05:00
ade4a1930c
trajectory-planning: Added option for PositionSmoothing library with single target waypoint that disables L1 guidance
2021-12-09 20:51:39 -05:00
77af102cab
px4_work_queue: Use px4_task_spawn_cmd for WorkQueueRunner in NuttX protected
...
In NuttX protected build there are separate work queues in kernel and user sides.
pthreads are only available in user side, so use tasks and kthreads for
memory protected builds.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-12-09 20:42:28 -05:00
3aab4d2daf
px4_task_spawn_cmd: launch kernel thread in protected/kernel build on kernel side
...
Also task name is accessible only in kernel side for protected/kernel build
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-12-09 20:42:28 -05:00
8185e2a384
boards: board_app_initialize() don't return early on failure
...
- depending on the situation we're more likely to get actionable user
feedback by allowing boot to complete rather than silently failing
2021-12-09 20:41:54 -05:00
08ee3208b2
mavlink: stop_command fix potential dead lock
2021-12-09 20:40:55 -05:00
ca90c785e9
correct pin in the comment, no code changed
2021-12-09 20:40:34 -05:00
95222baa33
fix incorrect L1 period param documentation ( #18811 )
...
* fix incorrect L1 period param documentation
* reduce minimum L1 period
2021-12-08 16:42:50 +01:00
8b1543e3b0
mavlink: destroy all instances fix potential dead lock
2021-12-08 09:30:39 -05:00
b00ebe53bb
FlightTaskAuto: use MPC_VEL_MAX instead of MPC_XY_CRUISE for emergency braking thresholds
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-12-08 09:13:01 +01:00
94884594bb
mavsdk_tests: check gzserver and gz model calls
...
This adds two checks to make sure gzserver has actually started before
continuing, and also whether the gz model call was successful.
2021-12-08 07:26:32 +01:00
51c0e5553e
vmount: adjust MNT_RANGE_PITCH and MNT_RANGE_ROLL defaults
...
- this seems like a much more reasonable default
2021-12-08 01:02:46 -05:00
3b94742117
vmount: adjust timeout 50 -> 20 ms (50 Hz)
2021-12-08 01:02:46 -05:00
9cb2bf389c
vmount: add param to use RC input for angular rate
...
Until now RC input was translated to angles only. I added the param
MNT_RC_IN_MODE which allows the RC input to be used for angular rate.
2021-12-08 01:02:46 -05:00
08b0ac9654
dataman: retry file read/write failures and report seek errors
2021-12-07 17:03:07 -05:00
495f1c9165
battery: don't initialize _source without constructor
2021-12-07 21:06:51 +01:00
68e2940f58
math: support max of three values additional to min and use it everywhere
2021-12-07 21:06:51 +01:00
e8676fe87a
BATTERY_STATUS: improve filling cell voltage
...
according to review comment
2021-12-07 21:06:51 +01:00
b41e345a5b
battery: correct updateBatteryStatus() description
2021-12-07 21:06:51 +01:00
ee3bc6673a
AnalogBattery: make update variables const
2021-12-07 21:06:51 +01:00
fdc40880d0
battery: separate out publishing from updating
...
to allow smart battery drivers to use the battery class and
filling in additional information in case it makes sense.
2021-12-07 21:06:51 +01:00
e70d70468a
battery: pass voltage and current by setter
2021-12-07 21:06:51 +01:00
39641494da
battery: pass connected flag in by setter
2021-12-07 21:06:51 +01:00
38d23f5345
battery: pass priority in by setter
2021-12-07 21:06:51 +01:00
f9fc9a9af6
battery: pass source in by constructor
2021-12-07 21:06:51 +01:00
b965923c08
battery: fetch throttle value inside of class
2021-12-07 21:06:51 +01:00
ddc6b6bc9c
battery: move MAVLink specific handling out of battery class
2021-12-07 21:06:51 +01:00
da2fdf923e
battery parameters: allow usage of 1S battery
2021-12-07 21:06:51 +01:00
d0d7f29422
platforms/common/shutdown.cpp: Enable boardctl functions for shutdown and poweroff
...
Shutdown and poweroff must go through boardctl in NuttX protected build
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-12-07 09:24:53 -05:00
7185bb3243
vmount: output rc simple protections
2021-12-07 13:11:22 +01:00
c947562183
ekf: get rid of intermediate variable "fuse_height"
2021-12-07 09:16:21 +01:00
9651f78b0a
ekf: centralize the height fusion decision
2021-12-07 09:16:21 +01:00
d583ef6b79
ekf2: move height fusion code to separate source file
2021-12-07 09:16:21 +01:00
452a7199a6
Jenkins: HIL stop modules before running certain tests
2021-12-06 23:31:49 -05:00
f9faa97d85
Tools/HIL/run_nsh_cmd.py increase timeout 3->4 minutes
2021-12-06 17:51:03 -05:00
01e60e853e
navigator: increase stack slightly
2021-12-06 15:10:50 -05:00
41378fcef9
ms5611: lower SPI clock 20 MHz -> 16 MHz
...
- this was necessary to get the secondary ms5611 working reliably on a
particular CubeOrange
- the sensor is transferring very little data, so lowering the speed by
default everywhere is harmless
2021-12-06 12:51:52 -05:00
8cd517f533
dataman: PX4_ERR on create_work_item failure
2021-12-06 10:23:42 -05:00
9ab633c18f
drivers/imu/invensense: check register bank during probe if necessary
...
- the WHO_AM_I is only accessible in register bank 0, which might not
be currently selected if the sensor didn't have a clean reset
2021-12-06 10:22:54 -05:00
4bf1b46e47
boards: free up flash on crazyflie and omnibus
2021-12-06 09:37:08 -05:00
2256def180
Jenkins: hardware run param dump
2021-12-06 09:37:08 -05:00
1f6acd0171
parameters: add simple backup and restore mechanism
2021-12-06 09:37:08 -05:00
e692f4ca01
ROMFS: rcS param import fail try to gather data
...
- startup tune and console message to notify user
- save dmesg and param bson copy to microsd
- run param dump to show full contents of bson
2021-12-06 09:37:08 -05:00
674b92df18
parameters: sleep 10 ms before retrying a failed import/export
2021-12-06 09:37:08 -05:00
7bfebf5289
parameters: add param dump to read and decode bson to console
2021-12-06 09:37:08 -05:00
7560d45c61
parameters: import tolerate unhanlded BSON types
2021-12-06 09:37:08 -05:00
9db5bc0755
px4_mtd: increase retries, wait inbetween, try decreasing frequency
2021-12-06 09:37:08 -05:00
1af068179e
parameters: tinybson print errors and count imported types
2021-12-06 09:37:08 -05:00
ba1526896d
Navigator: VTOL: remove generate_waypoint_from_heading()
...
The FW Position controller sets the wp to be tracked during a
VTOL front transition, the coordinates sp set here weren't used.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-12-06 16:30:59 +03:00
10ceea2fe6
geo: refactoring on comments and usage
2021-12-06 14:30:14 +01:00
8db7a6225b
geo: Moved the map_projection_* functions and state into a self-contained C++ class
2021-12-06 14:30:14 +01:00
fe23718e2c
drivers/gps: require valid device to start
2021-12-06 08:44:50 +01:00
3160e7a3cd
Jenkins: run calib_udelay on test rack
2021-12-05 19:42:10 -05:00
01192e3c37
Update submodule simulation-ignition to latest Sun Dec 5 12:38:56 UTC 2021
...
- simulation-ignition in PX4/Firmware (4e3d944f58https://github.com/PX4/px4-simulation-ignition/commit/0ea4dbe2c3dac84f5927a59b1caf5e5561cf942e
- simulation-ignition current upstream: https://github.com/PX4/px4-simulation-ignition/commit/483193d9b8b89211c3b970c735b4fbb5f724b63a
- Changes: https://github.com/PX4/px4-simulation-ignition/compare/0ea4dbe2c3dac84f5927a59b1caf5e5561cf942e...483193d9b8b89211c3b970c735b4fbb5f724b63a
483193d 2021-11-27 JaeyoungLim - Merge pull request #2 from PX4/pr-upstream-merge
4f3fd67 2021-11-27 Jaeyoung-Lim - Merge remote-tracking branch 'origin/master' into pr-upstream-merge
bd96d89 2021-11-27 Jaeyoung-Lim - Use mavlink develop dialect
bba86d6 2021-11-27 Jaeyoung-Lim - Fix firmware build test on github actions
e78ad94 2021-09-04 Jaeyoung-Lim - Update Readme
63ac33c 2021-09-03 Jaeyoung-Lim - Rename world path to accomodate different models
794a8dc 2021-07-12 Jaeyoung-Lim - Add ignition gazebo firmware build test
2021-12-05 19:23:55 -05:00
58421f2edc
Update submodule GPS drivers to latest Fri Dec 3 12:38:58 UTC 2021
...
- GPSDrivers in PX4/Firmware (3e0d06c65167c0bd79c193ea75ca5c7959053ff7): https://github.com/PX4/PX4-GPSDrivers/commit/bd72eb6794e8fb4f2ed3e47311a14c2cec69f60b
- GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/d6940d9c8ccb8ab3273c677097a29d46903021ff
- Changes: https://github.com/PX4/PX4-GPSDrivers/compare/bd72eb6794e8fb4f2ed3e47311a14c2cec69f60b...d6940d9c8ccb8ab3273c677097a29d46903021ff
d6940d9 2021-12-02 alexklimaj - Update F9P moving base with direct UART2 connection
eb0cb58 2021-11-25 sebastian - always using groundspeed for vel_m_s in ubx driver
0408160 2021-11-18 alexklimaj - Remove extra UART1 baudrate set
2021-12-05 19:23:07 -05:00
f63a7642d6
NuttX debug helper improvements
...
- use NuttX gdb script for nxthreads and thread backtrace
- update jlink_gdb_backtrace and jlink_debug_gdb helper targets to use
NuttX gdb script
- Debug/PX4 fix "perf" divide by zero
- Debug/PX4 add "dmesg"
2021-12-05 19:18:56 -05:00
10f2564ae8
systemcmds/tests: dataman test use proper signed type for dm_read() return
2021-12-05 18:08:54 -05:00
713350930d
boards: px4_fmu-v5 add test variant
2021-12-05 18:08:54 -05:00
37c1598f38
boards: cubepilot_cubeorange enable calib_udelay and run on test rack
2021-12-05 14:50:03 -05:00
7d515e3d58
boards: cubepilot_cubeorange lower cpu clock 480 -> 400 MHz to reduce temperature
2021-12-05 14:50:03 -05:00
aae794965a
[AUTO COMMIT] update change indication
2021-12-05 11:03:58 -05:00
4478877820
Update world_magnetic_model to latest Sun Dec 5 11:14:12 UTC 2021
2021-12-05 11:03:58 -05:00
4e3d944f58
mixer_module: typo con(s)tructor
2021-12-03 07:40:23 +01:00
accbdbf129
DEBUG: get some mavsdk_test_runner.py output
2021-12-02 11:40:26 -05:00
7c0165ea0c
ROMFS: avoid setting none params
2021-12-02 11:40:26 -05:00
f537b30c86
init.d-posix: exit on error
...
This fixes a case where the px4 startup is not stopped when the
px4 process is killled using -SIGKILL against the px4 deamon.
In that case, the currently executing command/client is killed
and properly shutting down with result -1, however, the next command
is started anyway.
This means that the next time we try to run the simulation we get a
"PX4 daemon already running for instance 0" error and PX4 doesn't start
properly.
By adding exit on error, we properly exit in the case where the startup
script gets stopped/killed.
2021-12-02 11:40:26 -05:00
c15d3f7cfa
mavsdk_tests: retry gz model spawn command
...
This should help when gzserver does not respond yet and we end up
without a model and hence can't connect later and time out.
This change also required a fix to prevent the tester to hang on
terminating all runners. By using poll instead of only read we can
prevent that and actually properly join the logger thread.
2021-12-02 11:40:26 -05:00
2190f66096
sensors/vehicle_magnetometer: add SENS_MAG_AUTOCAL to enable initial auto cal
2021-12-01 20:24:56 -05:00
8fbf79527f
magnetometer allow setting initial calibration from bias if available and stable
2021-12-01 20:24:56 -05:00
b7efd4f947
ekf2: selector treat combined test ratio > 1 as a warning
...
* ekf2: selector treat combined test ratio > 1 as a warning
* ekf2: wait for 1s of constant warning to trigger an instance switch
Co-authored-by: bresch <brescianimathieu@gmail.com >
2021-12-01 20:22:34 -05:00
89892d0d17
px4io: discover PWM_MAIN_TRIMx parameters right away
2021-12-01 20:21:26 -05:00
a9b9362fea
commander: handle system broadcast commands
...
This changes the command handling logic to accept commands which are
targeted at any system, signaled by target_system set to 0.
2021-12-01 20:17:35 -05:00
a2064cceff
boards: enable early MPU reset on any board potentially not using the PX4 bootloader
2021-12-01 20:13:41 -05:00
36ba8cc6dd
UAVCANv1 update FMU-V5 config
2021-12-01 09:29:15 -05:00
ce10dd90e7
Remove ucannode_gps_demo since it's superseded by uavcan_v1
2021-12-01 09:29:15 -05:00
ce909b23b1
UAVCANv1 Node implementation work, PNP, Registers and uORB publisher
2021-12-01 09:29:15 -05:00
79aa8ee587
src/drivers/sw_crypto: Fix a function call argument type mismatch
...
Fix one function call argument from unsigned -> size_t
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-12-01 09:28:02 -05:00
9c94e4c5ef
crypto: define XMALLOC & XFREE for sw_crypto
...
Use the same memory allocation in sw_crypto driver as what is used in
src/lib/crypto libraries
In addition, in nuttx protected build, allocate all memory from kernel heap
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-12-01 09:28:02 -05:00
a537925c3c
Fix a build error with crypto variants
...
There was an error that PX4_CRYPTO was cached accross variants, if it was
defined just for one variant.
This synchronizes the caching of BOARD_CRYPTO with other similar BOARD_ flags;
it is set as INTERNAL and "1" when enabled.
Also remove handling of BOARD_KEYSTORE; it is not used anywhere after
changing the crypto under src/drivers. If a separate keystore driver
is required, it is just selected as any other driver in px4board
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-12-01 09:28:02 -05:00
2571860ff8
Prevent uavcannode from republishing RTCM data received over uavcan
2021-12-01 09:27:11 -05:00
a29820bdf8
gps: fix compiling on mac
...
This fixes the following compile error on Mac:
src/drivers/gps/gps.cpp:562:23: fatal error: use of undeclared identifier 'B921600'
case 921600: speed = B921600; break;
^
2021-12-01 09:25:40 -05:00
bfd5a90a5d
UAVCAN Moving Baseline Working
...
Set uavcan publisher priorities
Switch to ardupilot rtcm message and add heading accuracy
2021-11-30 15:59:08 -05:00
b59db7dac2
rtl_params: change default and max rtl time margin
2021-11-30 19:46:22 +01:00
55dfbdc6a6
Commander: fix remaining flight time user messaging
2021-11-30 19:46:22 +01:00
4f88c200ec
vmount: fix gimbal_manager_status
2021-11-30 19:35:22 +01:00
9345f68a93
reapply PR 18614 to refactored FlightTaskAuto
2021-11-30 14:52:16 +01:00
cbd6e735ad
fix console_buffer: avoid potential deadlock when using dmesg over MAVLink shell
...
dmesg was locking the console buffer, then writing to stdout (a pipe in
the case of the MAVLink shell).
This might block, waiting for mavlink to read from the pipe. If however
mavlink tries to write to the console at that time, the lock is already
taken.
This patch avoids nested locking by using a separate buffer.
2021-11-30 08:49:52 -05:00
01db98fccf
vmount: fix RC pitch input scale
...
When scaling manual input, we should only use pitch -90 to +90 instead
of -180 to 180 degrees which leads to weird behavior as it gets passed
on by a quaternion.
2021-11-30 07:50:20 +01:00
76585409fa
durandal rev 1 has bmi088->icm20602
2021-11-29 21:59:30 -05:00
38e7f814d5
mro h7 boards add rtps px4board files
2021-11-29 21:50:32 -05:00
e348425279
Jenkins: hardware perform board reset immediately after flashing
2021-11-29 21:49:35 -05:00
bc7001ba49
NuttX apps with [REJECTED] mkfatfs DMA memory change
2021-11-29 21:49:35 -05:00
df1c94dd4e
px4_fmu-v5_debug:Increase stack size
2021-11-29 16:01:08 -05:00
ade7315e9b
sd_bench:Missing free
2021-11-29 16:01:08 -05:00
c2cbab1e98
Improve stub_keystore configuration
...
It is possible to either set the keyfile locations in board configuration or
with the same environment variables as before.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-29 11:09:51 -05:00
929820136a
Move sw_crypto and stub_keystore under src/drivers
...
This is more logical place for the "backend" implementation than
directly under platform.
This also allows making other implementations as "real" drivers, as well as proper configuration via Kconfigs
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-29 11:09:51 -05:00
9b7c8c8a8b
boards: px4_fmu-v6x_default enable ethernet by default with NuttX optimizations
2021-11-29 09:08:42 -05:00
b9152dc4d0
boards: px4_fmu-v5x_default increase ETH pktsize to max and enable tcp delayed ack
2021-11-29 09:08:42 -05:00
bb562a6d10
mavlink: unify find_broadcast_address logic
...
- remove NuttX special handling
2021-11-29 09:08:42 -05:00
0459b73520
boards: px4_fmu-v5x enable mavlink ethernet by default
2021-11-29 09:08:42 -05:00
2870b5bbb1
Update submodule sitl_gazebo to latest Sat Nov 27 12:38:16 UTC 2021
...
- sitl_gazebo in PX4/Firmware (d0c931353b047cfe6340b11866c814aa0d43fd34): https://github.com/PX4/PX4-SITL_gazebo/commit/60d6844e17919e8d57aafb3a0c25064df920cfc3
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/ffb87ef4a312564cf91791bd5a9d683aacd085a6
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/60d6844e17919e8d57aafb3a0c25064df920cfc3...ffb87ef4a312564cf91791bd5a9d683aacd085a6
ffb87ef 2021-11-24 Thomas Stastny - sync baro and diff pres calculations in airspeed and baro plugins
a1d9dfa 2021-11-23 Bearixal - Windy World: Fixed Naming of Parameter according to wind_plugin.cpp and added missing ones. (#830 )
71d8a41 2021-11-17 Jaeyoung-Lim - Remove unused configs in windyworld
2021-11-27 11:14:32 -05:00
5440802aae
Update submodule libcanard to latest Sat Nov 27 12:38:19 UTC 2021
...
- libcanard in PX4/Firmware (748cbbe79a4f91f472207b8d12e1d01e486a82ab): https://github.com/UAVCAN/libcanard/commit/2a116170285fb47fcaae150ad21c2ccde0756a5f
- libcanard current upstream: https://github.com/UAVCAN/libcanard/commit/2d449453fc8c4060f276c6dc585d4e1e5bf4fd52
- Changes: https://github.com/UAVCAN/libcanard/compare/2a116170285fb47fcaae150ad21c2ccde0756a5f...2d449453fc8c4060f276c6dc585d4e1e5bf4fd52
2d44945 2021-09-18 Kalyan Sriram - Fix sonarcloud issues (#181 )
d64f82f 2021-09-13 Kalyan Sriram - WIP: Migrate to Github Actions (#174 )
2021-11-27 11:11:29 -05:00
e507563911
uvify_core nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
23c73d4e0b
px4_fmu-v6x nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
51b55533af
px4_fmu-v6u nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
b8bdf7e1c4
px4_fmu-v5x nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
3504541ebd
px4_fmu-v5x base_phy_DP83848C:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
60229c28a8
px4_fmu-v5 uavcanv1:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
01681d6b47
px4_fmu-v5 stackcheck:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
32c2160137
px4_fmu-v5 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
cf36435ed3
px4_fmu-v5 debug:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
a6bc41ef75
px4_fmu-v5 cryptotest:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
0951b9b1e7
px4_fmu-v4pro nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
e957ebac56
px4_fmu-v4 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
c3ae713ec1
px4_fmu-v3 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
394b431364
px4_fmu-v2 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
bddee78412
nxp_fmurt1062-v1 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
fa3027537c
nxp_fmuk66-v3 socketcan:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
38f017b12f
nxp_fmuk66-v3 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
3b6a5dbac3
nxp_fmuk66-e socketcan:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
661512cefe
nxp_fmuk66-e nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
afeb0db666
mro_x21 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
8294b9431a
mro_x21-777 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
55dceae672
mro_pixracerpro nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
861145fcdc
mro_ctrl-zero-h7 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
4f4ada90b1
mro_ctrl-zero-h7-oem nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
1999003cf4
mro_ctrl-zero-f7 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
1179603437
mro_ctrl-zero-f7-oem nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
5fd321ec43
modalai_fc-v2 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
9a9eb35ea8
modalai_fc-v1 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
b7c3d560d3
holybro_pix32v5 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
0bc377ecd3
holybro_kakutef7 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
ddc73b4647
holybro_durandal-v1 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
6921b04600
holybro_can-gps-v1 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
84175eacff
freefly_can-rtk-gps nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
ed473a5ebe
cubepilot_cubeyellow nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
c82e0e0531
cubepilot_cubeorange test:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
6e1500a7de
cubepilot_cubeorange nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
8172a561ca
cuav_x7pro nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
947162f998
cuav_nora nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
63bedd8e4a
cuav_can-gps-v1 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
d30431527c
atl_mantis-edu nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
f59a517be2
ark_can-rtk-gps nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
a3832d3981
ark_can-gps nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
c06e6ffaf7
ark_can-flow nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
8ae0c9aadd
airmind_mindpx-v2 nsh:Remove CONFIG_RAMTRON_WRITEWAIT
2021-11-26 19:27:29 -05:00
7393a68e28
NuttX with ramtron and BCH backports
2021-11-26 19:27:29 -05:00
7ddf43b443
mavlink_ftp: fix tests on Nuttx
...
On Nuttx we have an additional check whether the directory is accessible
to check if we are trying to write to storage that is not on the SD
card. This returns the FileProtected error whereas on Linux this just
ends up being a FileNotFound.
The ifdefs around this issue are not pretty but the alternatives of
either removing the tests for /bogus folders, or removing the additional
check on the NuttX side don't seem better either.
2021-11-26 15:50:28 -05:00
7c90b06628
mavlink_ftp: fix tests after implementation fix
...
In commit 462b572172
2021-11-26 15:50:28 -05:00
42845d6c6e
SITL configs VTOL/plane: improve SITL tuning a bit
...
remvoe some tecs params from configs that acutally lead to worse performance than defaults
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-26 09:24:23 -05:00
3a9eef658c
Commander: remove preflight check for transition switch
...
This check enforced setting a VTOL transition switch if an RC as used on a VTOL.
It comes from a time when the only way to transtion was through the RC switch,
whereas now we have also a mavlink message in place for it, so enforcing it is
no longer needed.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-26 11:37:40 +01:00
fc1aaa58b2
sensors/vehicle_angular_velocity: fallback sensor selection improvements
...
- avoid unnecessary filter reset on parameter update
- additional minor optimizations (precomputing dt inverse, etc)
- moving filter reset check and dynamic notch filter update checks out of the update loops
- this were necessary previously when the scale factor wasn't applied prior to filtering the otherwise raw data
2021-11-25 22:44:05 -05:00
2dffb04d61
Update submodule libevents to latest Fri Nov 26 00:39:17 UTC 2021
...
- libevents in PX4/Firmware (239f1c4eadc57f12b43b57d704bb80bc07a07841): https://github.com/mavlink/libevents/commit/5fd19be22dcbeaccb8afeba146f3a7c931a9b5fb
- libevents current upstream: https://github.com/mavlink/libevents/commit/6329c909a7b16bb6f97c94cbb598815635b94982
- Changes: https://github.com/mavlink/libevents/compare/5fd19be22dcbeaccb8afeba146f3a7c931a9b5fb...6329c909a7b16bb6f97c94cbb598815635b94982
6329c90 2021-11-16 Beat Küng - python: pylint fixes
6251f65 2021-11-16 Beat Küng - events_generated.h.jinja: add '_max' field to generated enums
2021-11-25 21:37:59 -05:00
ffc52cc2fc
Update submodule mavlink to latest Fri Nov 26 00:39:19 UTC 2021
...
- mavlink in PX4/Firmware (2328402f99b8f8931e4148d033e0b9361407d485): https://github.com/mavlink/mavlink/commit/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/28163a3b39ae6787e7f1fae9e23feef32506a1c4
- Changes: https://github.com/mavlink/mavlink/compare/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04...28163a3b39ae6787e7f1fae9e23feef32506a1c4
28163a3b 2021-11-25 Julian Oes - dev: add new message for component capability (#1724 )
5534f76b 2021-11-24 olliw42 - adding some missing MAV_TYPEs (#1679 )
2021-11-25 21:37:14 -05:00
51da169ccb
cmake: nuttx apps build depend .c and .h files
2021-11-25 17:24:23 -05:00
bf3f7da0a2
Jenkins: hardware restore tests file
2021-11-25 13:11:45 -05:00
7d985ec7c5
NuttX with Backports for SD fixes
2021-11-25 13:11:45 -05:00
c049c26ac5
ROMFS: rcS attempt to format SD if .format file exists
2021-11-25 13:11:45 -05:00
585fa12209
Jenkins HIL improve SD testing
2021-11-25 13:11:45 -05:00
58a9bf0b2e
sd_bench:Add verify and keep options
2021-11-25 13:11:45 -05:00
8defbc8829
update correct airsp scale param string in ekf2
2021-11-25 11:01:04 -05:00
c5fb68b7a1
Commander: force disabling the arm stick gesture when arm switch is in use
2021-11-25 07:56:35 +01:00
e76dda545c
hardfault_log:Fix formatting
2021-11-24 15:00:38 -05:00
462b572172
Fixed mavlink_ftp read
...
Instead of always reading the max data length, it now properly respects the requested amount of bytes (as per documentation)
2021-11-24 17:51:29 +01:00
8e3ee9f6cd
omnibus_f4sd:Fit in Flash added No Help
2021-11-24 09:46:23 -05:00
b1b948f4bc
modalai_fc-v2:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
6327953fe9
modalai_fc-v1:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
83885b0304
cuav_x7pro:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
48b617ee5e
cuav_nora:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
2fb615d7e2
holybro_kakutef7:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
04df95436d
holybro_pix32v5:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
c4ccde51df
holybro_durandal-v1:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
daa1d76909
spracing_h7extreme:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
1922310404
matek_h743-slim:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
5b30d1cd41
av_x-v1:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
d30ef0cac8
atl_mantis-edu:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
511e87f966
mro_ctrl-zero-f7-oem:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
2799a7f436
mro_x21-777:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
5ff96fc77e
mro_ctrl-zero-h7-oem:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
a097cb11cd
mro_pixracerpro:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
0d203deb34
mro_ctrl-zero-f7:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
376e78b801
mro_ctrl-zero-h7:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
bbe0ed8646
cubepilot_cubeyellow:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
e34aacd520
cubepilot_cubeorange:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
228a0ac5ed
px4_fmu-v6u:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
3f67ece322
px4_fmu-v5:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
53b579a79d
px4_fmu-v5x:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
c391d6793c
px4_fmu-v6x:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32
2021-11-24 09:46:23 -05:00
3cf901b29c
NuttX Apps with backport CONFIG_MKFATFS_BUFFER_ALIGMENT
2021-11-24 09:46:23 -05:00
ea3b99e964
navigator: Remove deprecated RangeRTL unit tests
2021-11-24 14:10:24 +01:00
c522a8b15a
Compute RTL time and react if lower than flight time
...
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
2021-11-24 14:10:24 +01:00
5489005e0b
Commander: call battery_status_check on update instead of early return
2021-11-24 14:10:24 +01:00
5bec3004c3
omnibus/f4sd: disable RGBLED to reduce flash
2021-11-24 11:41:33 +01:00
5dbbddb13f
EKF2: Use _distance_sensor_subs vector directly
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-24 09:11:45 +01:00
b66270f8a8
Inline uORBDeviceNode::copy for performance improvement
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-24 09:11:45 +01:00
3f884c5d24
Inline deviceNodeExists and getDeviceNode in uORB DeviceMaster
...
This gives a small performance improvement
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-24 09:11:45 +01:00
d9498ade32
EKF2: Allocate distance sensor subscriptions as member variables
...
Just create the subscriptions and keep them, instead of
re-creating them continuously
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-24 09:11:45 +01:00
bb307cd462
Fix comparing orb_metadata in uORB::DeviceNode::publish
...
Don't compare pointers to metadata, but the metadata contents.
In protected/kernel build there are two sets of metadata, on on kernel
side and another in user side. Thus the comparison of pointers would just
always fail. Compare orb_id instead
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-24 09:11:45 +01:00
0b9505453d
Clean up interfaces towards uORB
...
Proxy all calls to the DeviceNode through Manager;
- This hides the DeviceNode from publishers and subscribers
- Manager can be made an interface class between user and kernel spaces in protected build
- This doesn't increase code size or harm the performance on flat build
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-24 09:11:45 +01:00
99d3b2a4e4
omnibus/f4sd: disable modules to reduce flash
2021-11-23 12:40:22 -05:00
db2a1e5fee
px4/fmu-v2: disable modules to reduce flash
2021-11-23 12:40:22 -05:00
950767f1af
holybro/kakutefy: disable modules to reduce flash
2021-11-23 12:40:22 -05:00
4c03def6e9
boards: add CONTROL_ALLOCATOR + ACTUATOR_TEST
2021-11-23 12:40:22 -05:00
312d84ca23
metadata: run json schema validation for actuators + parameter metadata
2021-11-23 12:40:22 -05:00
2809dd8944
control_allocator: remove min/max/scale params
2021-11-23 12:40:22 -05:00
b29d9db7f1
control_allocator: limit status publication rate to 200Hz
...
Reduces CPU load by ~3.5% on F4 @2khz.
And compute getAllocatedControl as needed (~1.5% CPU reduction)
2021-11-23 12:40:22 -05:00
93a54ee63d
metadata: fix generic param metadata generation
...
Adds the module.yaml params that was previously split into a separate file.
2021-11-23 12:40:22 -05:00
bcba3dfe52
control_allocator,angular_velocity_controller: run on rate_ctrl wq
2021-11-23 12:40:22 -05:00
a0e43bca96
msg: remove unused vehicle_actuator_setpoint topic
2021-11-23 12:40:22 -05:00
52a2ef34fd
mixer_module: add THR_MDL_FAC for SYS_CTRL_ALLOC=1
2021-11-23 12:40:22 -05:00
357a16aca6
pwm_out_sim: split module.yaml into HIL+SIM files
2021-11-23 12:40:22 -05:00
b94c5db55d
component_information: add actuators json generation & CI deployment
2021-11-23 12:40:22 -05:00
70b1b19902
uavcan: add configuration parameter to actuator metadata
2021-11-23 12:40:22 -05:00
19b89e1d35
output_functions: add notes to camera trigger + capture & exclude from testing
2021-11-23 12:40:22 -05:00
4346ac4a37
control_allocator: add mixer metadata
2021-11-23 12:40:22 -05:00
282d35bbf0
esc_calibration: handle SYS_CTRL_ALLOC==1
2021-11-23 12:40:22 -05:00
490a2cd7ae
dshot: handle VEHICLE_CMD_CONFIGURE_ACTUATOR
2021-11-23 12:40:22 -05:00
21699935e8
vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR
2021-11-23 12:40:22 -05:00
6fdcc43ea8
mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg
2021-11-23 12:40:22 -05:00
36296794c8
module config: add generate_actuators_metadata.py script
2021-11-23 12:40:22 -05:00
36d9635518
output_functions.yaml: allow single-instance entry with 'start' but no 'count'
...
for other additional data
2021-11-23 12:40:22 -05:00
5d6e785a4b
mixer_module: remove unneeded test_motor_s force init
2021-11-23 12:40:22 -05:00
f99c2617ad
control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults
2021-11-23 12:40:22 -05:00
dbc889a2ae
rc.mc_apps: remove 'param set MPC_USE_HTE 0' for control allocation
...
this is working now
2021-11-23 12:40:22 -05:00
2ff6baa250
actuator params: use module_name as prefix to channel label
2021-11-23 12:40:22 -05:00
6537f480b1
module.yaml: make long param description optional
...
Some params are very simple and don't need more.
2021-11-23 12:40:22 -05:00
1b7f4b6003
Jenkins HIL test loading all airframes
2021-11-23 12:38:41 -05:00
0153c870d2
Commander: make sure yaw airmode is not possible while arm gesture is enabled
...
It's unsafe to arm with the gesture when yaw airmode is enabled
because e.g. in Stabilized mode that results in a high yawrate setpoint
that the drone tries to follow even with zero thrust
because of the airmode.
It was handled before by checking the arm switch parameter because that
used to disable the stick arm gesture.
See 24dc316973
2021-11-23 16:03:46 +01:00
572890f8c0
ManualControl: add parameter to disable arm/disarm stick gesture
2021-11-23 16:03:46 +01:00
468022abba
ManualControl: correct arm hysteresis parameter name
2021-11-23 16:03:46 +01:00
c84b1c6566
ManualControl: ignore unassigned mode slots
...
They were resulting in a message
"Switching to Unkown is currently not available".
2021-11-23 16:03:46 +01:00
af7fa63480
Remove kconfig-frontends installation from setup.sh
2021-11-23 15:17:00 +01:00
e596607e2e
minor comments update
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-23 14:48:51 +01:00
7ff72304b4
sensors/vehicle_imu: improve disabled sensor handling
...
- remove regular callback scheduling when sensor is disabled, register if re-enabled
2021-11-22 21:10:35 -05:00
3140bf167c
NuttX submodule update with work_usrthread.c fixes
2021-11-22 17:41:49 -05:00
1c6b1f7554
pwm_out: parameter failure error messages
2021-11-22 11:27:45 -05:00
c95dbfd7ac
boards: px4_fmu-v5_debug disable debug fs errors
2021-11-22 11:27:45 -05:00
c2cbf74351
vscode: cmake variants add px4_fmu-v5_debug for convenient debugging
2021-11-22 11:27:45 -05:00
577d926639
commander: improve angular velocity validity and message
2021-11-22 11:27:45 -05:00
f058cbd0e0
boards: px4_fmu-v5_debug disable CONFIG_DEBUG_I2C
2021-11-22 11:27:45 -05:00
25846f48c4
boards: px4_fmu-v2/v3 use SPI bus power off rather than full reset
2021-11-22 11:27:45 -05:00
c4de9f67a1
Jenkins: HIL add simple reboot script that fails on any ERROR
2021-11-22 11:27:45 -05:00
643002bd86
Update submodule sitl_gazebo to latest Mon Nov 22 12:39:01 UTC 2021
...
- sitl_gazebo in PX4/Firmware (c73028bb1bhttps://github.com/PX4/PX4-SITL_gazebo/commit/607aa4d990ff20b4f8a3a714043d116cf191f8b6
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/60d6844e17919e8d57aafb3a0c25064df920cfc3
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/607aa4d990ff20b4f8a3a714043d116cf191f8b6...60d6844e17919e8d57aafb3a0c25064df920cfc3
60d6844 2021-11-16 wangwwno1 - Format: Remove extra spaces
e233c6d 2021-11-16 wangwwno1 - Enhance: fuse accel rotation
e8a7f89 2021-11-16 wangwwno1 - Fix: convert accel frame to local NED
2021-11-22 09:12:23 -05:00
88d9ade4d7
Update submodule mavlink to latest Mon Nov 22 12:39:21 UTC 2021
...
- mavlink in PX4/Firmware (0e4e8162407a12dc09c8d17635c60d4036b81bc7): https://github.com/mavlink/mavlink/commit/c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04
- Changes: https://github.com/mavlink/mavlink/compare/c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2...5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04
5309ba44 2021-11-18 Hamish Willee - Remove backticks - these do not render as a style so not helpful (#1745 )
9cac0e5a 2021-11-17 David Jablonski - docs: catch more hyperlinks (#1744 )
ea9349b5 2021-11-16 David Jablonski - common: add SET_FOCUS_TYPE_AUTO (#1741 )
2021-11-22 09:08:50 -05:00
8fc3b05491
mavlink: param_get proper type to silence errors
2021-11-22 09:08:38 -05:00
cbb743c64d
parameters: param type checking use PX4_ERR and enable in PX4_SITL
2021-11-22 09:08:25 -05:00
7faaad79d0
generate_params.py: add PWM_AUX_* for boards w/o IO and >8 channels
2021-11-22 09:07:23 -05:00
c73028bb1b
iridiumsbd: discard all pending data for flow control enabled
2021-11-22 11:46:15 +01:00
7653bd1757
cmake fix NuttX config import for 0 values
2021-11-21 12:33:29 -05:00
7a1a4ea7a6
Format fix & Remove redundant lines
2021-11-20 16:13:46 +01:00
51ce8306ee
Remove redundant code out of hil_lpos
2021-11-20 16:13:46 +01:00
b2c5919d29
Update src/modules/simulator/simulator_mavlink.cpp
...
Co-authored-by: JaeyoungLim <jalim@ethz.ch >
2021-11-20 16:13:46 +01:00
160fec5f25
Update simulator_mavlink.cpp
2021-11-20 16:13:46 +01:00
6e2060ddb6
Add accel to vehicle_local_position_groundtruth
...
Related Issue: #18527
According to [this doc](https://github.com/mavlink/c_library_v2/blob/92b1a43468e8737da2d4cc1e72304e6443dcfdd3/common/mavlink_msg_hil_state_quaternion.h#L102 ), the *acc value are mili-Gee, so multiply the value with `CONSTANT_ONE_G/1000.0f` would get the acceleration in `m/s`.
2021-11-20 16:13:46 +01:00
505f963dd0
mavlink: receiver fix SENS_FLOW_ROT type
2021-11-19 21:08:04 -05:00
7f5fa3d1f7
Using RTPS as a label resulted in the PX4 instance crashing. Removing the label fixed the problem.
2021-11-19 20:30:46 +01:00
f912ee2c8b
Commander: send out parachute MAVLink command when kill switch engaged
2021-11-19 17:15:04 +01:00
3193b554ca
Add optional preflight check for healthy MAVLink parachute system
2021-11-19 17:15:04 +01:00
43c529f294
Add MAVLink parachute system heartbeat detection
2021-11-19 17:15:04 +01:00
fb54324f56
gyro-fft: Disable asm-operand-widths warning on apple silicon. The warning is caused by unused functions only. As with compiling for x86, the functions containing assembly never get used, but since the apple silicon is also an ARM target, they trigger a warning.
2021-11-19 09:14:11 -05:00
24090b724c
cmake: px4_add_module improve unity build dependencies to avoid unnecessary work
2021-11-19 09:13:07 -05:00
4c6621f6cf
Commander: Allow arming a rover with the throttle stick in the middle
2021-11-19 10:10:32 +01:00
02336acd61
Improve SPI bus implementation
...
Make possible to define chip-select pin for internal SPI.
By defining chip-select pin, it's possible to start specific SPI device only.
This allows to have several same type of sensors on the same bus with different orientation.
2021-11-19 07:47:18 +01:00
35d4986ea7
FlightTasks: remove updateFinalize() concept because it got obsolete
2021-11-18 19:12:44 -05:00
9eac0edbc0
FlightTaskAuto: remove generateSetpoints function, replace by implementation
2021-11-18 19:12:44 -05:00
ece8fdddec
FlightTaskAuto: simplify early setpoint preparation based on triplet type
2021-11-18 19:12:44 -05:00
9646b49b60
[AUTO COMMIT] update change indication
2021-11-18 13:58:53 -05:00
bffd88ad81
ekf2: don't inhibit accel bias when not in air
2021-11-18 13:58:53 -05:00
f3472385da
sensors/vehicle_imu: fix accel/gyro learned bias calibration updates
...
- fix confusion between estimated bias and calibration offset when
saving after each flight
- when the stable bias estiamte is retrieved during flight it's
immediately converted to a sensor offset and saved
- fixes https://github.com/PX4/PX4-Autopilot/issues/18658
2021-11-18 10:00:26 -05:00
fc155bc57e
Ekf2Selector: declare filter unhealthy when high test ratio
...
Request a switch to another instance when the combined test ratio is too high.
2021-11-18 13:29:01 +01:00
43fb076828
AngularAcceleration: explicitly disable filter when cutoff <= 0
2021-11-18 09:25:47 +01:00
4a14a8bc7f
AutoLineSV: Always publish a valid yaw setpoint
...
In MPC_YAW_MODE 3 (along trajectory), the flight task is asked to
produce a yaw setpoint. If the previous yaw value was NAN (e.g.: during
early takeoff), the setpoint should then be reset to the current
estimate.
2021-11-16 18:09:37 -05:00
f751dd2242
FlightTask: set yaw_setpoint to NAN when yaw should not be controlled
2021-11-16 18:09:37 -05:00
2213343240
ft altitude: use longerThan to save a sqrt operation
2021-11-16 18:09:37 -05:00
394fa953b8
EKF: get status on yaw alignement in flight
...
1s after the in air mag reset is performed, the final yaw alignment is
complete and the yaw estimate can be used for yaw control.
2021-11-16 18:09:37 -05:00
2a5751233a
FlightTasks: remove unused StraightLine library
...
It was meant as an example for an easy to use interface of a
motion primitive with a minimal implementation. But the implementation
is much worse than the jerk optimized trajectory. We rather
work on making it easier to use. #18390 was a first step towards that.
2021-11-16 18:08:27 -05:00
e062f4fcf0
mavlink: ORBIT_EXECUTION_STATUS stream limit to 2 instances
2021-11-16 17:10:13 -05:00
7090e634cc
mission_block: always accept yaw in MC takeoff
2021-11-16 12:35:16 -05:00
0622cb8857
mavlink_ftp: disallow writes outside of /fs/microsd under NuttX
...
As these files are kept in RAM, it could just fill up the RAM.
2021-11-16 12:34:16 -05:00
4e8c234a55
ekf2: only save mag declination if changed
2021-11-16 12:33:48 -05:00
96bf3aa5d0
matrix: apply PX4 astyle
2021-11-16 12:30:51 -05:00
ab07f5300b
lib/matrix: delete unused and add testing to PX4
2021-11-16 12:27:14 -05:00
4a3d64f1d7
consume PX4/Matrix repository and preserve history
2021-11-16 12:24:19 -05:00
38516f7e9c
delete matrix submodule
2021-11-16 12:20:57 -05:00
b36dbf8de4
Remove AutoLineSmoothVel, merged into Auto
2021-11-16 10:08:47 +01:00
179b1cdf56
FlightTaskAuto: merge activate(), reActivate() and update() from FlightTaskAutoLineSmoothVel
2021-11-16 10:08:47 +01:00
51ebb0f294
FlightTaskAuto: move in helper methods from FlightTaskAutoLineSmoothVel
2021-11-16 10:08:47 +01:00
aa376c5824
FlightTaskAuto: move in parameters from FlightTaskAutoLineSmoothVel
2021-11-16 10:08:47 +01:00
50e13f132f
FlightTaskAuto: move in members from FlightTaskAutoLineSmoothVel
2021-11-16 10:08:47 +01:00
33e349d71e
FlightTask: remove unused _time
2021-11-16 10:08:47 +01:00
4a66c8c4c4
Update submodule sitl_gazebo to latest Tue Nov 16 00:39:15 UTC 2021
...
- sitl_gazebo in PX4/Firmware (f5d9b01f5chttps://github.com/PX4/PX4-SITL_gazebo/commit/1c8c9197103e746a21f2d2d2c844dd2f7e2b036b
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/607aa4d990ff20b4f8a3a714043d116cf191f8b6
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/1c8c9197103e746a21f2d2d2c844dd2f7e2b036b...607aa4d990ff20b4f8a3a714043d116cf191f8b6
607aa4d 2021-11-15 Alexander Funke - Wind Plugin: Fixed typo in windGustVelocityMean. Closes #825 , fixes #812 Fixed the typo in windGustVeloctiyMean to windGustVelocityMean, so that the parameter in the world file can be correctly read and the mean gust velocity properly set to the parameter's value.
2021-11-15 23:13:43 -05:00
bfcd251a54
Update submodule mavlink to latest Tue Nov 16 00:39:28 UTC 2021
...
- mavlink in PX4/Firmware (2615146a0770ea416aa24dce70bd61845e45b939): https://github.com/mavlink/mavlink/commit/0a728aa8dcea5023b26d0df9f25ba5b2a14a71cd
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2
- Changes: https://github.com/mavlink/mavlink/compare/0a728aa8dcea5023b26d0df9f25ba5b2a14a71cd...c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2
c3a4b52e 2021-11-14 olliw42 - use [value:] invalid attribute style (#1742 )
5f353d79 2021-11-15 Hamish Willee - fix invalid attribute for arrays where first element sets as invalid (#1740 )
b354af1c 2021-11-11 Beat Küng - add actuator test and configuration commands (#1738 )
a8401492 2021-11-11 Beat Küng - Component information: add actuators (#1729 )
2021-11-15 23:13:02 -05:00
f5d9b01f5c
NuttX build in place
...
- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
- slightly faster skipping necessary copying (depending on system)
- allows debugging in place
- easier to work directly in NuttX following official documentation
- simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
- the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
- also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
2021-11-15 18:47:38 -05:00
7b7b7acd36
i2c_spi_buses: respect CONFIG_I2C and CONFIG_SPI
...
- bmp280, dps310, and ms5611 barometers support boards without I2C
2021-11-15 15:57:33 -05:00
eade2915c1
cleanup old parameter translation
2021-11-15 10:01:22 -05:00
91c48606ee
battery_status: clearly define and handle zero remaining flight time
2021-11-15 15:44:02 +01:00
73287e8e8c
battery: compute remaining flight time
2021-11-15 15:44:02 +01:00
54f2e91775
battery_status: report remaining flight time in seconds
...
This allows more accurate reporting and is compliant with the
MAVLink interface.
2021-11-15 15:44:02 +01:00
4ba84d56c9
logger: introduce optional topics
...
The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.
This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
2021-11-15 09:02:03 -05:00
177fe4bade
logger: log write file allow single retry on write failure
2021-11-13 20:32:29 +01:00
333629ce37
Update Broadcom AFBR to v1.3.5 API
2021-11-13 12:05:08 -05:00
439400f76e
commander: don't ack gimbal commands
...
- this leads to an unnecessary amount of acks which can in turn overflow
the orb queue
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-13 11:59:28 -05:00
3cb286abc8
gyro_calibration: reset on any sensor timeout
2021-11-13 10:15:25 -05:00
29b9e46664
mavlink_tests: add correct mavlink_c_generate dependency
2021-11-12 13:43:32 -05:00
17ad7071c3
fix the quaternion normalization issue
...
Be course of the numerical computing error . The normalization of the quaternion can't always equal to 1 precisely. It could occasionally trigger the error"attitude estimate no longer valid". So enlarge the threshold to 1e-6f. That keeps it silence.
2021-11-12 16:31:40 +01:00
6a60fba96d
boards: holybro_kakutef7_default remove systemcmds/ver to save flash
2021-11-11 11:17:15 -05:00
0ec3f0d2cb
mathlib: LowPassFilter2p update cutoff freq min to match NotchFilter
...
- numerically the cutoff frequency not being smaller than 1% of the
sample frequency is probably a better choice, but we're mostly filtering
16 bit data now stored in 32 bit float
2021-11-11 11:17:15 -05:00
0d171384b3
update IMU_GYRO_DNF_BW default 8->15 Hz
...
- dshot telemetry feedback can be quite slow (~2 Hz), so I think a
larger default value here makes sense
2021-11-11 11:17:15 -05:00
452f15e985
IMU_GYRO_DNF_EN remove from developer category
2021-11-11 11:17:15 -05:00
0e2ecdc59a
sensors/vehicle_angular_velocity: perf counter naming consistentcy
2021-11-11 11:17:15 -05:00
c60a9e2981
sensors/vehicle_angular_velocity: avoid unnecessary ESC notch filter resets
2021-11-11 11:17:15 -05:00
78436e706c
mathlib: NotchFilter add optimized parameter update if only notch frequency changes
2021-11-11 11:17:15 -05:00
edce30c6de
sensors/vehicle_angular_velocity: fix ESC RPM notch filter update
2021-11-11 11:17:15 -05:00
376b72fb2f
sensors/vehicle_angular_velocity: add new parameter for ESC RPM notch filter BW
2021-11-11 11:17:15 -05:00
02709fcfab
Fixes for MPU6000 and MatekH743-slim board
...
- MPU6000: Added 10us delay for R/W of slow registers
- Board: Fixed DRDY pin from PB1 to PB2
2021-11-11 08:40:41 -05:00
fdf8461452
ver: print PX4_BOARD_LABEL for 'ver all'
2021-11-11 08:38:42 -05:00
dbacdedad1
Remove FlightTaskAutoMapper, merged into AutoLineSmoothVel
2021-11-11 09:14:49 +01:00
a94c61b896
FlightTaskAutoMapper: move parameters into FlightTaskAutoLineSmooth
2021-11-11 09:14:49 +01:00
59a395f6a0
FlightTaskAutoMapper: move remaining members into FlightTaskAutoLineSmooth
2021-11-11 09:14:49 +01:00
f5183348a6
FlightTaskAutoMapper: move remaining methods into FlightTaskAutoLineSmooth
2021-11-11 09:14:49 +01:00
0211ef3ba1
FlightTaskAutoMapper: move update() into FlightTaskAutoLineSmooth
2021-11-11 09:14:49 +01:00
1cef2ad196
FlightTaskAutoMapper: merge activate() into FlightTaskAutoLineSmooth
2021-11-11 09:14:49 +01:00
e9d50b853a
Adding MAVLink message stream of GPS_RTCM_DATA
2021-11-10 21:15:01 -05:00
d61f5d3d7b
mavlink: fix forwarding to target id >= 128
...
The _MAV_PAYLOAD macro casts the value to a char*. Some compilers treat
char as signed, so we were getting negative system and component ids
if the id was >= 128. This caused later comparisons to fail which
resulted in messages not being forwarded.
2021-11-10 21:14:21 -05:00
374d44f38f
mavlink: tests add git_mavlink_v2 dependency to avoid build race
2021-11-10 14:06:40 -05:00
e0a9ceb2cb
Update submodule mavlink to latest Wed Nov 10 12:39:06 UTC 2021
...
- mavlink in PX4/Firmware (74a33bad350857b6a7dcfe2a6745e8283baa2ce4): https://github.com/mavlink/mavlink/commit/3718ee300bef7a8e7a25314e25e03c11d9f0b180
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/0a728aa8dcea5023b26d0df9f25ba5b2a14a71cd
- Changes: https://github.com/mavlink/mavlink/compare/3718ee300bef7a8e7a25314e25e03c11d9f0b180...0a728aa8dcea5023b26d0df9f25ba5b2a14a71cd
0a728aa8 2021-11-10 Julian Oes - common: request multiple CAMERA_IMAGE_CAPTURED (#1735 )
2021-11-10 14:00:28 -05:00
5e3701a365
Tools/check_submodules.sh: perform submodule sync again after first update to reach nested submodules
2021-11-10 13:52:51 -05:00
be1023f5e9
smbus_sbs: Define linker language for a header-only library
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-10 09:27:21 -05:00
d02a10b20f
Remove src/lib/drivers/accelerometer and gyroscope linking to drivers__device
...
These are pure uORB publishers, they don't link to drivers__device.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-10 09:26:36 -05:00
dd05cb3496
FlightTaskManualPosition: simplify optical flow limiting logic
2021-11-09 21:47:06 -05:00
10e329ce9e
mc_pos_control: correct MPC_XY_CRUISE description
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-11-09 21:47:06 -05:00
7ec8dd9d23
vehicle_constraints: remove deprecated speed_xy constraint
2021-11-09 21:47:06 -05:00
356de6ccf1
Factor cdc_acm_init away from px4_init
...
In protected build, this needs to go to user-space initialization as it
calls apps (sercon) and launches mavlink.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-09 21:28:28 -05:00
39c0c68167
print_load: Remove reference to CONFIG_MAX_TASKS
...
This is already removed from nuttx, and in posix the size of s->last_times
can be just checked with sizeof()
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-09 21:25:10 -05:00
9299a5c3f6
hrt: Add interface functions for latency counters
...
Add interface functions for fetching latency buckets and counters and use
those in perf_counter.cpp. This cleans up the usage of perf counters, when variables defined in hrt_drv are not referenced directly from perf.
This also enables implementing kernel-userspace interface for those for
nuttx protected/kernel build.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-09 21:24:25 -05:00
da51177382
Don't link sensors module to drivers__device
...
sensors module only works on uORB, it doesn't link to drivers__device
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-11-09 12:18:49 -05:00
ab9b9b1eac
boards: Add manual_control module to newly added boards
2021-11-09 16:36:42 +01:00
d47f9f155a
MC mixer: replace multirotor_motor_limits by control_allocator_status
...
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix
MCRateControl: use control_allocator_status to get saturation info
2021-11-09 10:35:10 -05:00
dd83ef1813
Fix fw position controller takeoff
...
This was introduced by a rebase
2021-11-09 10:30:28 -05:00
00905973c7
boards/kakutef7: remove dmesg to save flash
2021-11-09 16:05:25 +01:00
4aa0756d08
ManualControlSelector: correct parameter for any source according to documentation
2021-11-09 16:05:25 +01:00
fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
423aadcc4f
ManualControl: fix RC override
2021-11-09 16:05:25 +01:00
7e4a079e09
Commander: report when RC selected mode is not available
2021-11-09 16:05:25 +01:00
a593a51f05
Commander: fix mode initialization with RC
2021-11-09 16:05:25 +01:00
9f17f3b0f3
ManualControl: correct source for RC mode switches without mode slot
2021-11-09 16:05:25 +01:00
21739c6937
MulticopterRateControl: Add event for landing gear retraction when landed
2021-11-09 16:05:25 +01:00
2b29df06fd
ManualControl: avoid scheduling based on unchosen input
2021-11-09 16:05:25 +01:00
48869ed03e
ManualControl: Simplify check if switches updated
2021-11-09 16:05:25 +01:00
38ab7e6ab9
Commander: separate function for action request execution
2021-11-09 16:05:25 +01:00
820ba07d4b
Fix landing gear processing
2021-11-09 16:05:25 +01:00
0a02d8e774
Commander: handle denying disarm when not landed centrally
2021-11-09 16:05:25 +01:00
af54ac7cdb
ManualControl: remove unused variables and renaming
2021-11-09 16:05:25 +01:00
e73e6a490d
ManualControl: separate function for stick arming
2021-11-09 16:05:25 +01:00
a349dae760
Use action_request to command RC VTOL transitions
2021-11-09 16:05:25 +01:00
dcd26bd2b8
Commander: fix "Manual control lost" showing double in QGC
...
because of the missing tab in the deprecated message.
2021-11-09 16:05:25 +01:00
956997eb1e
Replace arm_request and mode_request with combined action_request
...
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
2021-11-09 16:05:25 +01:00
052e29267d
Use mode_request for RC mode switching
2021-11-09 16:05:25 +01:00
f8e4846851
Use arm_request for manual killing
2021-11-09 16:05:25 +01:00
af607e3040
Use separate arm_request instead of vehicle_command for RC arming
2021-11-09 16:05:25 +01:00
c4473bdab7
ManualControl: clean up arm/disarm gesture
2021-11-09 16:05:25 +01:00
48ed350b25
ManualControlSelector: simplification refactoring
...
- clang tidy did't like {bool} == true in a condition
- setpoint_from_input() got small enough ot just put in line
2021-11-09 16:05:25 +01:00
cc2ec09659
ManualControl: fix arm button logic during testing
...
The latching logic has to be different than for the arm switch
this difference got lost in the rewrite of the old obfuscated
arming trigger logic.
2021-11-09 16:05:25 +01:00
0901b73f50
ManualControlSelector: rename functions and validate chosen inputs all the time
2021-11-09 16:05:25 +01:00
28a29ad050
ManualControlSelector: revamp logic to switch when configuration is changed
2021-11-09 16:05:25 +01:00
05946ff0c6
mavlink_receiver: remove unused start_helper declaration
2021-11-09 16:05:25 +01:00
7a2ef4a917
Commander: don't publish RC_IN_MODE to vehicle_status
...
This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
2021-11-09 16:05:25 +01:00
fff2de43a5
commander_params: update description based on ManualControlSelector
2021-11-09 16:05:25 +01:00
396bab52ad
ManualControlSelector: refactor selection to chose based on a single condition
2021-11-09 16:05:25 +01:00
1bd786c71a
ManualControlSelector: don't invalidate existing setpoint with other invalid input
2021-11-09 16:05:25 +01:00
e15f6b27f2
ManualControlSelector: copy manual_control_input struct instead of each individual field
2021-11-09 16:05:25 +01:00
63ddb050ef
ManualControlSelector: refactor timeout calculation to be consistent
2021-11-09 16:05:25 +01:00
2528e8c572
ManualControl: correct calculation of dt in seconds
2021-11-09 16:05:25 +01:00
12bb2de175
state_machine_helper: rever explicitly handling unavaialble mission
...
It was already handled by the existing condition.
2021-11-09 16:05:25 +01:00
4dc165efd0
Commander: don't retry to reach the desired_main_state if we reached it
2021-11-09 16:05:25 +01:00
d48302c841
Commander: send out manual control lost event
2021-11-09 16:05:25 +01:00
93bed7f670
vehicle_command: shorten arming action/origin enum names
2021-11-09 16:05:25 +01:00
709c909929
commander_params: correct RC override description
2021-11-09 16:05:25 +01:00
b3a5072de5
commander/manual_control: use msg enum for params
...
Instead of using a private enum class we should define the enum in the
vehicle_command message and then use it consistently.
2021-11-09 16:05:25 +01:00
f1b1068824
commander: remove unused mode/main_state methods
...
With the previous changes these seem no longer required.
2021-11-09 16:05:25 +01:00
42af44700b
mc_rate_control: always allow landing gear control
...
Except of course when landed and we try to put it up.
2021-11-09 16:05:25 +01:00
486a4b0118
mavlink: reduce calls to hrt_absolute_time
2021-11-09 16:05:25 +01:00
454aa611ae
manual_control: add missing 7
2021-11-09 16:05:25 +01:00
2c0fc686a7
manual_control: don't accept outdated input
2021-11-09 16:05:25 +01:00
4d00a56230
manual_control: method can be static
2021-11-09 16:05:25 +01:00
6027398459
manual_control: handle invalid rc_in_mode
2021-11-09 16:05:25 +01:00
50cca204d8
manual_control: add check for instance
2021-11-09 16:05:25 +01:00
963d15eacc
manual_control: use correct sysid/compid
2021-11-09 16:05:25 +01:00
cfdb53a4d8
manual_control: don't switch gear on first init
...
This will ignore the first transition from NONE to something.
This matches the behaviour that existed before.
2021-11-09 16:05:25 +01:00
60de330f18
manual_control: add hysteresis for arm button back
2021-11-09 16:05:25 +01:00
75209a7552
manual_control: address review comments
2021-11-09 16:05:25 +01:00
942eb23248
ManualControlSelector: remove commented stick difference filter draft
2021-11-09 16:05:25 +01:00
11a46d3d27
ManualControlSelectorTest: add constantly outdated samples case
...
Reviewing the code I saw this case arising from the order things
get checked.
2021-11-09 16:05:25 +01:00
39282a795f
manual_control: fix tests
2021-11-09 16:05:25 +01:00
53bd254502
commander: add valid check
...
Better checking once too much than once too little.
2021-11-09 16:05:25 +01:00
efd8757fda
manual_control: handle NAN
2021-11-09 16:05:25 +01:00
374c9f38a7
manual_control: use constrain() instead
2021-11-09 16:05:25 +01:00
2a41ade223
manual_control: update first, get diff after
...
Not sure why I had this the wrong way round.
2021-11-09 16:05:25 +01:00
d0fea93d72
manual_control: add reset to diff
...
This should prevent triggering user override right after RC re-appears.
2021-11-09 16:05:25 +01:00
93c505b163
commander: force arming is not an option from RC
2021-11-09 16:05:25 +01:00
4a5ef1c81e
ROMFS: whitespace
2021-11-09 16:05:25 +01:00
6a6b8d49fc
msg: re-use manual_control_input in setpoint
...
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
2021-11-09 16:05:25 +01:00
baf81abbab
msg: whitespace only
2021-11-09 16:05:25 +01:00
14cfad74bf
manual_control: remove leftover debug statements
2021-11-09 16:05:25 +01:00
5ae76bdc17
commander: fix potentially wrong user message
2021-11-09 16:05:25 +01:00
bd0c1014d9
manual_control: support arming button
...
The arming button required some refactoring in order to support to
toggle arm/disarm using the vehicle_command. Otherwise manual_control
would have to subscribe to the arming topic and we would spread out the
logic again, and risk race conditions.
2021-11-09 16:05:25 +01:00
9cbfa2ca95
manual_control: ORBIT and PRECLAND not supported
...
ORBIT and PRECLAND are not actually possible on the flight mode switch.
2021-11-09 16:05:25 +01:00
2e9edfcd89
commander: only override according to param
...
This got lost in the refactor earlier.
2021-11-09 16:05:25 +01:00
56b2b81600
manual_control: use filter to check user override
...
Instead of only looking at the diff between two RC samples to decide
whether a user wants to override, we now look at the filtered diff over
one second. This should be more robust to RC sent at various or varying
rates.
2021-11-09 16:05:25 +01:00
97d01f200e
commander: move manual_control and switches out
...
This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
2021-11-09 16:05:25 +01:00
e49b596edc
commander: add desired main state
...
This is an intermediate solution to carry forward the initial state of
the mode slot. Basically, it allows that we start up in Stabilized but
switch to POSCTL as soon we have the required GPS.
2021-11-09 16:05:25 +01:00
b6af068f25
commander: always reset posvel validity
...
I assume reseting posvel validity is ok for any case, not just all cases
except manual, acro, stabilized.
2021-11-09 16:05:25 +01:00
52563264e6
commander: move valid mission check inside
...
I think it makes more sense to move this check inside of
main_state_transition.
2021-11-09 16:05:25 +01:00
916ffef04c
manual_control: send initial mode in the beginning
...
In order for commander to know the desired mode we need to send the
initial position of the mode slot.
2021-11-09 16:05:25 +01:00
a91fa7f3c1
commander: only move to POSCTL when armed
...
I don't think we want to switch to POSCTL when the sticks are moved when
armed.
2021-11-09 16:05:25 +01:00
66b069e788
commander: move main_state_transition out
...
This is a first step to having a desired main state.
2021-11-09 16:05:25 +01:00
e2e908d0fc
mavlink: remove unused methods
2021-11-09 16:05:25 +01:00
97aa06cc19
commander: move switch handling to manual_control
2021-11-09 16:05:25 +01:00
08e58a44e9
Fix style
2021-11-09 16:05:25 +01:00
71d6aa913d
manual_control: starting to implement switches
2021-11-09 16:05:25 +01:00
ac121c676a
commander: check for valid flag for manual_control
2021-11-09 16:05:25 +01:00
cda6524421
manual_control: move override detection
...
This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
2021-11-09 16:05:25 +01:00
1c15cc11d8
manual_control: implement (dis)arming via command
2021-11-09 16:05:25 +01:00
8876af9150
manual_control: add instance to selector
...
This instance is then used to schedule the callback for the
subscription.
2021-11-09 16:05:25 +01:00
14eb656a59
rc_update: use snake_case for namespace name
2021-11-09 16:05:25 +01:00
6e8ccf6a45
rc_update: rename update method
...
This reflects better what it actually does.
2021-11-09 16:05:25 +01:00
723db8bf2a
manual_control: add selector class [WIP]
...
This adds a selector class with unit tests.
The idea is to have a valid flag in manual_control_septoint and set that
according to the selection and/or timeout of manual_control_inputs.
2021-11-09 16:05:25 +01:00
eeb7682fd9
ROMFS: start manual_control for SITL
2021-11-09 16:05:25 +01:00
2d816e0b3e
[WIP] manual_control selector hacks
2021-11-09 16:05:25 +01:00
e18cf3da3e
sensors/vehicle_imu: use WelfordMean for online mean and variance
2021-11-09 15:19:35 +01:00
a8c3bcca32
boards: disable CONFIG_STM32H7_SPI_DMATHRESHOLD
2021-11-08 19:20:47 -05:00
cb34ff1292
posix-configs/SITL/init/test/test_imu_filtering enable gyro dynamic notch filtering by default
2021-11-08 19:14:32 -05:00
e0d9ccdc18
sensors/vehicle_angular_velocity: small FFT notch update simplification
2021-11-08 19:14:32 -05:00
47afab62e7
gyro_fft: limit noise floor to configured range (IMU_GYRO_FFT_MIN/MAX)
2021-11-08 19:14:32 -05:00
dd3e0b723a
gyro_fft: add IMU_GYRO_FFT_SNR parameter
2021-11-08 19:14:32 -05:00
6fab6242db
setup/python requirements: add future module
...
which is a requirement for MAVLink header generation.
Found on Ubuntu 20.04 Python 3.
2021-11-08 17:05:30 +01:00
b216cddf49
state_machine_helper: add place holder in array nav_state_names for removed LANDGPSFAIL mode
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-08 13:42:55 +01:00
031f7f831b
Fixedwing Pos Control: Handle vehicle transition waypoints outside controllers ( #18503 )
...
* Handle VTOL transition waypoints outside FW auto control modes
2021-11-08 11:21:08 +01:00
66ab7e50df
github actions increase NuttX compile ccache limit slightly
2021-11-07 20:37:58 -05:00
3b68f8e510
Tools/check_submodules.sh revert attempted submodule improvements
...
- this wasn't helping break out of submodule issues
2021-11-07 20:36:47 -05:00
4627f5514e
boards: holybro_kakutef7_default disable load_mon to save flash
2021-11-07 20:36:47 -05:00
6a2ebfc0cc
Handle setpoint types properly for fixedwing position control
...
Handle setpoint types properly for fixedwing position control
2021-11-07 19:21:00 -05:00
f43adaeeb5
Tools/check_submodules.sh disable parallel jobs
...
- this is already run separately for each submodule (potentially in parallel)
2021-11-07 18:12:30 -05:00
dbd9b88bea
FW position controller: only allow switching to AUTO_ALTITDUE or AUTO_CLIMBRATE if pos_sp_curr_valid
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-07 23:31:21 +01:00
2f8cb5a1c2
mavlink: initial support for MAG_CAL_REPORT stream
2021-11-07 16:03:34 -05:00
24b00317b5
Tools/check_submodules.sh attempt update before sync to handle changes
2021-11-07 16:00:13 -05:00
5b3e1a2347
boards: add MatekH743-slim support
2021-11-07 15:39:50 -05:00
cda7c6ceaa
Enable offboard actuator setpoints
2021-11-07 15:38:42 -05:00
47a191489e
cmake: sitl_gazebo build use memory information from the system to estimate the parallel jobs
...
Using cmake_host_system_information, grabs AVAILABLE_PHYSICAL_MEMORY and adds another job for every 1.5GB of available memory.
This is tested on a single system with 16 logical cores and 16GB RAM (~11.5GB available, reported correctly by cmake).
2021-11-07 15:37:48 -05:00
68026eadeb
save significant IMU bias changes learned by the EKF
...
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash
Co-authored-by: Paul Riseborough <gncsolns@gmail.com >
2021-11-07 15:34:27 -05:00
5969508fa7
mavlink: cmake generate mavlink headers at build time
...
- mavlink/mavlink is now directly included as a submodule instead of the generated mavlink/c_library_v2
- this also switches to mavlink development.xml by default
2021-11-05 23:01:38 -04:00
88489ae8bd
mavlink: Check target for mavlink shell
...
The SERIAL_CONTROL MAVLink message now contains a target_system and
target_component field that we should check.
Without this we might be answering to a command on the network that is
meant for another system.
2021-11-05 23:48:44 +01:00
96101a9c11
NuttX backports of imxrt dcache fixes to support WB & USB
2021-11-05 13:50:02 -04:00
af6bedaded
nxp_fmurt1062:Needs pwm_out
2021-11-05 13:50:02 -04:00
ff43923567
nxp_fmurt1062-v1:Use Write Back Dcache
2021-11-05 13:50:02 -04:00
dedad87e82
nxp_fmurt1062-v1:Force no no-unaligned-access
...
This results in a load saving (no dcache) of 16.82% at a cost
of 0.03% Flash, .07% XIP Flash and .45% SRAM
Forced Alighment
With: -mno-unaligned-access
Memory region Used Size Region Size %age Used
flash: 606568 B 7 MB 8.26%
flashxip: 622920 B 1 MB 59.41%
sram: 640848 B 856 KB 73.11%
itcm: 0 GB 0 GB
dtcm: 0 GB 128 KB 0.00%
PID COMMAND CP
0 Idle Task 87640 20.047 204/ 748 0 ( 0) READY 3
1 hpwork 0 0.000 332/ 1784 249 (249) w:sig 3
2 lpwork 26 0.008 780/ 1616 50 ( 50) w:sig 4
3 init 0 0.000 1980/ 2928 100 (100) w:sem 3
4 wq:manager 0 0.000 508/ 1256 255 (255) w:sem 4
327 navigator 910 0.204 1124/ 1832 105 (105) READY 6
23 wq:lp_default 3479 0.795 1252/ 1920 205 (205) READY 4
30 wq:hp_default 23554 5.415 1332/ 1904 237 (237) READY 4
47 dataman 0 0.000 820/ 1208 90 ( 90) w:sem 4
57 wq:I2C1 26849 6.190 1060/ 2336 246 (246) w:sem 4
60 wq:I2C2 24045 5.440 732/ 2336 245 (245) w:sem 4
86 wq:SPI1 47127 10.804 1352/ 2336 253 (253) w:sem 4
91 wq:I2C3 1935 0.436 980/ 2336 244 (244) w:sem 4
101 wq:SPI3 6932 1.585 1028/ 2336 251 (251) w:sem 4
237 wq:nav_and_controllers 16743 3.832 1236/ 2240 242 (242) w:sem 4
248 wq:rate_ctrl 9008 2.074 1572/ 1952 255 (255) w:sem 4
250 wq:INS0 37182 8.450 4372/ 6000 241 (241) w:sem 4
264 commander 29395 6.732 1260/ 3224 140 (140) READY 5
287 mavlink_if0 60513 13.828 1876/ 2728 100 (100) READY 4
294 mavlink_rcv_if0 5946 1.387 1292/ 4560 175 (175) READY 4
307 wq:UART5 3345 0.770 844/ 1632 229 (229) READY 4
370 log_writer_file 0 0.000 372/ 1176 60 ( 60) w:sem 3
369 logger 2121 0.484 2468/ 3648 230 (230) READY 3
393 top 37523 8.641 3060/ 4080 237 (237) RUN 3
Processes: 24 total, 10 running, 14 sleeping
CPU usage: 77.08% tasks, 2.87% sched, 20.05% idle
DMA Memory: 5120 total, 1024 used 1024 peak
Uptime: 441.946s total, 87.640s idle
Allow Un-Alighment
With Out: -mno-unaligned-access
Memory region Used Size Region Size %age Used
flash: 604008 B 7 MB 8.23% 8.26% +0.03
flashxip: 622240 B 1 MB 59.34% 59.41% +0.07
sram: 636752 B 856 KB 72.64% 73.11% +0.45
itcm: 0 GB 0 GB
dtcm: 0 GB 128 KB 0.00% 0.00%
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD
0 Idle Task 2418 3.190 264/ 748 0 ( 0) READY 3
1 hpwork 0 0.000 332/ 1784 249 (249) w:sig 3
2 lpwork 12 0.004 852/ 1616 50 ( 50) w:sig 3
3 init 0 0.000 1932/ 2928 100 (100) w:sem 3
4 wq:manager 0 0.000 548/ 1256 255 (255) w:sem 4
327 navigator 22 0.203 1052/ 1832 105 (105) READY 6
23 wq:lp_default 83 0.743 1252/ 1920 205 (205) READY 4
30 wq:hp_default 637 5.886 1332/ 1904 237 (237) READY 4
47 dataman 0 0.000 820/ 1208 90 ( 90) w:sem 4
57 wq:I2C1 162 1.063 1060/ 2336 246 (246) w:sem 4
60 wq:I2C2 98 0.500 732/ 2336 245 (245) w:sem 4
86 wq:SPI1 1166 10.771 1352/ 2336 253 (253) w:sem 4
91 wq:I2C3 48 0.437 1060/ 2336 244 (244) w:sem 4
101 wq:SPI3 178 1.653 1028/ 2336 251 (251) w:sem 4
237 wq:nav_and_controllers 410 3.781 1324/ 2240 242 (242) w:sem 4
248 wq:rate_ctrl 222 2.050 1572/ 1952 255 (255) w:sem 4
250 wq:INS0 940 8.691 4372/ 6000 241 (241) w:sem 4
264 commander 753 6.475 1472/ 3224 140 (140) READY 5.03
287 mavlink_if0 1440 13.973 1780/ 2728 100 (100) READY 4
294 mavlink_rcv_if0 139 1.304 1276/ 4560 175 (175) READY 4
307 wq:UART5 83 0.785 828/ 1632 229 (229) READY 4
370 log_writer_file 0 0.000 372/ 1176 60 ( 60) w:sem 3
369 logger 54 0.493 2468/ 3648 230 (230) READY 3
393 top 1053 10.015 3060/ 4080 237 (237) RUN 3
396 mavlink_rcv_if1 166 1.608 1380/ 4560 175 (175) READY 4
395 mavlink_if1 2167 23.459 1812/ 2824 100 (100) READY 4
Processes: 26 total, 12 running, 14 sleeping
CPU usage: 93.90% tasks, 2.91% sched, 3.19% idle 77.08% tasks, 2.87% sched, 20.05% idle -16.82%
DMA Memory: 5120 total, 1024 used 1024 peak
Uptime: 18.242s total, 2.419s idle
2021-11-05 13:50:02 -04:00
4225193456
nxp_fmurt1062-v1:Proper USB HS config
2021-11-05 13:50:02 -04:00
e2b4e435a9
Build system:Board level control of no-unaligned-access
2021-11-05 13:50:02 -04:00
af9f8f08c6
NuttX PX4 build - capture log in VERBOSE=True|1
2021-11-05 13:50:02 -04:00
d4c2476699
nxp_fmurt1062-v1:init Fix Spelling
2021-11-05 13:50:02 -04:00
46b208ba21
nxp_fmurt1062-v1:init Define ret indepenent of enabled IP Blocks
2021-11-05 13:50:02 -04:00
29eb27632a
nxpfmurt1062-v1:Add USB dev
2021-11-05 13:50:02 -04:00
56cf77a74c
addressed review comments
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
e36e527488
fixed wrong path
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
d58d13b2e8
APX4-1617: Fix manual climb rate in TECS ( #1463 )
...
* tecs: workaround for the fact that vel smoothing lib uses a DOWN coordinate system
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
7cb99f521c
moved ManualVelocitySmoothing to motion_planning lib
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
924298e9c3
addressed review comments
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
0ac3077bdc
tecs: use trajectory generation library to compute height rate setpoint
...
- added ability to specify maximum acceleration constraint for height rate setpoint
- added support for locking altitude setpoint when in height rate control
mode and height rate input is zero
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
6e75b7cffd
FixedWingPositionControl: push altitude setpoint locking into TECS
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
296db60a58
camera_capture: use output functions for pin configuration if SYS_CTRL_ALLOC==1
2021-11-05 12:36:04 -04:00
6d993a9301
camera_trigger: use output functions for pin configuration if SYS_CTRL_ALLOC==1
2021-11-05 12:36:04 -04:00
f492fa9d3a
fix typo
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
514cf12c57
addressed review comments
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 17:58:21 +03:00
3bd114bf9f
RTL: if vehicle is a VTOL in hover, always consider all safe landing points
...
Unless there is already a mission landing in progress,
in that case stay on the mission landing if RTL_TYPE
isn't set to closest.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
1163a52c17
Navigator: remove unnecessary (duplicated) info messages for RTL
...
There is already (a more precise) info message on RTL activation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
f4f9b8ebf2
RTL: replace deny_mission_landing logic by getDestinationTypeMissionLanding()
...
The rtl instance decides on destination of RTL, and Navigator then switches to
mission mode if required.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
ab08bbdb58
RTL: improve RTL info message
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
775a1eb4b6
RTL: remove unused function and non-informative comments
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
dd987c08a5
RTL: rename enum names for RTLType
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
a012f01dbc
Navigator: clean up get_rtl_type()
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
8dc6d5f208
RTL: set destination type to mission landing also in MC
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 17:58:21 +03:00
9c15be22d6
mc_autotune_attitude_control: add new MC_AT_EN parameter to enable
...
- only enabled by default on boards that aren't memory constrained
2021-11-05 09:52:07 -04:00
1e94512719
FD: use flags union instead of bitmask
2021-11-05 09:45:52 -04:00
3f1025fb1e
FD: add dedicated topic to log more internal states
...
log imbalanced propeller check metric
add failure_detector_status message
2021-11-05 09:45:52 -04:00
b8ed457371
Commander: trigger failsafe action if imbalanced propeller detected
2021-11-05 09:45:52 -04:00
5dfb8e594a
FD: add imbalanced propeller check
2021-11-05 09:45:52 -04:00
bf2fb70d67
vehicleIMU: compute and log accel variance
2021-11-05 09:45:52 -04:00
f02786d112
Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL
...
- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 12:09:39 +03:00
b77487d69c
Fixed-wing Position controller: add modes for auto altitude and auto descend
...
- bit of clean up
- add GPS failsafe mode auto_altitude, that will keep current altitude with a fixed-bank angle
for some time, then switches to auto_descend that will descend with constant sink rate
of 0.5m/s
- params controlling GPS failsafe are not FW params: NAV_GPSF_R --> FW_GPSF_R and
NAV_GPSF_LT --> FW_GPSF_LT
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-05 12:09:39 +03:00
c73a1b4c68
update UAVCAN-v0 dsdl to DroneCAN
2021-11-04 21:36:13 -04:00
67437396f1
mpu6000: add USER_CTRL I2C_MST_EN bit to checked registers
2021-11-04 21:22:14 -04:00
8fbb241c2e
mpu6000: add gyro/accel self test bits to checked registers
2021-11-04 21:22:14 -04:00
bffcdd6fad
boards: modalai_fc-v2 fix bootloader board type
2021-11-04 15:43:29 -04:00
f55590ce78
FlightTaskOrbit: remove duplicate newlines
2021-11-03 17:37:52 +01:00
6cea707330
FlightTaskOrbit: increase acceptance radius from 1 to 2m
...
to avoid reaproaching when tracking is not perfect while
acc/deccelerating by stick.
2021-11-03 17:37:52 +01:00
eda9dce033
FlightTaskOrbit: fix direction change via MAVLink command
2021-11-03 17:37:52 +01:00
d450afead6
FlightTaskOrbit: Direct orbit approach with slowdown at intersection point
2021-11-03 17:37:52 +01:00
0d0b87e193
Update src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
...
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2021-11-03 17:37:52 +01:00
9bd46be124
Orbit: Switch to PositionSmoothing library.
...
This also fixes the bug with altitude not follows and smoothes orbit approach trajectory
2021-11-03 17:37:52 +01:00
ea1ae73526
Support for Raspberry PI RP2040 MCU ( #18083 )
2021-11-03 12:14:30 -04:00
8f6fd5f37b
sensors/vehicle_angular_velocity: gyro RPM dynamic notch filter handle negative RPM
...
- some UAVCAN ESCs report negative RPM for reverse rotation
- lower hard coded safety limit RPM limit to 10 Hz (600 RPM)
- avoid disabling notch filters that weren't configured
2021-11-02 09:36:02 -04:00
c6f249f7f1
Kconfig merge_config only set to 'n' when BOOL
...
Run make updateconfig to fix delta's of derived configs
2021-11-02 09:34:21 -04:00
fec0d6c5ed
ekf2: change indication further reduce data precision
2021-11-02 10:21:54 +01:00
1317b1a6e1
[AUTO COMMIT] update change indication
2021-11-01 13:59:34 +01:00
9e54c6d1aa
ekf2: move generic functions to control.cpp
...
these functions aren't specific to GPS fusion
2021-11-01 13:59:34 +01:00
e90734881b
ekf2_test: add more GPS fusion control tests
2021-11-01 13:59:34 +01:00
8aae39e82a
ekf2: move GPS control logic to separate source file
2021-11-01 13:59:34 +01:00
689ab12845
ekf2: refactor gps vel/pos fusion control logic
2021-11-01 13:59:34 +01:00
9afc390552
ekf2: move gps yaw reset in starting function
2021-11-01 13:59:34 +01:00
1461eb0e32
logger: increase optimization to ${MAX_CUSTOM_OPT_LEVEL}
...
- ${MAX_CUSTOM_OPT_LEVEL} is -O2 on boards that aren't flash constrained
2021-11-01 09:13:12 +01:00
32be88404a
commander: Only run estimator navigation checks when armed
2021-10-28 12:06:31 -04:00
7006b0aee9
Update submodule jMAVSim to latest Thu Oct 28 12:38:55 UTC 2021
...
- jMAVSim in PX4/Firmware (c9b89ee869https://github.com/PX4/jMAVSim/commit/0a5a8c6d9da05bee5f82faa25430213d97d396b0
- jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/b23dc53d558e801b214fbcb605a061c9773105e0
- Changes: https://github.com/PX4/jMAVSim/compare/0a5a8c6d9da05bee5f82faa25430213d97d396b0...b23dc53d558e801b214fbcb605a061c9773105e0
b23dc53 2021-10-08 Ilya Petrov - Use low resolution texture also on Windows
2021-10-28 11:41:02 -04:00
c9b89ee869
fixed ulanding_radar autostart command
2021-10-28 00:01:37 -04:00
be5c5856e7
cmake: px4_add_module always add module to PX4_MODULE_PATHS so that parameters aren't pruned
2021-10-27 23:00:40 -04:00
51abb804ac
UAVCANv1 Fix NodeClient header and Kconfig merge logic
2021-10-27 10:07:01 -04:00
0decdb1c7b
github action: run ./Tools/generate_board_targets_json.py in container
...
As it requires kconfiglib
2021-10-27 15:23:23 +02:00
e715e6c245
Fixed-wing position control: set yaw_sp to yaw_current instead of nav_bearing when not controlled
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-27 14:35:00 +03:00
b53808d11b
fixed-wing: set yaw_sp to yaw_current instead of 0 when not controlled
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-27 14:35:00 +03:00
da4d6dc657
L1: increase the max allowed tangential velocity in the opposite direction to 2m/s
...
There is logic in L1 that prevents the vehicle from trying to achieve
an impossible loiter entry (e.g. due to wind). That check makes the
vehicle track the loiter center if the tangential velocity is in the wrong
direction while loitering. After the vehicle flies through the center, it can
then turn the other way around to join the loiter.
This check is though too sensitive if it purely checks for the wrong direction,
and it can end in delayed loiter entry for no reason.
This commit increases the threshold to 2m/s of tangential velocity
in the wrong direction to trigger the check.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-27 12:32:58 +03:00
eee5f501cd
navigator: fix flyaway when altitude change is commanded without a valid
...
triplet
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-27 11:01:13 +03:00
bf6a47ba6a
navigator: cleanup of set_loiter_item
...
Unwraps the set_loiter_item() to solve the issue where the altitdue setpoint
in a MC takeoff wasn't correctly used.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-27 11:01:13 +03:00
cb78ba34d7
Mission: for tangential loiter exit, set current position setpoint typ to position
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-27 11:01:13 +03:00
4b21c0c49e
Fw Pos C: always reset pos_sp type from LOITER to POSITION if far away
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-27 11:01:13 +03:00
d678e792cc
mission_block: don't require an exiting heading when loitering if the next
...
waypoint is within the loiter radius of the current waypoint
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-27 11:01:13 +03:00
5e1f62e9d0
Add option to warn the pilot in case of strong magnetic interference but still allow arming.
...
This PR changes the COM_ARM_MAG_STR parameter to accept values. If the parameter is set to 2, the check is performed and a warning is logged but the vehicle can still arm.
2021-10-27 09:59:18 +02:00
2b6bd452df
fix hardpoint hardfault by checking argc before std::strcmp
2021-10-27 08:11:23 +02:00
de488f0f40
omnibus/f4sd: add topic listener & change timer order
...
So it matches the usage in the channel definition order
2021-10-27 08:03:55 +02:00
8476875b4d
Kconfig: add missing serial ports
2021-10-27 08:03:55 +02:00
48344c6e2a
state_machine_helper: add missing 'break' (no behavior change)
2021-10-27 08:03:55 +02:00
6d0c6bb6ce
lib/world_magnetic_model: cmake remove helper target BYPRODUCTS
...
- otherwise ninja will try to rebuild these
2021-10-26 18:52:12 -04:00
a2801bab80
[AUTO COMMIT] update change indication
2021-10-26 14:39:58 -04:00
88a979cf1d
lib/world_magnetic_model: add cmake helpers for updating tables
...
- `world_magnetic_model_update` to fetch latest geo_magnetic_tables.hpp
- `world_magnetic_model_tests_update` to fetch latest test_geo_lookup.cpp
2021-10-26 14:39:58 -04:00
24ab430466
Tools/generate_board_targets_json.py: fix json board targets regression from #17100
2021-10-26 16:15:39 +02:00
d0f89f7fff
ekf2: refactor wind reset functions
2021-10-26 10:18:56 +02:00
456dfcb4b9
ekf2: update getter for true airspeed
2021-10-26 10:18:56 +02:00
3927c183de
ekf2_test: adjust airspeed unit test
...
an airpseed of > 2m/s is required to start the fusion (set by param)
fw mode is also required
Given the larger estimated windspeed after those changes, the change of
static pressure is larger and the height estimate takes more time to
reach the final value
2021-10-26 10:18:56 +02:00
6e8f0e92ff
ekf2: refactor airspeed fusion control logic
2021-10-26 10:18:56 +02:00
8873e92c7c
ekf: force fallback to baro if GPS is stopped while in GPS height mode
...
Otherwise, no height aiding source is used
2021-10-26 10:05:28 +02:00
0a140ec59a
ekf2_test: add GPS height to baro fallback
2021-10-26 10:05:28 +02:00
f4c21cedd9
ekf2_test: use motion_planning for dynamic yaw emergency test
2021-10-25 18:06:38 -04:00
340a2caa8e
ekf2_test: use motion_planning library
...
The VelocitySmoothing class from the motion_planning library is used to
generate trajectories in order to test the EKF convergence during motion
2021-10-25 18:06:38 -04:00
38e2e6a01f
Use NuttX MPU Reset ( #18283 )
...
* NuttX with MPU reset backports
* Use NuttX MPU reset
2021-10-25 18:05:31 -04:00
8088c82b6a
Add CANNODE_FLOW_ROT
2021-10-25 16:31:00 -04:00
5dcaadf492
Fix px4vision defaults
2021-10-25 16:29:52 -04:00
24cd0c6fa3
Enablement of PX4 SPI driver for UCANS32K146
2021-10-25 08:36:54 -07:00
a548c94230
boards: holybro_durandal-v1_default disable modules to save flash
2021-10-25 13:41:31 +02:00
6ec9ab11f2
add fw auto-tune module to board configs
2021-10-25 13:41:31 +02:00
95e2941b17
fw att: inject system identification signal to controller
2021-10-25 13:41:31 +02:00
6af0856558
add FF to FW rate controllers
2021-10-25 13:41:31 +02:00
55f0860c31
fw atune: add fixed-wing auto-tuning module
2021-10-25 13:41:31 +02:00
8dfdb1e3db
compute and publish fixed-wing control power
2021-10-25 13:41:31 +02:00
d84b0296d2
support orbit command in fixed wing mode
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
commander: support orbit mode for fixed wings
Signed-off-by: RomanBapst <bapstroman@gmail.com >
FwPositionControl: publish orbit status
Signed-off-by: RomanBapst <bapstroman@gmail.com >
commander:reject orbit mode while doing a vtol transition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
FixedWingPositionControl: explicitly cast waypoint for Orbit status
FixedwingPositionControl: fill missing orbit_status fields
navigator_main: handle reposition/orbit corner cases
- set orbit rotation direction correctly
- send mavlink message when orbit is rejected
FixedWingPositionControl: correctly report rotation direction in orbit_status
navigator: hack to not break orbit while doing altitude changes
Signed-off-by: RomanBapst <bapstroman@gmail.com >
navigator: set cruise throttle for orbit command
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-25 09:48:27 +02:00
93eb0162e5
drivers/uavcan_v1: fix Kconfig trailing whitespace
2021-10-25 08:15:46 +02:00
f9cfcc5cfa
AirspeedSelector: add bitmask to enable checks seperately in ASPD_DO_CHECKS
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
73fe300c00
WindEstimator: remove option to disable scale estimation
...
The situation where this would be desired is unclear, plus it's basically
the same as setting ASPD_SC_P_NOISE to a very small value.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
b38bf23d6e
WindEstimator: avoid division by 0
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
c0754cf324
AirspeedValidator: pass vI as reference
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
f9682b86d1
AirspeedSelector: some clean up
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
7537fa36c8
AirspeedValidator: fix airspeed scale validation (feed raw TAS)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
a2faac148f
AirspeedValidator: check_airspeed_innovation() check absolute innovations
...
Do no longer use tas_innovation from wind estimator and test ratio, but calculate
the innovation based on wind estimate, TAS measurement (including currently applied scale)
and ground velocity. Use innovations directly to trigger failure.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
f6d37ecacf
AirspeedSelector: make sure we don't try to access a negative array index
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
ccab93e68b
AirspeedSelector: use Vector3f
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
259b851ba7
WindEstimator: remove filter reset due to airspeed measurement rejection
...
As the purpose of this wind estimator is to (mainly) catch airspeed failures,
we don't value estimator stability as much as the reliability to catch
actual sensor issues, and thus do not reset the filter (as this may hide
a real issue with the sensor)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
3ad901e51d
Wind Estimator: use time_literals
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
cad7851774
AirspeedSelector: add _CAS_scale_validated to airspeed_wind for logging
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
625f556b0e
AirspeedSelector: airspeed scale estimation improvements and robustification
...
- run airspeed scale estimation always, not in dedicated mode
- add option to apply scale automatically, with extra feasibility check
- add airspeed scale for all 3 possible airspeed instances
- clean up parameters
- add check for data stuck (non-changing airspeed data)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-22 17:00:35 +02:00
8e8c6efd66
Mission block: do not care for altitdue acceptance when approaching backtransition point
...
Not accepting the waypoint causes the vehicle to perform a sharp turn after passing
the land waypoint and this causes worse unexected behavior.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-22 15:37:10 +02:00
3d50adc5fe
astyle: restore backwards compatibility with old pre-commit hook
...
I removed the filtering logic from the shell script in #18482 because
the new pre-commit hook already takes care of it.
The problem is if you don't update the .git/hooks/pre-commit file and
use the new shell script there's no filtering
of files done and it checks all files for every file.
This commit restores backwards compatibility because it does not hurt
until I have an automatic way to update the pre-commit hook file.
2021-10-22 12:56:21 +02:00
78fe6e2152
VelocitySmoothing: fix issue when delta vel is the same on all axes
...
When the change in velocity is exactly the same on several axes, the T1
of the recumputed trajectories after time sync was set to 0 because it
was skipping both if and else if.
2021-10-22 10:54:36 +02:00
9301288d1f
Add parameter and logic to set RTL heading mode.
2021-10-22 09:28:30 +02:00
6938d24ec7
pre-commit hook: show all style issues, not just the ones from the first file
2021-10-21 19:07:13 -04:00
2716ce7a56
pre-commit hook: clear output with error, file name, diff, instructions
2021-10-21 19:07:13 -04:00
4454fe9770
pre-commit hook: don't unstage the entire file containing a style issue
2021-10-21 19:07:13 -04:00
19952768fb
boards: try to keep test boards in sync
2021-10-21 15:59:15 -04:00
6fb1c79ef0
mixer_module: reject mixer load and reset when dynamic mixing is enabled
2021-10-21 11:27:33 -07:00
f1016dc32c
boards: add systemcmds/topic_listener to CAN nodes
2021-10-21 14:06:11 -04:00
17328bef69
Jenkins attach GDB and print back trace on failure
2021-10-21 14:04:33 -04:00
258cde668c
nxp_fmurt1062-v1:Pared down boardconfig
2021-10-21 11:04:34 -04:00
0e29cb31e6
nxp_fmurt1062-v1:Pull more code into XIP Flash
2021-10-21 11:04:34 -04:00
ff3a76d918
nxp_fmurt1062-v1:Needs to usne ocram Linker script
2021-10-21 11:04:34 -04:00
ea9c64dcd9
drivers/uavcan: add new UAVCAN_SUB_* parameters to enable subscriptions
...
- only GPS and mag are enabled by default
2021-10-21 09:55:04 -04:00
fd96bbf9b9
Mavlink: bump MAX_REMOTE_COMPONENTS to 16
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-21 07:48:50 +02:00
4247e1320b
px4io: allow switching to rate ctrl wq
2021-10-20 09:56:42 -04:00
c0f75b1c79
dshot: add missing '#pragma GCC diagnostic push'
2021-10-20 08:11:07 +02:00
757424c2c0
clang-tidy ignore modernize-raw-string-literal for now
2021-10-20 08:10:05 +02:00
8a2b310b83
topic_listener: avoid code generation, use existing metadata at runtime
...
This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.
2021-10-20 08:10:05 +02:00
a0e72b35a4
replay: ignore ULogMessageType::PARAMETER_DEFAULT messages
2021-10-20 08:10:05 +02:00
4c73ac3805
uorb: use single byte for internal types in o_fields metadata
...
Reduces flash usage by ~9KB.
2021-10-20 08:10:05 +02:00
9aaf6e3f3e
[NXP_UCANS32K146] Increase usermain stack size to prevent init overrun
2021-10-19 20:17:11 -04:00
f4a85fa951
rcS: Allow startup files to be located on SD card
2021-10-19 14:08:38 -04:00
6daa579e46
Add ARK RTK GPS Debug, turn on UART RX DMA
2021-10-19 13:30:46 -04:00
21163d859e
Whitespace cleanup.
2021-10-19 13:29:26 -04:00
4cf8eb8226
ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics
2021-10-18 21:39:40 -04:00
33954a904f
lib/tunes: never play tunes if circuit breaker is set
2021-10-18 21:37:09 -04:00
b08f20806b
ROMFS: rcS don't play startup tune until after UAVCAN and px4io
...
- fixes potential duplicate startup tune
2021-10-18 21:37:09 -04:00
6e3e6846f4
Fix srf05 driver.
2021-10-18 21:00:59 -04:00
b35dd86d04
mc_pos_control: remove unused var
2021-10-18 20:37:18 -04:00
c8d6f8f5e5
remove proto for unused function limit_thrust_during_landing()
2021-10-18 20:37:18 -04:00
9d7c4596f7
navigator: increase stack 1800 -> 1864 bytes
2021-10-18 20:31:35 -04:00
b20d8207a7
Jenkins: compile delete obsolete px4_fmu-v5_ctrlalloc
2021-10-18 20:11:58 -04:00
3e9c88e48e
px4/fmu-v5 test, uavcanv0periph: disable modules to reduce flash
2021-10-18 18:45:19 -04:00
da1df5352c
fix pwm: only update oneshot timers owned by the current pwm_out instance
...
This fixes the case where oneshot was enabled with multi-instance pwm_out,
triggering oneshot updates too close to each other and as a result could
lead to spinning motors while disarmed.
2021-10-18 18:45:19 -04:00
2ed623c8ae
boards: px4_fmu-v6x_default disable modules to save flash
2021-10-18 18:45:19 -04:00
be868aae92
boards: px4_fmu-v5_uavcanv0periph disable modules to save flash
2021-10-18 18:45:19 -04:00
a7a2aa3b74
boards: px4_fmu-v3_test disable modules to save flash
2021-10-18 18:45:19 -04:00
cc1d24a5fe
ci compile_nuttx: disable fail-fast
...
So that all failures can be evaluated.
2021-10-18 18:45:19 -04:00
d01f2b1d40
cubepilot/cubeorange test: disable uavcan to reduce flash usage
2021-10-18 18:45:19 -04:00
dbd4426271
nxp/fmurt1062-v1: set CONSTRAINED_FLASH
2021-10-18 18:45:19 -04:00
e36a8f3765
ROMFS: disable vtol airframes for kakutef7
2021-10-18 18:45:19 -04:00
f1686b1abf
px4io: add dynamic mixing support
2021-10-18 18:45:19 -04:00
837a1066e0
px4io, pwm_out: update pwm default checking
...
The defaults changed in the previous commit for per-channel params,
so we make sure that the overall params are still used as long as the
per-channel params are default.
2021-10-18 18:45:19 -04:00
ab1d76ae7d
params: use PWM_MAIN_* instead of PWM_FMU_*
2021-10-18 18:45:19 -04:00
ba4a1ec6c4
boards/px4/io-v2: swap timer definitions
...
So that the ordering of the generated params make more sense.
TIM1 is now for channels 2-4 instead of 5-8.
2021-10-18 18:45:19 -04:00
319e90961b
output_groups_from_timer_config.py: fix timer index
...
The implementation assumed timers are defined in the same order as used
in the channels. This could lead to a mismatch between TIMx param and
actual timer config.
Now we use the actual array index, same as in the code.
2021-10-18 18:45:19 -04:00
183ab8bbe7
control_allocator: avoid default argument for virtual method getEffectivenessMatrix
...
clang tidy error:
/__w/PX4-Autopilot/PX4-Autopilot/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp:50:34: error: default arguments on virtual or override methods are prohibited [google-default-arguments,-warnings-as-errors]
ActuatorEffectivenessMultirotor::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix,
2021-10-18 18:45:19 -04:00
563cf61126
module_schema.yaml: add actuator_output section
...
The parameter additions are only used internally for the pwm generator.
2021-10-18 18:45:19 -04:00
8b3ab7e36d
fix pwm_out: ensure up_pwm_servo_arm() is never continuously called
...
This happened with multi-instance, when the second instance did not load
a mixer. Then the first instance would always return false in
update_pwm_out_state, and continuously call up_pwm_servo_arm.
This led to irregular pulses, e.g. with an output set to fixed 1500us, I
saw pulses of e.g. 1800us occationally (they were in a range of
[1500-2100]).
2021-10-18 18:45:19 -04:00
838ec5d485
airframes: set output function params for ctrlalloc airframes
2021-10-18 18:45:19 -04:00
44bbe87165
pwm_out_sim: use PWM_FMU for sitl and HIL_ACT for hitl
...
We might want to change this later, but for now it allows to use the same
airframe configs for sitl/real, and independent hitl configuration.
2021-10-18 18:45:19 -04:00
2b039b2af8
px4/fmu-v6x: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
4e0e2dec57
fmu-v6u: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
4a4acf7ead
px4/fmu-v5x: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
faf481df31
modalai/fc-v2: remove unused DIRECT_PWM_CAPTURE_CHANNELS define
2021-10-18 18:45:19 -04:00
d28dd5cc14
holybro/pix32v5: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
d9bf03b2dc
holybro/durandal-v1: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
0ab4a24de8
px4/fmu-v5: add capture pins to list of pwm pins
2021-10-18 18:45:19 -04:00
a01cf2efc0
rc.mc_apps: allow to set COM_PREARM_MODE with control allocation
...
This is safe now.
2021-10-18 18:45:19 -04:00
21c1671693
pwm_out_sim: add dynamic mixing support
2021-10-18 18:45:19 -04:00
0871b7974d
uavcan_v1: add dynamic mixing support
2021-10-18 18:45:19 -04:00
ae15ad14a8
tap_esc: add dynamic mixing support
2021-10-18 18:45:19 -04:00
35ce6d1b73
pca9685_pwm_out: add dynamic mixing support
2021-10-18 18:45:19 -04:00
955179e992
linux_pwm_out: add dynamic mixing support
2021-10-18 18:45:19 -04:00
c1e5e666f0
pwm_out, dshot: add dynamic mixing support
2021-10-18 18:45:19 -04:00
3ff6014a3c
uavcan: implement servo outputs
2021-10-18 18:45:19 -04:00
07fa8c5295
uavcan: reduce sensor status output verbosity
2021-10-18 18:45:19 -04:00
49f8131f82
uavcan: add dynamic mixing support
2021-10-18 18:45:19 -04:00
5f0781b6e9
output modules: add param prefix argument to MixingOutput
2021-10-18 18:45:19 -04:00
f5fbcb0770
dshot: handle telemetry index correctly when dynamic mixer is used
2021-10-18 18:45:19 -04:00
d951c74a7d
spracing/h7extreme: use single-line comments instead of multi-lines
...
Required for output_groups_from_timer_config.py parser
2021-10-18 18:45:19 -04:00
916447e804
params: add script to parse timer_config.cpp for timer group info
...
This allows to generate pwm params in the form of:
module_name: PWM Output
actuator_output:
output_groups:
- generator: pwm
param_prefix: PWM_FMU
channel_labels: ['PWM Main', 'PWM Capture']
standard_params:
disarmed: { min: 800, max: 2200, default: 900 }
min: { min: 800, max: 1400, default: 1000 }
max: { min: 1600, max: 2200, default: 2000 }
failsafe: { min: 800, max: 2200 }
extra_function_groups: [ pwm_fmu ]
pwm_timer_param:
description:
short: Output Protocol Configuration for ${label}
long: |
Select which Output Protocol to use for outputs ${label}.
Custom PWM rates can be used by directly setting any value >0.
type: enum
default: 400
values:
-5: DShot150
-4: DShot300
-3: DShot600
-2: DShot1200
-1: OneShot
50: PWM50
100: PWM100
200: PWM200
400: PWM400
reboot_required: true
2021-10-18 18:45:19 -04:00
db28ea9cfa
generate_params.py: extend params 'definitions' section to support a list
...
allows to add multiple entries for a multi-instance param with different
instance_start
2021-10-18 18:45:19 -04:00
6f01b69f49
mixer_module: add param generation for disarmed, min, max, failsafe
2021-10-18 18:45:19 -04:00
6424faccb1
generate_params.py: fix parse_yaml_parameters_config
...
Correctly handle multiple parameter sections
2021-10-18 18:45:19 -04:00
15daded6b0
refactor output_limit: split output_limit_calc_single into separate function
2021-10-18 18:45:19 -04:00
c55626d2d6
refactor Tools/serial: move non-serial param generation into separate script
2021-10-18 18:45:19 -04:00
a65533b469
mixer_module: add output functions for servos, landing gear, parachute, RC passthrough & gimbal
2021-10-18 18:45:19 -04:00
4b37a3d017
mixer_module: generate output_functions header from yaml file
2021-10-18 18:45:19 -04:00
fd76e5488e
mixer_module: add output functions
2021-10-18 18:45:19 -04:00
ab3fe77f46
mavlink_receiver: publish MAV_CMD_DO_SET_ACTUATOR command
2021-10-18 18:45:19 -04:00
5103f00de3
vehicle_command.msg: add VEHICLE_CMD_DO_SET_ACTUATOR
2021-10-18 18:45:19 -04:00
38fa65a47e
control_allocator: remove direct mixer, add actuator_{motors,servos} instead
2021-10-18 18:45:19 -04:00
a51c465b54
control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets
2021-10-18 18:45:19 -04:00
0c5a79d84d
fix mixer_module: use PRIx32 for debug printf
2021-10-18 18:45:19 -04:00
ad1bcfd77c
commander: correct lockdown CLI description
2021-10-18 18:45:19 -04:00
62dd38fe35
Prepare for Android NDK build
...
Modify CMakeList.txt prepare for Android NDK build
Signed-off-by: AuroraRAS <chplee@gmail.com >
2021-10-18 14:55:56 -04:00
b482986e8e
uavcannode: Add CANNODE_TERM parameter (configure CAN termination on ARK cannodes)
...
- adds functionality to enable the built in can termination on the ARK cannodes
2021-10-15 09:29:56 -04:00
55910caec5
UCANS32K146: Enable CONFIG_BCH to use EEEPROM as character driver
2021-10-15 05:54:27 -07:00
a66b0829b0
Standard VTOL: add airspeed to back transition logic and refactor it a bit
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
358c67226e
Tiltrotor: backtransition logic improvements
...
-use groundspeed in body x for exit condition
-use airspeed for speed exit condition if no valid groundspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
cba80a6338
Tiltrotor: front transition: fade out yaw equally to roll
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
641383cbfb
VTOL backtransition improvements
...
* vtol_type: only allow positive pitch setpoints during backtransition
* vtol params: set default of VT_B_DEC_FF to 0, as for most frames a FF is not necessary
* Tiltrotor: fix throttle during first part of back transition
* Tiltrotor: only enable all motors in second phase of backtransition (tilting phase)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
af291e2040
FlightTaskTransition: Transition improvements
...
- use fw pitch setpoint offset during transition
- take over previous vertical velocity and smooth out over transition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
d39c32619e
Tiltrotor: add minimum throttle of 0.25 during front transition
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
f61853d428
vtol: implement throttle blending out and into transition
...
- blend into TECS throttle after front transition
- blend out of TECS throttle during backtransition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
8dd76050e0
vtol: take fixed wing attitude setpoint during transition if altitude is
...
not controlled
- required as there is no flightask running if altitude is not controlled
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
435e5515df
github actions: increase nuttx and linux ccache max size to 100M
2021-10-14 19:45:29 -04:00
7e71b7eafc
github actions: compile nuttx archive bin files and remove duplicate nuttx cannode builds
2021-10-14 19:45:29 -04:00
12c7056ae5
drivers/imu: icm20602/icm20649/icm20948 remove timestamp_sample adjustments
2021-10-14 16:37:11 -04:00
56823b5ac9
ekf2: EKF control don't allow invalid flow gyro to propagate
2021-10-14 16:31:22 -04:00
e8a064af02
github actions: try increasing nuttx ccache limit
2021-10-14 11:54:19 -04:00
b88c8eb245
Jenkins: hardware stop commander before sensors module to avoid errors
...
- this is only done to silence timeouts during small benchmarks
2021-10-14 09:17:50 -04:00
d35cf78e4a
commander: PX4_ERR if attitude or angular velocity become invalid
2021-10-14 09:17:50 -04:00
4559230de6
drivers/imu/invensense: adjust icm20602/icm20649/icm20948 rescheduling logic
...
- this handles the case where the driver might be more than one full
transfer cycle behind
2021-10-14 09:17:11 -04:00
ef4d4c3093
sensors/vehicle_imu: fix timestamp_sample increasing check
2021-10-14 09:12:45 -04:00
4535b18a80
Set setpoint type as const
2021-10-14 11:18:02 +02:00
07d72f8604
Fix comments
2021-10-14 11:18:02 +02:00
443666199e
Move setmode outside of control_position
...
This commit moves the position controller mode handling outside of the control_position method.
The control_method is renamed to control_auto
2021-10-14 11:18:02 +02:00
ae9e91f90c
FW Pos controller: fix format in new switch
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
c3e961a1ed
FW Pos C: move setting of control_mode_current to separate function and minor clean ups
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
0cf3ef87e3
FW Position Controller: move nav_speed_2d calculation to function
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-14 11:18:02 +02:00
581ec224be
Encapsulate loiter and position setpoint handling
...
This commit encapsulates the position setpoint and loiter setpoint handling into a single method, in order to make the code easier to understand
4be452
2021-10-14 11:18:02 +02:00
f08f2a340d
motion_planning: In VelovitySmoothing, mark const functions const
2021-10-13 21:25:43 -04:00
fed234de81
flight_mode_manager: Extracted position trajectory motion planning into a library
...
Extract the functionality to plan smooth position motion trajectories into a
motion planning library, such that it can be used in other parts of the code as well.
2021-10-13 21:25:43 -04:00
07303af8f8
UAVCANv1 Fix typo in #define
2021-10-13 21:22:15 -04:00
ed394027b1
UAVCANv1 Include Kconfig & Fix #18396
2021-10-13 21:22:15 -04:00
a732ddaefb
Deprecate 4250_teal from CMakeLists.txt.
2021-10-13 17:25:18 -04:00
c1b0d78077
Minimize flash by migrating MIXER quad_x and PWM_OUT 1234 to rc.mc_defaults. Deprecate 4250_teal config file.
2021-10-13 17:25:18 -04:00
8b37db7825
Functions: fix corner case x_low == x_high == value resulting in NAN
...
and added unit test to cover it
2021-10-13 17:24:16 -04:00
f5e1da5b0f
Fix broadcom afbrs50 build
2021-10-13 17:22:26 -04:00
7de00469a6
platforms: nuttx px4_init fix USB serial mavlink autodetect
2021-10-13 16:34:45 -04:00
f91aa76645
boards: add v5x RTPS version again
...
I just copied this from v5 and removed the heater.
2021-10-13 16:20:43 -04:00
426efb515f
setup: fix installing in virtual env on Ubuntu
...
This fixes running the Ubuntu setup script in a Python virtual
environment. This was failing because pip doesn't allow the --user
option in virtual environments.
2021-10-13 16:19:24 -04:00
351f679c2f
parameters: Use px4::atomic_bool instead of px4::atomic<bool>
...
This enables us to define the actual atomic bool type in px4_platform
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
e6658547cf
sensors/vehicle_imu: Fix compiler warning for implicit INFINITY double->float cast
...
This pops up on some newer compilers
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
5509235517
commander: Fix implicit NaN conversion from double to float compiler warning
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-10-13 15:01:26 -04:00
41a4045630
boards: nxp_fmuk66 fix serial_dma_poll
2021-10-13 13:45:39 -04:00
49a4283d0d
boards: px4_fmu-v5x restore rc.board_mavlink
...
- this was unintentionally removed in https://github.com/PX4/PX4-Autopilot/pull/16180
2021-10-13 17:34:20 +02:00
ffb47466df
Add ARK GPS passthrough
2021-10-12 22:00:58 -04:00
56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
fab053d33b
mavlink: receiver battery_status prevent out of bounds access
...
- fixes https://github.com/PX4/PX4-Autopilot/issues/18385
2021-10-12 09:20:40 -04:00
12670b70f4
Jenkins: hardware quick cal skip sleeps
2021-10-11 15:21:43 -04:00
801ef2d520
VTOL main: add local variable for int(vehicle_command.param1 + 0.5)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
342e9900f8
vtol main: only guard against transition to FW in certain flight modes, never to MC
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
5ebe41efbf
pilotpi: fix upload cmake
2021-10-11 10:43:59 -04:00
8f8304f31e
FixedWingPositionController: Set l1 variables to NAN if no l1 guidance
...
took place
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-11 16:41:42 +02:00
ae5d3103f4
fw l1 controller: added a flag to indicate if navigation has updated
...
- can be used to check if l1 controller ran during a cycle
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-11 16:41:42 +02:00
e2f048f608
Add sitl glider model
...
Add airframe configs for SITL glider model
This commit adds an airframe config for a glider model
2021-10-10 12:33:25 -04:00
99b098f608
Update FixedwingAttitudeControl.cpp
2021-10-09 19:39:43 -04:00
c92cd65831
Update EKF2.cpp
2021-10-09 19:39:43 -04:00
6576e1fda9
Update battery_status.cpp
2021-10-09 19:39:43 -04:00
b56bd7cb21
Update AirspeedValidator.cpp
2021-10-09 19:39:43 -04:00
47a72a6b7b
Update vtol_att_control_main.cpp
2021-10-09 19:39:43 -04:00
9fd19a2c83
Update standard.cpp
2021-10-09 19:39:43 -04:00
af34b21ba8
Update tiltrotor.cpp
2021-10-09 19:39:43 -04:00
98f655815a
mavlink: add LAND_TARGET stream
2021-10-09 10:29:02 -04:00
4be45229bf
fw_pos_control_l1: fix launch detector dt update
...
- fixes https://github.com/PX4/PX4-Autopilot/issues/18354
2021-10-08 17:34:14 -04:00
089f96f800
lib/drivers/{accelerometer,gyroscope} skip obselete Vector3f construction
...
- FIFO clip count only check if value is INT16_MIN/MAX rather than abs() call
2021-10-08 17:33:27 -04:00
fd39d5b9a1
drivers/distance_sensor/lightware_laser_serial: add LW20/C support
2021-10-08 17:30:41 -04:00
47dc2ae5a5
Revert "protocol_splitter: delete non rtps or mavlink data from buffer"
...
This reverts commit 0cae3c129d
2021-10-08 14:35:12 -04:00
2ba369dd54
Add uavcannode fix2 mode and submode
2021-10-08 11:00:37 -04:00
d8e88aedc6
motor_ramp ram cleanup
2021-10-08 10:51:06 -04:00
ba66f8a1e2
reset hover thrust value in controllers when disarmed
...
During landing, hover thrust value can be very incorrect so it should be
reset before taking off
2021-10-08 10:39:49 +02:00
ba1b7f3a07
CA pseudo inverse: set all small elements in CA matrix to zero
...
This avoids problems in the sequencial desaturation method where vectors
of the CA matrix are used to desaturate the motors.
2021-10-08 09:35:40 +02:00
d1a2d6e1aa
h480_ctrlalloc: tune rate controller
2021-10-08 09:35:40 +02:00
984a698760
matrix: update to include min/max of slices
2021-10-08 09:35:40 +02:00
21b1f090e6
SITL: add typhoon_h480_ctrlalloc target
2021-10-08 09:35:40 +02:00
b18b7e84d2
CA pseudo-inverse: normalize control allocation matrix
2021-10-08 09:35:40 +02:00
927c0c4296
McRateControl: publish torque and thrust setpoint for control allocator
2021-10-08 09:35:40 +02:00
212df95193
ctrlalloc: use normal rate controller
2021-10-08 09:35:40 +02:00
3de5623556
Kconfig remove defconfig in root directory after gen
...
Cleanup fmu configs
2021-10-07 10:09:01 -04:00
eb8620a0da
Kconfig FMU-V5 flash cleanup
2021-10-07 10:09:01 -04:00
cb6b1bd427
boards: delete unused test and debug variants
2021-10-07 10:09:01 -04:00
6b7237aa3a
Kconfig add WIFI serial port option
2021-10-07 10:09:01 -04:00
05d71c8118
Kconfig fix CI issues after rebase
2021-10-07 10:09:01 -04:00
96994b82bb
Kconfig cmake change rm to remove to remain compatible with CMake older then 3.17
2021-10-07 10:09:01 -04:00
ed5fee1a72
Backport #18311 mc atune
2021-10-07 10:09:01 -04:00
454c907b7d
Kconfig backport #18327 mag_bias
2021-10-07 10:09:01 -04:00
36191e649a
Kconfig backport #18289 and other flash size fixes
2021-10-07 10:09:01 -04:00
500d80c329
Kconfig backport 51758bd7e6
2021-10-07 10:09:01 -04:00
bfa87fdac7
Kconfig fix wrong nuttx submodule commit
2021-10-07 10:09:01 -04:00
bb7b033e11
Kconfig backport #18259 & remove contrained flash depedency on NO_HELP
2021-10-07 10:09:01 -04:00
c3c9910f04
Backport #17814 to Kconfig
2021-10-07 10:09:01 -04:00
5e98f38f78
Kconfig rebase backports 26-09-21
2021-10-07 10:09:01 -04:00
6a1675ac28
Backport #17864 to px4board config
2021-10-07 10:09:01 -04:00
60790f7112
Backport boards: modalai_fc-v1 update default.cmake ( #18202 )
2021-10-07 10:09:01 -04:00
9b55a8083a
Backport to kconfig: boards: remove camera_capture from sitl and linux targets
2021-10-07 10:09:01 -04:00
12898ea560
[Kconfig] Update configs 06-09-21
2021-10-07 10:09:01 -04:00
010d854023
[Kconfig] Add extra SITL cmake variables
2021-10-07 10:09:01 -04:00
0571932e7c
[Kconfig] Backport rebase config changes
2021-10-07 10:09:01 -04:00
7c6b995cb4
[Kconfig] Replace find_executable by python module, moved python check before calling kconfig
2021-10-07 10:09:01 -04:00
c6e7b8bae1
[Kconfig] Fix SITL by adding rpm/rpm_simulator
2021-10-07 10:09:01 -04:00
f7803fb686
[Kconfig] Bloaty 2nd pass
2021-10-07 10:09:01 -04:00
2dcfe533d6
[Kconfig] Telemetry don't include iridum by default
2021-10-07 10:09:01 -04:00
33fd65e5fe
[Kconfig] Fix regressions found by bloaty and cleanup unused cmake
2021-10-07 10:09:01 -04:00
43a3de8c18
[Kconfig] Fix px4 fmu configs
2021-10-07 10:09:01 -04:00
a918025adb
[Kconfig] fix fmu-v2 configs
2021-10-07 10:09:01 -04:00
892d673b45
[Kconfig] fix flash overflow test builds
2021-10-07 10:09:01 -04:00
8951ed9f12
[Kconfig] fmu-v5 match cmake configs
2021-10-07 10:09:01 -04:00
1eb9a77a9b
[Kconfig] Added missing sensor drivers
2021-10-07 10:09:01 -04:00
603d0c594d
[Kconfig] fix boards configs
2021-10-07 10:09:01 -04:00
efc91d2b69
[Kconfig] Fixed inclusion of microbench bydefault when TESTING was enabled
...
Added full optimization option
2021-10-07 10:09:01 -04:00
a1247d6bcf
[Kconfig] Backport cmake config changes
2021-10-07 10:09:01 -04:00
9f38553ab0
[Kconfig} update broken board configs px4 fmu-v4/v5
2021-10-07 10:09:01 -04:00
cc752f11df
[Kconfig] python script doesn't remove delta, thus we've to manually add remove deltas
2021-10-07 10:09:01 -04:00
d4fbd5674e
[Kconfig] Change patern matching order so that xx_xx doesnut result xx if it exists
2021-10-07 10:09:01 -04:00
b3e799e277
[Kconfig] Add all distance sensors
2021-10-07 10:09:01 -04:00
5542402ca0
[Kconfig] CI fixes and SITL fix
2021-10-07 10:09:01 -04:00
6d0829c251
[Kconfig] px4 io-v2 fix toolchain
2021-10-07 10:09:01 -04:00
b44c0eb434
[Kconfig] FMUv4 CI fixes
2021-10-07 10:09:01 -04:00
21e6547ac7
[Kconfig] Toolchain & platform fixes, SITL still broken
2021-10-07 10:09:01 -04:00
d1e7642b9a
[Kconfig] temporily updated github actions to latest to test CI
2021-10-07 10:09:01 -04:00
4ba1a2f395
[Kconfig] Fix Posix / SITL build
2021-10-07 10:09:01 -04:00
0400c24af5
[Kconfig] 17-08-21 rebase fixes
2021-10-07 10:09:01 -04:00
c2ad07b983
[Kconfig] Don't inherit kconfig when bootloader (and canbootloader)
2021-10-07 10:09:01 -04:00
6af0477733
[Kconfig] Gnerate px4board from old cmake
...
Added make updateconfig to update all config when default's have changed
Added cmake to px4board conversion script
2021-10-07 10:09:01 -04:00
815617e670
Added common options for sensor drivers
...
uavcan_board_identity check for existance
Added kconfig for compiler definitions
2021-10-07 10:09:01 -04:00
82888d3320
[Kconfig] Merge/diff fixes and added some FMUv5 targets
2021-10-07 10:09:01 -04:00
ea393b54d9
[Kconfig] non-default labels config inherit default.px4board config
2021-10-07 10:09:01 -04:00
b7f03cec5e
[Kconfig] Add FMU-V5 and PX4-IOv2 px4board config
2021-10-07 10:09:01 -04:00
56472eeed7
Completely removed px4_add_board
2021-10-07 10:09:01 -04:00
57593cc56a
Initial attempt to make px4_add_board obsolute
2021-10-07 10:09:01 -04:00
7aa28ba9cd
Kconfig remove clean use configure depends and apps timestamp instead
2021-10-07 10:09:01 -04:00
abd85cd219
Rebase 06-07-21 and add batman Kconfig support
2021-10-07 10:09:01 -04:00
4e4aabc03f
Update Kconfig after rebasing 03-05-21
2021-10-07 10:09:01 -04:00
d5e3e9a7bc
[Kconfig] Decompose Kconfig, now each module has its own Kconfig
...
Which is better for versioning and decomposability
2021-10-07 10:09:01 -04:00
094d3557d7
Add Kconfig for Gyro calibration #17040
2021-10-07 10:09:01 -04:00
a0821afafd
[Kconfig] Move UAVCANv0 num interfaces to Kconfig
2021-10-07 10:09:01 -04:00
16f86a99c2
Swap pwm_out with pwm_sim_out to get same binary output as the non-kconfig build
2021-10-07 10:09:01 -04:00
e4f9fd8f53
[Kconfig] forgot distance sensor furthermore K66 build should be equal now
2021-10-07 10:09:01 -04:00
29c4d234ec
Add make clean after boardconfig configure
2021-10-07 10:09:01 -04:00
787b9b54e1
Board config now saved as defconfig which is smaller and friendlier for version control
2021-10-07 10:09:01 -04:00
8df21b0b42
Changed CMake warning to status to not kill the CI
...
Furthermore removed obsolete uavcanconfig target
2021-10-07 10:09:01 -04:00
7a747b43f6
Initial boardconfig working with FMUK66
2021-10-07 10:09:01 -04:00
4044fbd4a0
Initial Kconfig implementation in CMake
...
Used fmuk66-v3 as test case
2021-10-07 10:09:01 -04:00
4b89ff29ce
PX4 full firmware Kconfig PoC
2021-10-07 10:09:01 -04:00
55aa2e50ff
UAVCANv1 menuconfig make it board label configurable
2021-10-07 10:09:01 -04:00
b9bcb7fe7f
uavcanconfig force CMake reconfiguration after use
2021-10-07 10:09:01 -04:00
95e593f3b8
Added python menuconfig.py fallback
2021-10-07 10:09:01 -04:00
37271d334b
[UAVCANv1] Initial uavcanconfig menuconfig example
2021-10-07 10:09:01 -04:00
0cae3c129d
protocol_splitter: delete non rtps or mavlink data from buffer
...
protocol_splitter: add missing buffer_size checker
2021-10-07 09:23:23 -04:00
a202bcbc73
VTOL: fix param description concerning VT_PITCH_MIN
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-07 09:22:59 -04:00
fb8bf7eaa6
ROMFS: remove default params from configs
...
Remove params from airframe configs that are just set again
to the param default value or to the value that is
specified in the mc_default, fw_default or vtol_default.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-07 09:22:59 -04:00
393f59ae71
param jsonout: handle @boolean flag
...
This got lost when switching from xml to json metadata
2021-10-07 09:20:50 -04:00
d03bf42f60
slice: add min and max functions
2021-10-07 09:19:28 -04:00
dc9e072e83
github actions ccache set hash_dir=false
2021-10-06 17:55:50 -04:00
bbfaa4694c
boards: cleanup serial RX DMA hrt_call_every
...
- remove ts_to_abstime dependency
2021-10-06 14:39:59 -04:00
b40dbd3d6f
FlightTaskAuto: hotfix filter for yawspeed feed-forward
...
to get rid of derivative spikes when navigator is
continuously updating the yaw setpoint in the
triplet for a POI but is running at a lower rate.
The proper solution is to generate that yaw setpoint
with high rate in the flight task and have the triplet
just guid to the next waypoint at low rate.
2021-10-06 14:06:58 -04:00
3e6ff2451b
github actions increase newly added timeouts
2021-10-06 13:47:12 -04:00
6e057a644b
github actions remove ccache from deploy metadata and low priority builds
...
- this is an attempt to preserve our limited amount of github actions
cache storage
2021-10-06 13:46:20 -04:00
0bdcd54184
mavlink: reciever trajectory_representation_waypoints resepect valid_points
...
- fixes https://github.com/PX4/PX4-Autopilot/issues/18369
2021-10-06 13:45:15 -04:00
31a599f303
Commander: add comment in COM_RC_OVERRIDE that it's always enabled in Descend mdoe
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:32:23 -04:00
eeb6244c6b
Commander: add wind speed warning
...
Publishes periodically (max every 1 min) a warning if the current wind estimate
is above COM_WIND_WARN.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:31:13 -04:00
1a4ce136f3
Tiltrotor: add hover tilt offset to pusher assist tilt
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:27:19 -04:00
4e3fa7cf35
VTOL: rework forward actuation assist
...
-allow positive pitch offsets in hover
-add param for min pitch during LAND
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:27:19 -04:00
f0de88fada
vtol_type: fix motor_state::VALUE
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:26:39 -04:00
a461bb971a
FlightTask: preserve vertical velocity during reactivation
...
to allow descending by stick for reliable land detection.
Issue:
Stick smoothing gets completely reset to state when not taken off
-> downwards velocity setpoint is gone when not taken off
-> in_descend flag of land detection is never true when not taken off
-> when landing but falling out of landing it landing detection fails
bafore taking off and landing again
2021-10-06 11:25:51 -04:00
c20e5e3a00
FlightTaskManualAltitudeSmoothVel: remove separate reactivate handling
...
It was added before the activation was able to work with the previous
setpoint.
2021-10-06 11:25:51 -04:00
9b92862980
MulticopterLandDetector: correct in_descend comment
2021-10-06 11:25:51 -04:00
10bc778651
boards: freefly_can-rtk-gps delete unused include
2021-10-06 10:41:36 -04:00
d95e387d79
angular acceleration: change 2nd order to 1st order LPF
...
Having a 2nd order low-pass filter in the derivative loop reduces
stability at low cutoff values as too much phase is lost through
the filter. Using a 1st order filter avoids this issue because its
maximum phase loss is 90 degrees instead of 180 degrees for a 2nd order
lpf.
2021-10-06 16:26:03 +02:00
1b58202b0d
AlphaFilter: add function to set param from cutoff frequency
2021-10-06 16:26:03 +02:00
b5d401b20c
drivers/imu: ensure timestamp_sample adjustment isn't done as float (continued)
2021-10-06 10:19:01 -04:00
e31dd34388
lib/led: replace subscription missed error with perf count
2021-10-06 09:31:44 -04:00
113ea5ea26
github actions add timeout to all_variants nuttx compile job
2021-10-06 09:28:27 -04:00
6edb1fa1f8
github actions add timeout to SITL tests run
2021-10-06 09:28:27 -04:00
ad27d2c49a
github actions enable ccache hash_dir for SITL tests
2021-10-06 09:28:27 -04:00
52fccb1e75
github actions decrease ccache max_size selectively
2021-10-06 09:28:27 -04:00
d002002ceb
github actions increase ccache compression level
2021-10-06 09:28:27 -04:00
ddd1dea4f0
ekf2: avoid uint64 timestamp conversion to float
2021-10-06 09:27:06 -04:00
dc1b423721
drivers/imu: ensure timestamp_sample adjustment isn't done as float
...
- larger HRT timestamps can't be represented exactly when cast to float
2021-10-06 09:26:26 -04:00
6b8840a01b
commander: fix switch to ALTCTL when RC regained
...
This fixes the case where we sometimes switch to altitude control
instead of position control when RC is regained.
What happens is that we detect that the pilot wants to take over control
right when RC comes back. This means that we try to go in position
control in main_state_transition, however, we are already in position
control because we come back from the failsafe state. The result of
main_state_transition is then TRANSITION_NOT_CHANGED, and therefore we
"fall back" to altitude control even though being already in position
control would have been fine.
This fix checks the return result of main_state_transition correctly and
only reacts to TRANSITION_CHANGED and TRANSITION_DENIED but ignores
TRANSITION_NOT_CHANGED.
2021-10-06 10:30:08 +02:00
51758bd7e6
boards: delete unused variants
2021-10-05 23:14:04 -04:00
3570e5a4f0
boards: cuav_nora_test disable attitude_estimator_q to save flash
2021-10-05 20:43:43 -04:00
2dca51216c
vtol: change message for transition timeout warning
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-05 18:19:33 -04:00
bdc57178d4
Tailsitter: add add transition timeout (abort transition after VT_TRANS_TMEOUT, Quadchute)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-05 18:19:33 -04:00
1a1bb2629d
tiltrotor: add transition timeout (abort transition after VT_TRANS_TIMEOUT, Quadchute)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-05 18:19:33 -04:00
02aed782e3
boards: px4_fmu-v6x_default disable sd_stress to save flash
2021-10-05 18:17:22 -04:00
beb358a344
px4_work_queue: adjust status formatting to accommodate longer names (eg mc_autotune_attitude_control)
2021-10-05 18:09:00 -04:00
98c7f664c1
FW Position control: add roll slewrate also in manual Position flight mode
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-05 18:06:49 -04:00
2edd97102b
Sticks/StickYaw: refactor to use constructor properly
2021-10-05 18:05:54 -04:00
0cc13f0799
FlightTaskAutoMapper: add horizontal and yaw nudging during final descent
2021-10-05 18:05:54 -04:00
bb9f167d79
StickAccelerationXY: add reseting position to specified coordinates
2021-10-05 18:05:54 -04:00
578d57a060
Jenkins: hardware disable sd_stress temporarily
...
- currently failing intermittantly when run on the test rack
2021-10-05 17:55:52 -04:00
b4d33a36f8
boards: px4_fmu-v6x_default disable examples/fake_gps to save flash
2021-10-05 17:11:47 -04:00
2b9ebb7ed6
boards: holybro_kakutef7 disable systemcmds/work_queue to save flash
2021-10-05 17:10:30 -04:00
983dd4db29
don't switch to SETPOINT_TYPE_LOITER during transitions ( #18350 )
2021-10-05 14:40:14 +02:00
75b8e11b90
commander: make LAND failsafe stick
...
By default we would leave the LAND failsafe as soon as a link comes
back. With this change, we switch to the LAND failsafe like a proper
mode change, immediately disabling the failsafe as such.
This is as the same that is done for RTL in fact.
This is not optimal but a workaround for the problem where we switch out
of failsafe right on landing and then discover takeoff again and start
looping through it again and again without ever disarming.
2021-10-05 14:02:22 +02:00
896ad3a627
cmake: fix find_program ozone
2021-10-04 18:27:50 -04:00
a519916d79
systemcmds/sd_stress: return -1 on FAIL
2021-10-04 17:38:31 -04:00
c271a9e3e6
add sd_stress to all boards and run on test rack
2021-10-04 17:38:31 -04:00
397b1ed8d6
Add sd_stress command
2021-10-04 17:38:31 -04:00
4701a513c2
mavlink: fix errno for rename
2021-10-04 17:38:31 -04:00
59b56dd06f
mavlink: add more error messages
2021-10-04 17:38:31 -04:00
74b2fe326d
mavlink: don't (mis)use errno as global variable
...
I think it was not the best idea to use errno as a global variable to
keep track of the error code. I saw the errno change from where it was
set to where it was actually used, maybe because part of it is called in
the receive thread and part in the regular update/send() thread.
To be safe, I just created a class variable instead.
2021-10-04 17:38:31 -04:00
96388f07fd
mavlink: improve debugging around MAVLink FTP
...
- Remove ifdefs with MAVLINK_FTP_DEBUG and use PX4_DEBUG instead
- Add a couple of more PX4_DEBUG lines
2021-10-04 17:38:31 -04:00
c35f68b49d
boards: px4_fmu-v5 sync UAVCAN_TIMER_OVERRIDE across all variants
2021-10-04 15:27:15 -04:00
00b15798da
Tools/HIL/run_tests.py - temporarily disable flaky dataman test until it can be reviewed
2021-10-04 12:54:01 -04:00
1325b9c876
Jenkins: hardware retry checkout if necessary
2021-10-04 12:54:01 -04:00
413e15d083
Add vscode cmake-variant for px4_sitl_rtps
2021-10-04 11:58:26 -04:00
540c024cbb
parameters: avoid printing errors for erased flash devices
...
Errors:
ERROR [parameters] param import failed (-1) attempt 1, retrying
ERROR [parameters] param import failed (-1) attempt 2, retrying
ERROR [parameters] param import failed (-1) attempt 3, retrying
ERROR [parameters] param import failed (-1) attempt 4, retrying
ERROR [param] importing from '/fs/mtd_caldata' failed (-1)
2021-10-04 10:25:32 -04:00
cc4152e10d
gyro_fft: require higher SNR for initially tracking a peak
...
- initial frequency peak tracking SNR increased from 10->15 db
- after initial detection the threshold decreases to SNR 5db
- gyro_fft large method refactored into smaller pieces
- sensors/vehicle_angular_velocity: dynamic notch FFT make sample rate
check a percentage and relax lower bound safety threshold
2021-10-04 10:17:16 -04:00
6d78054f50
mavlink USB auto start/stop on boards with VBUS
...
- no longer start sercon or mavlink usb by default
- on USB connection (VBUS) monitor serial USB at low rate and start Mavlink if there's a HEARTBEAT or nshterm on 3 consecutive carriage returns
- the mavlink USB instance is automatically stopped and serdis executed if USB is disconnected
- skipping Mavlink USB (and sercon) saves a considerable amount of memory on older boards
2021-10-03 15:32:54 -04:00
07e307b074
FieldSensorBiasEst: fix bias learning equation
...
Also compensate the tuned learning gains for the new equation to keep
the same tuning
2021-10-02 21:25:21 -04:00
e0bcc17f5b
mbe: integrate pre-takeoff mag bias estimate in VehicleMagnetometer
2021-10-02 21:25:21 -04:00
1443f773da
mbe: add module to targets
2021-10-02 21:25:21 -04:00
ec178c8745
create new mag_bias_estimator module
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-10-02 21:25:21 -04:00
d858835fd0
mbe: initialize estimator with current measurement
2021-10-02 21:25:21 -04:00
9067d9cae9
mbe: improve algorithm and fix unit test
2021-10-02 21:25:21 -04:00
24dc627e8a
Add MagnetometerBiasEstimator for online magnetometer calibration
2021-10-02 21:25:21 -04:00
5874b1f87c
mc atune: add module to all targets
...
- adjust flash constrianed targets to fit
2021-10-02 18:12:05 -04:00
b99dbcc6a7
ModuleDocumentation: add autotune categorie
2021-10-02 18:12:05 -04:00
61dabca4c8
mavlink_receiver: Add mavlink handler with progress report
2021-10-02 18:12:05 -04:00
d463dfe2d8
mavlink_receiver: handle auto-tuning command
2021-10-02 18:12:05 -04:00
cd61065aea
sitl: start MC autotune module
2021-10-02 18:12:05 -04:00
9681f819a8
mc_att: inject identification signal in att control output
2021-10-02 18:12:05 -04:00
0498ee92d0
mc atune: add multicopter attitude auto-tuner module
2021-10-02 18:12:05 -04:00
d3cb806627
pid_design: add model-based PID tuning law based on GMVC
2021-10-02 18:12:05 -04:00
404145c655
sysID: add system identification library
2021-10-02 18:12:05 -04:00
d504b49695
mc_rate: compute control energy and publish to status msg
2021-10-02 18:12:05 -04:00
0a662ef22c
Add uavcannode RTCM subscriber
2021-10-01 20:43:49 -04:00
05ee31072a
Add ARK RTK GPS
2021-10-01 20:34:32 -04:00
c1c86bc349
Jenkins: hardware clear ccache stats before compiling
2021-10-01 20:31:29 -04:00
a53946649a
sensors/vehicle_magnetometer: only check if sensor enabled after parameters loaded
2021-10-01 20:30:46 -04:00
3c8f1f2a50
Jenkins: reduce build agent cpu share
2021-10-01 18:18:51 -04:00
2adf3f959b
Update Tools/gazebo_sitl_multiple_run.sh
...
Co-authored-by: JaeyoungLim <jalim@ethz.ch >
2021-10-01 16:09:32 +02:00
bc5d55c4a4
fix the problem related to sitl multiple vehicle environment
2021-10-01 16:09:32 +02:00
68a13326f0
mavlink: remove unused strncpy ( #18300 )
2021-10-01 10:58:25 +02:00
7c9903f610
stm32h7:px4io_serial use TRBUFF
...
- includes NuttX with TRBUFF backports
2021-09-29 23:55:00 -04:00
25a27d26e0
logger:log_writer_file Do not try to store ulog name on systems without hardfault logging
2021-09-29 23:51:25 -04:00
f56701e72f
micro_hal:Remove px4_savepanic on arch without hardfault logging
2021-09-29 23:51:25 -04:00
cb47203a9e
NuttX with deglitched GPIO backports
2021-09-29 23:50:11 -04:00
f3a904c109
Jenkins: HIL increase timeout
...
- occasionally we have a considerable backlog
2021-09-29 20:37:07 -04:00
63e29b821c
holybro_can-gps-v1:Ensure sensors are powered
2021-09-29 14:37:17 -04:00
2abbf791b3
NuttX with deglitched GPIO backports
2021-09-29 14:37:17 -04:00
70eca23468
ark_can-gps_debug:Fit in Flash w/o loosing tools
2021-09-29 14:37:17 -04:00
20c1f763d2
px4_fmu-v4:CAN build needs .app_descriptor
2021-09-29 14:34:42 -04:00
797bd9592b
mxp_ucans32k146:using padding of 8
2021-09-29 14:34:42 -04:00
f4e9672fde
make_can_boot_descriptor:Add padding argument
2021-09-29 14:34:42 -04:00
360c3781f3
UCANS32K146-01 Add CAN tranceiver self test
2021-09-29 09:36:14 -07:00
c39a21aa54
ekf2: selector remove special timeout condition
...
- this mainly produces false positives when disarmed and bench testing
2021-09-29 09:59:08 -04:00
ed7c5991eb
ekf2: Fix dimensional error in gyro and accel bias variance conversions
2021-09-29 09:58:41 -04:00
5677ab042b
tap_esc: fix resource leak ( #18296 )
2021-09-29 14:51:31 +02:00
03bd5e0f48
lib/led: move drivers/lights/rgbled LED_RGB_MAXBRT -> SYS_RGB_MAXBRT
2021-09-28 10:09:55 -04:00
b24e5fc0af
clean remaining offboard_control_signal_found_once
...
offboard_control_signal_found_once is not used any more
2021-09-28 09:25:04 -04:00
417a50b2cc
fix typo in comment
2021-09-28 09:24:47 -04:00
6cae4c92e7
Add a header to logfile encryption key exchange file
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
9a4ef709ca
Add parameters for configuring the logfile encryption
...
SDLOG_ALGORITHM for selecting the crypto algorithm
SDLOG_KEY for selecting the key in keystore to use with the algorithm.
for symmetric algorithms which are currently supported, this is just a free
slot to be used, the key is generated at logging start
SDLOG_EXCH_KEY for selecting an RSA2048 key for encrypting the SDLOG_KEY
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
1687cab56c
FMUv5: Add a build target for crypto interface testing, px4_fmu-v5_cryptotest
...
To avoid messing with existing targets, and to automatically set the test keys
for the keystore.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
ce76380051
Add a simple script to decrypt ulog files
...
This now only decrypts xchacha20 encrypted logs, where keys are
exchanged with rsa_oaep_sha256 and nonce appended to the end of the
key
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
9472f79307
Take crypto interfaces into use in logger, to encrypt ulog data
...
- Generate a symmetric encryption key and a nonce value
- Use a public key in keystore to encrypt the symmteric key
- Write the encrypted key and the nonce value to disk into .ulgk, name matching with the encrypted log file
- use quick stream encryption to crypt the .ulg file contents
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
6b22fe99b7
Globally define -DPX4_CRYPTO when the board defines some crypto backend
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
3db76d88fe
Add crypto key generation functions
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
4c6779812d
Add keystore_put_key interface function for storing keys permanently
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
fc2668cba1
Add encryption function for the crypto_backend and px4_crypto
...
Take into use libtomcrypt library to add RSA and some other algorithms
for SW ecnryption use case
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
634d911b74
Add a test key for RSA2048
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
40063bd54b
Add libtomcrypt and libtommath submodules
...
These provide e.g. rsa_oaep, which can be used for sw crypto
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
be4f7cabf9
Add compilation of nuttx_crypto
...
NuttX has lots of usable functionality for crypto, such as rng with entropy pool
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
d36a91ceaf
Add generic px4 interface for crypto features
...
Add common functions, implemented for nuttx, and link to architecture specific libraries
Make a separate library to wrap nuttx random number generator as "os_random".
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
aa61bc4942
Add functions for initializing empty crypto backend handles
...
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-09-27 17:45:07 +02:00
9290ea974e
commander: allow force disarming
...
Allows to do commander disarm -f to disarm no matter what.
2021-09-27 09:58:03 -04:00
333f539900
mavlink: add simple incoming message stats to status
2021-09-27 09:48:00 -04:00
feff564882
Update submodule jMAVSim to latest Mon Sep 27 00:38:51 UTC 2021
...
- jMAVSim in PX4/Firmware (592885480ehttps://github.com/PX4/jMAVSim/commit/0a5375a70689aac53143768de9033034f3636022
- jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/0a5a8c6d9da05bee5f82faa25430213d97d396b0
- Changes: https://github.com/PX4/jMAVSim/compare/0a5375a70689aac53143768de9033034f3636022...0a5a8c6d9da05bee5f82faa25430213d97d396b0
0a5a8c6 2021-09-02 Julian Oes - Merge pull request #130 from PX4/pr-udp-connection
2590b24 2021-09-01 Julian Oes - UDPMavLinkPort: add debug output around wait
7255b28 2021-08-31 Julian Oes - src: enable UDP connection in client and host mode
2021-09-27 08:05:48 +02:00
592885480e
boards: ark_can-gps_debug disable perf to save flash
2021-09-26 12:29:11 -04:00
9a3fa6199b
uorb top report total publication rate
2021-09-26 12:29:11 -04:00
e81214a22f
mavlink: avoid double trigger using sequence
...
By adding the sequence number we can avoid double triggering due to
command retransmissions. This is according to the mavlink spec for
MAV_CMD_IMAGE_START_CAPTURE.
2021-09-25 20:18:07 -04:00
76615f8df3
VTOL: set HTE horizontal speed sensitivity threshold low
2021-09-25 20:07:28 -04:00
904ed57aba
HTE: decrease sensitivity with speed
...
VTOL planes are getting lift from the wing when flying in MC mode at
high speed. They (and some other drones) also get extra drag when
climbing and descending at high speed, corrupting the hover thrust
estimate.
To avoid this, two speed thresholds (vertical and horizontal) are defined
above which the sensitivity of the estimator is decreased by linearly
increasing the observation noise.
2021-09-25 20:07:28 -04:00
c67d943158
boards: mro_ctrl-zero-h7-oem board.h fix SPI5 ( #18294 )
...
- fix spi pin missmatch PF9=GPIO_SPI5_MOSI_2
2021-09-25 20:05:18 -04:00
e4b0fa25a2
systemcmds/tests: remove px4io conv test
2021-09-25 19:15:05 -04:00
1b0bfd6381
dataman: remove nonexisting SYS_RESTART_TYPE param
2021-09-25 19:15:05 -04:00
089c962d92
px4io: moving mixing to FMU side
...
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-09-25 19:15:05 -04:00
f772b0f45d
Update submodule sitl_gazebo to latest Sat Sep 25 12:38:57 UTC 2021
...
- sitl_gazebo in PX4/Firmware (e800e7c27663ae0a08ae1e377cbccd2272657ad0): https://github.com/PX4/PX4-SITL_gazebo/commit/53d606b32f5729cc70d59281085d639bd97b30d7
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/d8366bf2389eae6106d1dbfaac72ebfdf23a5d2d
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/53d606b32f5729cc70d59281085d639bd97b30d7...d8366bf2389eae6106d1dbfaac72ebfdf23a5d2d
d8366bf 2021-09-19 Mohamed ElDewany - Fix gazebo plugin for laser sensor
37a3a64 2021-09-16 Julian Oes - camera: fix stream URI
2561ff0 2021-09-01 Julian Oes - mavlink_interface: enable HITL over UDP
9216dab 2021-09-01 Julian Oes - mavlink_interface: remove poll before writing
8e9eb3f 2021-09-01 Julian Oes - mavlink_interface: clean up switch case
a009174 2021-09-01 Julian Oes - mavlink_interface: use flag from mavlink_interface
6f1243a 2021-09-01 Julian Oes - mavlink_interface: remove redundant inline keyword
2021-09-25 11:56:50 -04:00
f01cab3be1
px4io:Ensure proper lifecycle of registration of cdev
2021-09-24 19:01:54 -04:00
9ad0e5b357
mavlink_receiver: updated sens flow parameters to be dynamically handle
2021-09-23 09:23:22 +02:00
e73172b537
hrt: remove hrt_elapsed_time_atomic
...
There's no protection on posix
2021-09-23 09:23:08 +02:00
6f902e54f9
mavlink: correctly lock radio status
...
- hrt_elapsed_time_atomic is not atomic on posix
- other fields like _radio_status_mult need protection as well
2021-09-23 09:23:08 +02:00
0bfb1a983b
px4iofirmware: avoid using hrt_elapsed_time_atomic
...
It's only ever read and written in controls_tick() after startup
2021-09-23 09:23:08 +02:00
eec94965f2
serial: add pixhawk payload bus option
2021-09-23 09:23:08 +02:00
682db4b8ac
dshot: timeout if commands are not processed
2021-09-23 09:22:49 +02:00
e53d2907d7
AutoSmoothVel: adjust controller constraints in emergency braking
...
When engaging auto mode at high vertical speed, we don't want to cut the velocity
trajectory setpoint in order to create a smooth deceleration.
2021-09-23 09:22:32 +02:00
316e0dfeb5
AutoLineSmoothVel: add emergency braking mode
...
Currently only for the Z axis. If the current downward velocity is more
than twice the maximum allowed value, the emergency braking mode is
activated. In this mode, a higher vertical acceleration and jerk is used
until the vehicle stops moving.
2021-09-23 09:22:32 +02:00
92696b589f
sdp3x: stop continuous measurement while reconfig
2021-09-23 09:22:09 +02:00
3a148bc777
camera_trigger: remove camera trigger secondary
...
camera_trigger: publish trigger when capture feedback is not enabled
2021-09-23 09:21:56 +02:00
f41e5985e8
vehicle_local_position: clarify origin of system
2021-09-22 10:14:23 +02:00
43ece74fa0
ina238: Do not expose raw adc config to user, make specific to ina238
2021-09-22 10:02:17 +02:00
b8d0bb44c4
ina23X: Support for ina23X power monitors
2021-09-22 10:02:17 +02:00
cf5da66e9f
Jenkins: hardware disable gyro auto cal and FFT before running tests
2021-09-21 19:13:30 -04:00
87db18c1a0
Jenkins: hardware don't allow board cleanup commands to fail build
2021-09-21 19:13:30 -04:00
a92e44c90e
Tools/HIL/run_nsh_cmd.py: echo success cmd twice to avoid missing dropouts
2021-09-21 19:13:30 -04:00
faca2b17d0
camera_trigger: only get param if available
2021-09-17 12:23:30 +02:00
007a7f78ae
CI: switch to github actions
2021-09-03 12:07:26 +02:00
c96f0a48b6
test: update gtest to v1.11.0
2021-09-03 12:07:26 +02:00
7c1860f286
geninv(): pass result as argument
...
depending on usage, this reduces stack usage a bit.
2021-09-03 12:07:26 +02:00
dc7f119b99
geninv(): improve runtime performance and reduce stack usage
...
- use associativity of matrix operations to reduce size of temporary
matrices and number of multiplications in the M <= N case
- minimize the number of temporary matrices required
2021-09-03 12:07:26 +02:00
3d1c9b988d
quaternion exponential ( #164 )
2021-08-04 19:04:57 -04:00
b8568a89db
Euler: improve quaternion constructor
2021-04-14 22:56:03 -04:00
1d0e7f1ca1
Matrix: use naive per element copy instead of memcpy call
2021-04-14 15:44:18 -04:00
1344ce06fd
Euler: simplify DCM constructor
...
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-04-14 15:40:24 -04:00
3679f7fd51
add double precision alias declarations and remove typedefs
2021-02-11 12:40:54 -05:00
977cf52322
Ignore debug line in code coverage
2021-01-22 17:30:00 +01:00
4837316f9b
Fix small inconsistencies and compiler warnings
2021-01-22 17:30:00 +01:00
d540ca5de2
Coerce default epsilon values to Type
2021-01-13 10:17:09 +01:00
054f8b12f4
Use a single inverse implementation for a single matrix size
2021-01-05 09:02:09 +01:00
15e54ceda1
Rework rank-detection tolerance in pseudoinverse
2020-12-18 12:07:19 +01:00
d9a5e3dec2
Add test for new cutoff threshold
2020-12-18 12:07:19 +01:00
ea43303c1c
test/vector3: Add test for scalar +/- operators
2020-12-17 18:05:46 +01:00
158409abce
Vector3f: Add operator+/- for scalars
2020-12-17 18:05:46 +01:00
a504b6e881
precision of tol for float has been changed
2020-11-04 10:00:55 +01:00
ce6b10b99a
Fix clang-tidy warnings
...
This comes from PX4 CI.
2020-08-27 17:42:42 +02:00
13f092a30f
sparse quadratic form
2020-08-26 19:45:05 +02:00
3a5bfb2bd1
matrix: inline to prevent multiple definitions ( #147 )
...
Without inline we get multiple definitions during linking.
2020-08-25 12:58:04 +02:00
e101edc0e7
Matrix: fix warning if M == N ( #146 )
...
This fixes the warning appearing with GCC 10.2:
../../src/lib/matrix/matrix/Matrix.hpp:481:34: error: logical ‘and’ of equal expressions [-Werror=logical-op]
481 | for (size_t i = 0; i < M && i < N; i++) {
|
I would prefered something with if constexpr but we don't have that yet
in because we're using C++14.
2020-08-24 14:19:43 +02:00
cd8ad1584c
Make wrap() work with integer types ( #145 )
...
* Make wrap() work with integers
2020-08-24 10:49:12 +02:00
25c0455348
comply with Firmware style requirements
2020-08-10 10:13:40 +02:00
f981cea2ae
add possibility to iterate over SparseVector data at runtime ( #143 )
2020-08-09 09:44:49 +02:00
e714a28c83
use size_t instead of int in sparseVector
2020-08-07 19:45:02 +02:00
18699416b0
SparseVector ( #140 )
...
* Add SparseVector
temp
* Add gtest
* Some reworking of the sparse concept
* Change type of M from int to size_t
* Add const modifier
* Add needed declaration for accessing elements of _indices
* Add norm_squared, norm, longerThan
* Add test for all sparse vector functions
* Add missing const to slice's norm_squared, norm and longerThan
* Construction from Vector<M> and carray[N]
* try to fix ci
Co-authored-by: Julian Kent <julian@auterion.com >
2020-08-07 18:44:48 +02:00
6ed5dbc2db
Construct Vector from Slice<1,M> alias row()
2020-08-06 16:15:05 +02:00
a126be0882
attitude test: refactoring to avoid identity quaternion confusion
2020-07-20 18:44:08 +02:00
572bafb01f
Quaternion: use template type for division by two
2020-07-20 18:44:08 +02:00
242b38ee9e
Quaternion: remove deprecated axis_angle conversions
2020-07-20 18:44:08 +02:00
7a3009f7a3
Remove asserts for unsigned integer >= 0
...
GCC 10 gives a warning
"comparison of unsigned expression in ‘>= 0’ is always true"
for these asserts since checking if an unsigned integer cannot
be negative and hence the statement gets droped.
2020-07-20 15:10:49 +02:00
0fd99c59f1
Switch operator() to return a const reference
2020-07-17 10:43:34 +02:00
8a59b463f2
Quaternion: Use template type instead of single hardcoded type
2020-07-17 10:37:18 +02:00
9a30828a0a
Add explicit matrix + scalar test
2020-06-30 10:37:10 -04:00
f3cf615023
Do += -= and scalar *= /= in place
2020-06-30 10:37:10 -04:00
f529358e9a
Add missing const modifier
2020-06-28 14:24:49 +02:00
674bd99f3b
Add operator* and operator/ for slice with type
2020-06-12 11:34:09 +02:00
38b3acce96
fix conjugate_inversed comment
2020-06-11 16:17:28 +02:00
2bee0d078c
Quaternion: refactor multiplication to matrix multiplication style
...
Most often the multiplication in convention descriptions and papers is
described in matrix multiplication style like this:
q · p := Q(q)p
Q(q) :=
[q0 −q1 −q2 −q3]
[q1 q0 −q3 q2]
[q2 q3 q0 −q1]
[q3 −q2 q1 q0]
I'm just rearanging the terms such that it's easily comparable with
these definitions additional to it being clearly described by
documenting we use the hamilton convention.
2020-05-06 13:17:02 +02:00
d613055462
Add more assignment operators for slices
2020-04-07 09:12:17 +02:00
976ada411b
Matrix: min max comments and test style
2020-03-23 09:46:07 +01:00
fa7153ecfb
Matrix: omit min max nan case with same result
...
I observed this during review in
https://github.com/PX4/Matrix/pull/105/files#r348386226
2020-03-23 09:46:07 +01:00
a32892926c
Matrix: capture stdout for print() test
...
I want to switch the print() function back to use printf()
such that it's fully compatible with all (embedded) platforms.
To still test the print function I'm capturing stdout into a file
such that the print() function can stay unchanged and the result of
the printf()s can be evaluated.
2020-03-12 13:24:08 +01:00
c6db357c92
Matrix: correct print buffer size prediction
...
Apparently printf of %8.8g can result in
8 significant digits + dot + scientific notation e.g. "e+12" = 14 bytes
2020-03-12 10:08:04 +01:00
2cca35c8fe
AxisAngle: call q.imag().norm() for conversion
...
This is important depending on the platform because norm()
calls matrix::squrt() which dispatches correctly to the implementation
for the used type. Otherwise float squrt()s can get calculated as
double.
2020-03-12 07:35:44 +01:00
4873dc1c1e
Analytic inverse implementation ( #122 )
...
* Add analytic 2x2 matrix inverse
* Add analytical 3x3 matrix inverse
2020-03-04 09:14:04 +01:00
649c837b6b
Use faster but less accurate average
2020-02-25 15:08:17 +01:00
a37b91c96a
Type cast remaining integer
2020-01-13 12:21:18 +01:00
3b581fb599
Update .travis.yml
...
Bring Ubuntu and Mac OS toolchains to latest.
2020-01-01 15:53:50 +01:00
efa5580a67
Update CMakeLists.txt
...
Remove non-compatible compile option.
2020-01-01 15:53:50 +01:00
20a9e91d44
Fix CMake configuration for coverage tests on Mac OS
2019-12-31 15:54:51 +01:00
d18be0d0fa
Fix AngleAxis constructors ( #117 )
2019-12-28 17:18:15 -05:00
e81483a808
Catch quaternion canonical corner cases ( #116 )
2019-12-18 14:12:47 +01:00
4f3565da94
Add asserts ( #115 )
...
* Add asserts
* Type cast literals
* asserts for indexing vectors
* include assert
* Fix accessing elements outside of slice
2019-12-09 10:21:27 +01:00
2f6398168d
Add several functions that are useful for coavriance matrices: ( #114 )
...
* uncorrelateCovariance
* uncorrelateCovarianceSetVariance
* makeBlockSymmetric
* makeRowColSymmetric
* isBlockSymmetric
* isRowColSymmetric
2019-12-06 12:03:26 +01:00
5cbcf6035a
Set Matrix's col amd row to single value ( #113 )
2019-12-05 18:16:14 +01:00
ef442fab92
Getter function for the diag elements of slice ( #112 )
2019-12-05 11:39:21 +01:00
de6a2d31ff
Slice assign value ( #111 )
...
* Assign value to slice
* Readme for formatting
2019-12-04 14:33:33 +01:00
a8009a36a3
Quaternion multiply inline return
2019-11-29 14:40:11 -05:00
dba84236cb
Vector3f cross product directly return result ( #109 )
2019-11-28 10:36:13 +01:00
de85dcff97
Vector: switch read only functions to const ( #108 )
2019-11-26 13:46:45 +01:00
a172c3cdac
Add implementation of pseudo-inverse ( #102 )
...
* Fix compilation error
* Add implementation of pseudo-inverse
The implementation is based on this publication:
Courrieu, P. (2008). Fast Computation of Moore-Penrose Inverse Matrices, 8(2), 25–29. http://arxiv.org/abs/0804.4809
It is a fully templated implementation to guaranty type correctness.
* Add tests for pseudoinverse
* Apply suggestions from code review
Co-Authored-By: Mathieu Bresciani <brescianimathieu@gmail.com >
* Adapt fullRankCholesky tolerance to type
* Add pseudoinverse test with effectiveness matrix
* Fix coverage
* Fix rebase issue
* Fix SquareMatrix test, add null Matrix test
2019-11-18 14:36:30 -08:00
cd185c995b
add braces around statements and cleanup formatting ( #107 )
2019-11-13 10:41:38 -08:00
38e966cea1
Add min, max, constrain function for Matrix ( #105 )
...
* Add min, max, constrain function for Matrix
* Set individual elements to nan in constrain
* Deal with NANs
2019-11-12 18:57:12 +01:00
93d42947b6
Add test for setting Quaternion to Identity ( #104 )
2019-11-08 17:27:33 +01:00
9f46483951
Fix GCC-4.8 bug
2019-11-04 11:11:30 -05:00
445f58d484
Fix weird C preprocessor conflicts ( #101 )
2019-11-01 14:23:35 +01:00
215203fc6f
Automatic Differentiation 'Dual' Type ( #100 )
...
* Dual numbers initial implementation
* Add test coverage, with partial derivative example
* Add Jacobian test, fix small issues
* Improve test to demonstrate non-square jacobian
* Better naming for collectReals/Derivatives
* Improve comments
* Potential GCC 4.8 bug workaround
* Add fallback workaround for non-IEEE float platforms
2019-10-23 12:07:51 +02:00
92d1c8761e
More features: longerThan, norm, copyTo and slice on a Slice ( #97 )
...
* Allow slices of slices, add longerThan to Vector/Slice
2019-10-03 13:47:36 +02:00
740324cf1e
Make all array constructors explicit ( #99 )
...
* Make all array constructors explicit
to avoid accidental implicit casts like e.g.
Vector3f v = 0;
assigning nullpointer content.
2019-10-03 13:38:51 +02:00
7b34c1c51d
Enable branch coverage
2019-10-03 08:32:05 +02:00
973999a4d3
Fix some template type conversions and style
2019-09-23 10:59:12 +02:00
c34e8dc98f
helper: consider matrices with the same NANs and INFINITYs equal
...
to simplify bulk checks when these values are expected
2019-09-18 09:59:50 +02:00
bbaa93880b
helper: consider NAN equal to NAN such that vectors can be compared exactly
2019-09-18 09:59:50 +02:00
33a629105c
Matrix: add proper print function testing
...
Before the print function was just implicitly called somewhere
and that's why we had 100% line coverage. With this we have actual
testing of the functions.
2019-09-18 09:59:50 +02:00
b0b7d7229a
Multiplication test: fix division resulting in NAN
2019-09-18 09:59:50 +02:00
3747232724
LeastSquaresSolver: Fix nasty GCC compile optimization error
...
The original implementation with no wrapping on size_t is more readable
but the compiler errors with:
internal compiler error: in trunc_int_for_mode, at explow.c:55
I read up and it's apparently a loop optimization problem.
Inspired by https://stackoverflow.com/a/27224697/6326048
I used a far less readable implementation that works fine and
wrote a comment to explain it.
2019-09-18 09:59:50 +02:00
5844b0e46e
Implement one float equality check and use it everywhere
2019-09-18 09:59:50 +02:00
1e80807e8e
test: Add uncovered equality checks with NAN and INFINITE
2019-09-18 09:59:50 +02:00
a374f37a54
Include helper_functions like all other library components
2019-09-18 09:59:50 +02:00
60c9c99dcc
Fix type for division.
2019-09-17 11:08:00 -04:00
b4714e2ed2
Don't lose array sizes in copyTo
2019-09-17 15:09:12 +02:00
51d2f9f0dc
Remove direct access to internal data
2019-09-16 21:58:32 -04:00
18218c8f9c
Test non-square matrix multiplication ( #91 )
...
* Test non-square matrix multiplication
2019-09-16 17:40:25 +02:00
b817e8677d
Add helpers based on Slice: row(), col(), xy()
2019-09-16 16:11:08 +02:00
82d565f4d9
Add support for Slice to Matrix, SquareMatrix, Vector
2019-09-16 16:11:08 +02:00
af1378cc55
Add Slice class
2019-09-16 16:11:08 +02:00
15865b741c
Help compiler with name resolution to avoid overload mixups
2019-09-09 11:18:57 -07:00
03ffd696a6
Replace pow with sqrt
2019-09-09 02:18:10 -07:00
22bf63cb71
A smaller codesize wrap, since it gets inlined in many places
2019-09-05 22:31:13 +02:00
74ace7d1d5
helper test: cover wrap close to limits cases ( #84 )
2019-09-05 18:02:33 +02:00
26fd962cbe
fix bug in matrix wrap function ( #83 )
2019-09-05 11:21:41 +02:00
4a4309327a
better API comment
...
Co-Authored-By: Julian Oes <julian@oes.ch >
2019-09-05 10:19:47 +02:00
31450c407c
Matrix: use existing print() if isEqual test fails
2019-09-05 10:19:47 +02:00
938274fce5
helper test: add extensive wrap tests
2019-09-05 10:19:47 +02:00
315010bae1
helper_functions: generalize wrap function to any range
2019-09-05 10:19:47 +02:00
007c7c58c4
fix math defines to have M_PI and M_TWOPI
2019-09-05 10:19:47 +02:00
cc084e0791
matrix: add method to check all values are nan ( #82 )
2019-08-26 19:27:58 +02:00
84b3da227c
Canonical Quaternion with tests ( #81 )
2019-08-22 15:05:14 +02:00
56b069956d
slice test: fix trailing whitespace style
2019-03-08 20:20:08 +01:00
5ccfa74c72
Fix const error
2019-03-08 19:17:40 +00:00
eea6b59973
Implement slice as copy loop
2019-03-08 19:17:40 +00:00
93375fbd3c
Fix copy-paste error
2019-03-08 19:17:40 +00:00
5872bbc28c
Add slicing tests that are not pure row slicing
...
I had a look at the implementation of `slice`, and I found it odd that it doesn't have a copy loop. The current implementation does a raw memcpy of the underlying contiguous row-major data. As far as I can tell, this could only slice along rows. Interestingly, I found that the tests only tested for slicing along rows, so this bug would go unnoticed.
I added some tests that checks slicing along columns also. I have a feeling this would break, and we need to fix the implementation of `slice`. However I could be wrong, and hence I'm submitting these tests first to verify.
2019-03-08 19:17:40 +00:00
ec436d5aee
define FLT_EPSILON; be descriptive about upper_right_triangle() method
2019-02-24 17:14:05 +00:00
7355a29a2a
tests: use __FLT_EPSILON__ in comparisons
2019-02-24 17:14:05 +00:00
7ab2b24e65
tests: urt: refactor
2019-02-24 17:14:05 +00:00
4aab44fe01
Travis CI: update MacOS version to use
2019-02-24 17:14:05 +00:00
707967d117
add test to .urt()
2019-02-24 17:14:05 +00:00
210c76c04b
add test to setNaN()
2019-02-24 17:14:05 +00:00
96cb9ab146
add NaN value set for Matrix; add return of URT of a matrix
2019-02-24 17:14:05 +00:00
6b0777d815
stdlib_imports cinttypes currently unavailable in NuttX toolchain ( #79 )
2019-01-21 09:12:36 -05:00
18fba8221c
quaternion: improve comments
2018-12-16 20:16:38 +01:00
a4f39c0f89
quaternion: reuse existing dot product
2018-12-16 20:16:38 +01:00
9c0acfba36
Matrix: remove unsafe copyToRaw method
...
It used a pointer and could therefore not do correct type checking
for index out of bound or struct memebr order.
Has to be considered unsafe and bad practise.
We should switch to arrays as representation for vectors
inside the messages instead of foo_x, foo_y, foo_z fields.
2018-11-20 16:39:44 +00:00
0d3bff5e00
Vector2: add explicit constructor for Vector3
...
Initialize from the first 2 elements.
2018-10-01 10:17:16 +02:00
807472bfd7
README: document how to run tests
2018-10-01 10:17:16 +02:00
30d5a79432
testing float/double with Type template
2018-09-18 09:39:17 +02:00
707e288019
explicit casting
2018-09-18 09:39:17 +02:00
480c5f1f8e
static assert M>=N. floats to Type, arguments as const reference
2018-09-18 09:39:17 +02:00
7495794386
test zero divisions
2018-09-18 09:39:17 +02:00
3f2d3cf58d
fix a div/0 condition
2018-09-18 09:39:17 +02:00
983a3f0212
use Matrix and Vector class for A and tau
2018-09-18 09:39:17 +02:00
98b8e2d43b
formatting
2018-09-18 09:39:17 +02:00
0009328257
least squares solver for MxN matrices using QR householder algorithm
2018-09-18 09:39:17 +02:00
dc3af80977
constructors use array size rather than pointers
2018-08-31 08:11:02 +02:00
f1bee775a0
use default constructors and skip unnecessary initialization
2018-08-31 08:11:02 +02:00
1bcf48bd82
Quaternion from_dcm don't pass by value
2018-08-30 12:07:48 -04:00
b815fc97c4
replace quiet_NaN() with INFINITY ( #70 )
...
- solves undefined symbols for QURT
Signed-off-by: Roman <bapstroman@gmail.com >
2018-06-12 12:24:51 -04:00
03a3e3ad46
helper_functions add wrap_2pi
2018-06-10 10:56:45 +02:00
abc8f82d49
travis-ci add codecov.io ( #69 )
2018-06-09 21:08:56 -04:00
21d47424c6
Quaternion mark const helpers const
2018-04-01 17:02:20 -04:00
e7c95fa027
Fix README/cmake format.
2018-03-28 00:11:03 -04:00
d142ac234c
Fix coverage and bug in matrix equal test.
2018-03-28 00:09:01 -04:00
50446a55c8
Matrix add == and != operators
2018-03-27 15:05:22 -04:00
61af508755
helper_functions include required px4_defines header
2018-03-19 02:24:38 -04:00
41a1cc7583
LICENSE minor changes to template
2017-12-05 10:56:04 -05:00
f835d39017
Quaternion/Vector: Small refactor for review: put more comments, switched type conversions, took out default destination vector because confusing
2017-12-04 15:34:13 +01:00
af2610ec04
Test: added check for quaternion vector to vector rotation constructor
...
including all the parallel vector corner cases
2017-12-04 15:34:13 +01:00
84cd7483ae
Quaternion: added constructor which generates the shortest rotation that maps one vector to another
...
including tedious corner case handling for parallel vectors with 180 degree rotations
2017-12-04 15:34:13 +01:00
d513c94f85
Test: added check for Vector.norm_squared()
2017-12-04 15:34:13 +01:00
5130da206a
Vector: added norm_squared() because sometimes you can safe the sqrt operation
2017-12-04 15:34:13 +01:00
41ad2bdea5
Matrix: added copyToRaw method to allow copying to a pointer
...
because most uORB messages still contain all components of a vector one by one after each other
2017-11-17 09:30:56 +01:00
308a6c91cb
Test: added copyTo tests for Vector3, Quaternion and Matrix including clolumn-major order
2017-11-16 04:42:54 +01:00
1dffd5930b
Matrix: add copyTo copying data to an array and copyToColumnMajor which does the same but with column-major order
...
same functionality explicitly for quaternions can be deleted
2017-11-16 04:42:54 +01:00
3bd94fcd6f
Test vector: structured & commented, added normalize and unit_or_zero tests, removed duplicate data preparation
2017-11-06 17:58:52 +01:00
9e59691e43
Vector: Additional normalization with check for zero norm because it occurs so many times in applications
2017-11-06 17:58:52 +01:00
f4243160e2
Quaternion: changed comments because of typos and unclear inconsistent indexing
2017-10-17 17:37:23 +02:00
d259ab2108
Test: add Quaternion rotate() test that catches non-commutating rotations
2017-10-17 17:37:23 +02:00
ee2219b836
Quaternion: replace conversion in rotate() with AxisAngle call
2017-10-17 17:37:23 +02:00
b241cf5c95
Quaternion: Adjusted rotate() to the Hamilton convention (which we switched to)
...
Note: This error was not caught by a test because the test included only trivial cases which do not explore non-commuting quaternions.
2017-10-17 17:37:23 +02:00
6b1fea76d0
Quaternion: added and adjusted comments to further explain conjugation and derivative functionality
2017-10-17 17:37:23 +02:00
0527471a52
Matrix: adjust buffer size calculation to account for additional characters
...
Note: If the buffer is too small there's no memory corruption because of the snprintf limit but part of the output gets missing.
2017-10-17 17:37:23 +02:00
0a772f59dd
Quaternion: added direct efficient body z-axis calculation with test
2017-09-26 11:20:56 +02:00
976461eb0f
Dcm: more efficient conversion from quaternion, extend reuse of multiplications
2017-09-26 11:20:56 +02:00
baf54ad29f
quaternion: correcting comments
...
^(-1) went missing and some phrase was inprecise
2017-09-25 12:18:10 +01:00
e595ebb9a7
Switch to Hamilton quaternions and add Cholesky decomposition.
2017-08-31 11:09:20 +02:00
471e96ff6f
Provide const dataptr access
2017-03-23 20:22:45 -07:00
2ad3ec46b9
Mark simple min, max, abs methods as const
2017-03-23 20:22:45 -07:00
66e1b406b8
Remove artifical need to virtualize dtors
2017-03-23 20:22:45 -07:00
499b897e5f
Style fix
2017-03-17 12:18:39 -04:00
99b44c0242
NuttX math lib workaround
2017-03-17 12:18:39 -04:00
8dbe4a7531
NuttX workaround
2017-03-17 12:18:39 -04:00
23def31d21
Fixed stdlib imports
2017-03-17 12:18:39 -04:00
e09cf12e2e
Removed all uses of C library from tests
2017-03-17 12:18:39 -04:00
9ebf5f89db
Removed all use of C library from the matrix namespace
2017-03-17 12:18:39 -04:00
552dad40a1
Fixed inclusions in matrix/
2017-03-17 12:18:39 -04:00
b74749fb61
Un-poisoned fabs
2017-03-17 12:18:39 -04:00
8af7b8c130
Poisoned the C library identifiers
2017-03-17 12:18:39 -04:00
cf924956d7
test vector3 using matrix::isEqual
2017-02-24 20:47:41 -05:00
d81ddb0f37
travis-ci only check formatting once
2017-02-24 20:47:41 -05:00
de3517a5c7
cmake add asan and ubsan
2017-02-24 20:47:41 -05:00
cfa68c2196
clang-tidy trivial cleanup
2017-02-24 20:47:41 -05:00
5f2f6f0308
rename cmake "Profile" to "Coverage" and add builds
2017-02-24 20:47:41 -05:00
fb87165051
cmake add check
2017-02-24 20:47:41 -05:00
f00edc9442
update to astyle 2.06 and fix formatting
2017-02-24 20:47:41 -05:00
68c7cc5bfd
Quaternion add copyTo
2017-02-24 20:47:41 -05:00
e2211c5867
QuRT use __builtin_isfinite
2017-02-15 19:30:19 -05:00
2283e6946a
Matrix inversion: Ensure that null check is done against the same type
2017-02-04 10:42:10 +01:00
843be9418b
Rename isfinite to is_finite to avoid name conflicts.
2017-02-03 18:15:43 -05:00
63aea23f9e
Add cholesky decomp, Closes #30 , and dynamic print buf
2017-02-03 17:54:16 -05:00
a154e14439
Fix coverage for inverse.
2017-02-03 17:24:15 -05:00
db6dfeafbe
Add helper_functions include for inverse and in general header
2017-02-03 16:56:33 -05:00
230e84702a
Fix unit test, create matrix isfinite.
2017-02-03 16:25:55 -05:00
7e3eff7b2d
remove unnecessary duplicate matrices from inverse
2017-02-03 16:12:17 -05:00
47c0a93140
Quaternion: added tests for the corner cases of Dcm to quaternion conversion
2016-12-14 18:25:06 +01:00
2f4427a923
Quaternion: Implemented the largest pivot element method for conversion from Dcm to Quaternion to avoid numerical problems
2016-12-14 17:55:05 +01:00
bb1a321639
Changed Dcm to inherit from SquareMatrix because it is square and we can use the trace method
2016-12-14 17:42:45 +01:00
7eff04742c
Fix for zero check on quat from dcm ctor.
2016-12-13 10:21:55 -05:00
74a120f554
Handle some divide by zero edge cases on init.
2016-11-30 01:27:48 -05:00
945edbc58c
Ensure direction is always defined for axis angle.
2016-11-30 00:40:55 -05:00
8a94f0f8ac
Fix axis angle fabsf usage.
2016-11-28 10:43:29 -05:00
bf69be7f17
Fix formatting.
2016-11-22 10:07:08 -05:00
f3e478cbff
Fix matrix inverse pivotting logic.
2016-11-22 10:04:45 -05:00
34fccdd680
add renormalize method ( #32 )
2016-11-02 12:10:30 -04:00
db4374882b
Fix attitude tests.
2016-08-18 16:54:43 -04:00
3aeb099249
Revert "Use Hamilton quaternion definition."
...
This reverts commit 19554c4470
2016-08-18 16:51:00 -04:00
4653626d92
Format.
2016-08-16 19:04:23 -04:00
0eb8aa0c0b
Support more of mathlib function for easier swap in px4.
2016-08-16 19:03:54 -04:00
558777f34c
Fix formatting.
2016-08-16 12:43:42 -04:00
262a715d90
Fix some when building in px4.
2016-08-16 12:37:41 -04:00
4be23552c5
Bump version.
2016-08-16 12:13:26 -04:00
9af58f7e08
Coverage fix.
2016-08-16 12:00:37 -04:00
6197515a51
Fix shadow warnings.
2016-08-16 11:50:46 -04:00
f02fb37265
Add Testing to git ignore.
2016-08-16 11:40:14 -04:00
37b00b0880
Added check or consistency of dcm and quaternion product.
2016-08-16 11:37:45 -04:00
1a87564b85
Added dcm quat prod consistency check.
2016-08-16 11:33:56 -04:00
4f13809420
Added axis angle accessors, removed == operator.
2016-08-16 11:05:01 -04:00
19554c4470
Use Hamilton quaternion definition.
2016-08-16 03:59:06 -04:00
e6a6b4680c
Use quaternion multiplaction for quaternion derivative.
2016-08-16 01:03:23 -04:00
c563c41cd4
Fix cmake version.
2016-07-06 01:56:24 -04:00
cbb7e06a1f
Replace float with Type in kalman.
2016-07-06 01:39:06 -04:00
9353e4cb64
Fix bugs in axis angle.
2016-07-06 01:37:50 -04:00
7b7297b674
Fix for ctor comments on axis angle.
2016-07-05 21:30:22 -04:00
fdf00d163c
Small fix to README.
2016-07-05 21:27:42 -04:00
0b1bed6b00
Added deprecation warnings in source code.
2016-07-05 21:16:17 -04:00
b78e124b73
Fix for README.
2016-07-05 21:08:12 -04:00
298e037f3a
Added AxisAngle to README.
2016-07-05 21:06:48 -04:00
0f41af271a
Added axis angle attitude representation. ( #25 )
2016-07-05 20:59:42 -04:00
3320d57f63
Fix format.sh user message.
2016-07-05 17:13:41 -04:00
42eadb2656
format.sh: better inform the user what to do on style issues ( #24 )
2016-07-05 17:09:25 -04:00
b1f76782f6
Euler, Quaternion: fix compiler errors for GCC 6.1.1 ( #23 )
...
* Euler, Quaternion: fix compiler errors for GCC 6.1.1
GCC output:
error: implicit conversion from ‘float’ to ‘double’ to match other operand
of binary expression [-Werror=double-promotion]
* astyle: fix formatting for Euler.hpp & Quaternion.hpp
2016-07-05 17:00:35 -04:00
3c87ae78ff
added two more examples to the README
2016-05-25 15:24:35 +02:00
eeb595d1db
applied formatting
2016-05-17 08:27:35 +02:00
f4e2b21608
- better description for quaternion class
...
- revert conversion functions to constructor
2016-05-16 09:21:44 +02:00
81eacb0cfa
removing body and intertial frame expressions and establishing consistency
2016-05-15 18:42:21 +02:00
4a405e7f60
make it clear that we are using right hand rotation convention
2016-05-15 18:42:21 +02:00
10c1b49bde
fix typo
2016-05-15 18:42:21 +02:00
1033e145a5
fix some typos and better explanation of quaternion ordering
2016-05-15 18:42:21 +02:00
2b3bdb523d
better description for quaternion class
2016-05-15 18:42:21 +02:00
3152d3d6cf
better function descriptions for rotation classes:
...
- do not talk specifically about body or earth frame, just use frame 1 and frame 2
2016-05-15 18:42:21 +02:00
e3a1d67444
adding detailed comments on rotation classes
2016-05-15 18:42:21 +02:00
af2e6d952e
correcting comments
2016-05-15 18:42:21 +02:00
34e6e2a941
refactoring rotation classes and adding initial description
2016-05-15 18:42:21 +02:00
3509329f30
Define M_PI float, change logical and to &&
2016-05-11 18:35:05 -04:00
4d33092bcb
Removed lcov testing from travis.
2016-05-09 12:19:26 -04:00
dd8ff8db12
Made coverage html output optional.
2016-05-09 12:13:00 -04:00
061609322a
Added command line output for coverage.
2016-05-09 12:01:20 -04:00
32ad3989f2
Fix lcov install on travis.
2016-05-09 11:55:45 -04:00
f4902fafb9
Added lcov package for coverage test.
2016-05-09 11:53:18 -04:00
155202f6b0
Found a few coverage gaps with local coverage testing.
2016-05-09 11:49:45 -04:00
6efa3c1cb5
Added make coverage to travis.
2016-05-09 11:34:26 -04:00
3f77991388
Merge branch 'MaEtUgR-maetugr-fix2'
2016-05-09 11:24:55 -04:00
8b7eae3b4a
Merge branch 'maetugr-fix2' of https://github.com/MaEtUgR/Matrix into MaEtUgR-maetugr-fix2
2016-05-09 11:24:28 -04:00
bd8420fcf6
Added example of assignment to already created object.
2016-05-09 11:12:06 -04:00
b2eb4d13d8
Matrix.setCol off by one bug fixed
...
The Column Vector you are copying from, only has one Column and it is indexed by 0 not 1.
I also completed the unit test stub that would have found this bug.
2016-05-05 13:18:51 +02:00
65679fbcbb
Features and fixes
...
* added the trace function for a SquareMatrix
* added Vector3.hat() and it's counterpart Dcm.vee()
for skewsymskew symmetric matrix operations in relation to the cross product
see https://en.wikipedia.org/wiki/Hat_operator
* Matrix::write_string produced runtime errors when I used it in PX4 posix simulation, i simplified it
* a Matrix3f is a SquareMatrix
* added tests for SquareMatrix.trace, Vector3.hat and Dcm.vee
* added a test for quaternion initialisation from array
* preventing buffer overflows in Matrix.write_string method
2016-04-28 15:16:36 -04:00
07fba8322a
Fix for effective cpp.
2016-03-18 20:56:41 -04:00
711b57d2d4
Added unit function that returns normalized vector.
2016-03-15 18:09:48 -04:00
0e14e11183
Added support for attitude_estimator_q functions.
2016-03-15 06:35:13 -04:00
6c04605531
Added conversion for scalar to vector.
2016-02-26 06:10:09 -05:00
2d27cd79d3
Added scalar to matrix conversion.
2016-02-26 05:56:21 -05:00
6974f97b1c
Added scalar const conversion operator.
2016-02-26 05:47:24 -05:00
7b969094cb
Fix for scalar type.
2016-02-26 05:33:16 -05:00
3917ef1992
Merge branch 'master' of github.com:PX4/Matrix
2016-02-26 03:39:28 -05:00
15865897d5
Added pow.
2016-02-26 03:39:04 -05:00
dd30028823
Merge pull request #14 from mcsauder/master
...
Matrix index correction to allow non-square matrices to evaluate properly.
2016-02-25 16:36:14 -05:00
46c83a8c18
Correct a few indexing copy/paste errors that likely previously only functioned properly on square matrices.
2016-02-25 18:51:28 -07:00
95e3d7d6ce
Added set function.
2016-02-16 14:54:15 -05:00
5a01e6c939
Added slice function for matrix.
2016-02-16 12:22:08 -05:00
1ae114b3d2
Improved rk4 integration to allow longer time interval than 1 step.
2016-02-16 10:53:12 -05:00
ce30542dba
Fix output for unit test.
2016-01-25 13:54:13 -05:00
1778ac199c
Fixed euler wrapping.
2016-01-25 13:40:51 -05:00
a92d5c1338
Removed unneeded headers.
2016-01-24 02:44:25 -05:00
e639a3612f
Fix typo.
2016-01-24 02:30:54 -05:00
d8e397c010
Merge pull request #10 from PX4/euler_fix
...
fix euler calculation
2016-01-24 01:52:40 -05:00
5aef810e7c
Fixed euler angles.
2016-01-24 01:50:34 -05:00
6e6033a1af
Merge branch 'master' into euler_fix
2016-01-24 00:41:12 -05:00
b98ac75452
Formatting.
2016-01-24 00:39:59 -05:00
ffbe58ca10
Added better roundtrip euler test.
2016-01-24 00:39:21 -05:00
b9bfadb0cc
Fix for travis.
2016-01-24 00:00:22 -05:00
faee66273b
Turned back on testing flag.
2016-01-23 23:58:43 -05:00
20a1f902b1
Merge branch 'master' into euler_fix
...
Conflicts:
.travis.yml
test/attitude.cpp
2016-01-23 23:56:35 -05:00
cc2804d6a6
Merge pull request #13 from PX4/testing
...
Testing
2016-01-23 23:38:13 -05:00
0969b0ae56
Removed uncessary print.
2016-01-23 23:35:44 -05:00
d761bd3721
Fixed formatting. Made traivs more verbose.
2016-01-23 23:33:25 -05:00
38211e1aff
Fix testing mechanism.
2016-01-23 23:26:26 -05:00
6009709986
Merge pull request #11 from PX4/dspal_fix
...
Added dspal_math.h for missing constants
2016-01-21 23:23:41 +01:00
306f0ac25d
Added dspal_math.h for missing constants
...
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-01-21 12:45:07 -08:00
48a3288753
Fix QuRT build
2016-01-18 13:39:46 -08:00
fa31c61f2c
Fix for euler.
2016-01-14 15:24:37 -05:00
a22a47fe15
fix euler calculation
...
Conflicts:
matrix/Euler.hpp
2016-01-14 15:51:28 +01:00
1d9d8e6f9b
Use a slight ifdef hack to let things default to C++11 for most platforms
2016-01-12 12:14:53 +01:00
187830164d
Fix cast
2016-01-12 11:50:21 +01:00
67c8c8b331
Cast to float for isfinite.
2016-01-12 01:35:33 -06:00
f1968f51d6
Fixed coverage issues.
2016-01-12 01:28:48 -06:00
a90484362f
Merge pull request #8 from PX4/cast_fix
...
added missing cast
2016-01-12 01:09:56 -06:00
4034c916c7
added missing cast
2016-01-12 07:51:52 +01:00
cc800454d2
Formatting.
2016-01-11 22:05:34 -06:00
684a6b626d
Merge branch 'quaternion'
...
Conflicts:
test/attitude.cpp
2016-01-11 21:59:28 -06:00
0e48d2596c
Merge pull request #6 from thomasgubler/pr1
...
scalar multiplication; std::cout support
2016-01-11 21:47:51 -06:00
45e6012818
matrix scalar pre multiplication and general scalar multiplication for
...
quaternions
2015-12-26 13:15:39 +01:00
99ac532746
remove unnecessary ;
2015-12-26 12:07:12 +01:00
d999923a35
support for std::cout
2015-12-26 12:07:12 +01:00
cc1658db15
fixed wrong type conversion
2015-12-22 11:23:18 +01:00
c3c6a0a9df
fix euler calculation
2015-12-20 06:06:56 +01:00
10b395a782
added more quaternion methods
2015-12-19 09:47:03 +01:00
9cd6ac3dd9
Fixed coverage.
2015-11-14 09:04:38 -05:00
dc0eb16880
Fixed integration test.
2015-11-14 09:01:09 -05:00
f2c0669c0d
Changed rk4 to use generic matrix interface.
2015-11-14 08:55:34 -05:00
b9924820e1
Work on kalman filter interface.
2015-11-12 16:41:07 -05:00
0a110a1b02
Fixed integration test.
2015-11-12 15:15:31 -05:00
aa3a086cda
Work on rk4 interface.
2015-11-12 15:13:17 -05:00
7656385ea1
Changed rk4 signature.
2015-11-12 10:19:30 -05:00
606eb1dc2b
Added attitude classes to README.
2015-11-12 10:09:54 -05:00
a334cecfa7
Forced function instantiation for coverage testing.
2015-11-12 10:07:09 -05:00
410bbc4c71
Added more to README.
2015-11-12 09:51:11 -05:00
c29c44b450
Added more testing to instantiate some missing templates.
2015-11-12 09:44:30 -05:00
6a351ac050
Merge pull request #1 from PX4/coverage_filter
...
Changed root dir for coverage.
2015-11-12 01:32:08 -05:00
e724ae4078
Set include dir.
2015-11-12 01:29:47 -05:00
8054180e89
Changed root dir for coverage.
2015-11-12 01:27:27 -05:00
10b89a2594
Switching coverage upload mechanism.
2015-11-12 01:22:40 -05:00
787606b6b8
Formatting.
2015-11-11 23:33:26 -05:00
42f2e60b24
Added runge kutta integration.
2015-11-11 23:31:43 -05:00
2c7a375e3d
Fixed kalman correct test.
2015-11-09 19:58:00 -05:00
e972a0a111
Made kalman filter correction function usable.
2015-11-09 19:55:20 -05:00
222a97e73f
Merge ../Firmware/src/lib/matrix
2015-11-08 12:08:52 -05:00
5c573b075f
Fixes for nuttx.
2015-11-08 12:08:19 -05:00
400a9caa47
Merge ../Firmware/src/lib/matrix
2015-11-07 14:27:41 -05:00
9b995e19f3
Added vector2.
2015-11-07 14:27:12 -05:00
1f72309520
Added some docs.
2015-11-07 12:17:45 -05:00
835cdd2f91
README fix.
2015-11-07 12:03:10 -05:00
3a2c3bdae1
README formatting.
2015-11-07 12:00:21 -05:00
9884a4c423
Improved README.
2015-11-07 11:59:30 -05:00
f621f68fe1
Changed license holder to development team.
2015-11-07 11:55:24 -05:00
ace2751715
Badge fix.
2015-11-07 11:29:08 -05:00
f6e8cdd970
First attempt at enabling coveralls
2015-11-07 17:17:37 +01:00
b9e1ccfe00
Merge branch 'master' of github.com:PX4/Matrix
2015-11-07 11:08:33 -05:00
1fb0f33eb4
Removed old references to matrix.hpp.
2015-11-07 11:08:17 -05:00
4058e32f73
Fix include path
2015-11-07 17:06:07 +01:00
222e42f934
Re-add convenience header
2015-11-07 09:43:28 +01:00
6abd2f782a
Re-add Matrix.hpp
2015-11-07 09:42:33 +01:00
713aee154b
Remove both versions of matrix / Matrix
2015-11-07 09:41:38 +01:00
a2696fcee4
Fix for isfinite.
2015-11-06 21:09:34 -05:00
7abbdcd88f
License fix.
2015-11-05 20:27:03 -05:00
32839006f3
Implemented vector 3 cross product.
2015-11-05 20:22:17 -05:00
5b5cfcfeca
Added more vector ctors.
2015-11-05 19:37:31 -05:00
44768fad35
Added vector data ctor.
2015-11-05 19:32:28 -05:00
cefe7b3e80
Cleaned up header includes.
2015-11-05 19:25:44 -05:00
b06c557a2a
Comment fix.
2015-11-05 18:16:07 -05:00
c70994e6a5
Formatting.
2015-11-05 18:10:06 -05:00
4a6369cee5
More coverage testing.
2015-11-05 18:07:05 -05:00
550108cf1d
More testing.
2015-11-05 17:29:57 -05:00
75399fb15e
Cleanup of printing.
2015-11-05 17:13:03 -05:00
455cb58ebf
New tests.
2015-11-05 17:03:22 -05:00
6ff42b7b31
Added some more vectors tests.
2015-11-05 16:59:59 -05:00
7136e5b7d1
More work on gimbal lock case.
2015-11-05 16:54:19 -05:00
d01e0a1038
Formatting.
2015-11-05 15:44:54 -05:00
00a0b36836
Moved inverse outside of matrix definition.
2015-11-05 15:43:36 -05:00
5566b3dc77
expm testing and fixes.
2015-11-05 15:39:41 -05:00
5517532c90
Fixed coveralls build.
2015-11-05 13:37:14 -05:00
6aa8a72651
Renamed coverage option.
2015-11-05 13:34:49 -05:00
31821a44aa
Fixed formatting script.
2015-11-05 13:33:35 -05:00
9af1604daa
Formatting.
2015-11-05 12:45:53 -05:00
537c683d58
More cleanup.
2015-11-05 12:34:14 -05:00
fd64e7e93a
More testing and cleanup.
2015-11-05 12:28:39 -05:00
9d88b0d573
Fix for gcc 4.6
2015-11-05 11:29:18 -05:00
bb6b375390
Travis fix.
2015-11-05 11:25:47 -05:00
5b0ea675c3
Fixed float in square matrix.
2015-11-05 11:23:54 -05:00
cbe8b4ef6f
Travis fix.
2015-11-05 11:21:48 -05:00
b8dc262582
Formatting.
2015-11-05 11:18:33 -05:00
0062cbcbe2
Added more warnings, and fixed issues.
2015-11-05 11:17:54 -05:00
6ba15eeaa0
Formatting.
2015-11-05 10:51:53 -05:00
7c4b2c590e
Update for travis.
2015-11-05 10:46:22 -05:00
f7b1c63b86
Work on testing.
2015-11-05 10:44:21 -05:00
a703c8169e
Working on formatting.
2015-11-04 23:19:20 -05:00
f23bed6823
Explicity disabled sudo.
2015-11-04 22:54:39 -05:00
3fc5ec9751
Tried apt addon.
2015-11-04 22:53:45 -05:00
04f24310b5
Added astyle install to travis.
2015-11-04 22:51:25 -05:00
b818774f6a
Work on format testing.
2015-11-04 22:48:13 -05:00
eddc55827a
More filter testing.
2015-11-04 20:58:56 -05:00
76cf91c5fd
Work on filter.
2015-11-04 20:56:44 -05:00
52956e360a
Added filtering test.
2015-11-04 20:43:22 -05:00
b2e9e1e3c7
Added kalman filter.
2015-11-04 18:58:29 -05:00
7ec13f6282
Updated pdf.
2015-11-04 12:22:07 -05:00
18f80462b7
Got coverage working for templates.
2015-11-04 12:11:32 -05:00
bf6de4b710
Updated travis.
2015-11-04 11:39:49 -05:00
9e37b99d76
Added local coverage tools.
2015-11-04 11:38:55 -05:00
edc356d0db
Added coverage flag.
2015-11-04 11:02:09 -05:00
4bf4611087
Work on coverage.
2015-11-04 10:54:46 -05:00
abd0ef0143
Removed test files from coverage.
2015-11-04 03:39:35 -05:00
88def6b54e
Made instantiation actual test program.
2015-11-04 03:37:33 -05:00
3477ff2adb
Added coverage to build.
2015-11-04 03:29:01 -05:00
6458c0477e
Working on coverage for templates.
2015-11-04 03:16:41 -05:00
ea66d09a8e
Added coverage source.
2015-11-04 03:11:45 -05:00
9b90f223a4
Updated token.
2015-11-04 02:51:42 -05:00
ce719a0fe2
Added cov sources.
2015-11-04 02:29:07 -05:00
8f0448eb91
Coverage fix.
2015-11-04 01:58:48 -05:00
35edae200f
Badge placement.
2015-11-04 01:54:14 -05:00
edd23778ca
Added coverage.
2015-11-04 01:52:19 -05:00
b1ee027f64
Working on coverage.
2015-11-04 01:50:30 -05:00
12713105b8
Fixed quaternion unit test.
2015-11-04 00:48:59 -05:00
c84e934909
Updated vector class.
2015-11-04 00:37:00 -05:00
89851a85c0
Added badge.
2015-11-03 20:31:47 -05:00
33e0272447
Travis fix.
2015-11-03 20:31:10 -05:00
7470134559
Fixed filename.
2015-11-03 20:29:34 -05:00
ad03429ae9
Added readme.
2015-11-03 20:28:48 -05:00
49035ed6a9
Added mode lines for vi.
2015-11-03 20:26:42 -05:00
b842f8d8a5
Added travis.
2015-11-03 20:17:34 -05:00
5369904d27
Fixed default.
2015-11-03 19:50:09 -05:00
a36ff9f1e5
Formatting and added Scalar.
2015-11-03 19:38:31 -05:00
76e86cf937
Initial commit.
2015-11-03 14:46:54 -05:00
Daniel Agar