4f6faac2c8
ECL fix for v1.10.0 release
2019-12-12 12:59:24 -05:00
5934ad7513
navigator: fix VTOL RTL corner case
...
This fixes a corner case for VTOL RTL with RTL_TYPE 1.
RTL_TYPE 1 means that the VTOL skips all waypoints on RTL and jumps to
the land waypoint at the end.
During a mission in fixedwing mode it will continue to fly in fixedwing
mode and then do a transition before landing.
However, if RTL is engaged right at the moment of the front transition,
the transition waypoint is not inserted and the VTOL will try to land in
fixedwing mode at the mission land location.
This corner case is fixed in this patch by also considering the
"transition after takeoff" state.
2019-12-11 14:09:35 +01:00
b803fa9e77
px4_work_queue: increase hp_default stack 1500 -> 1600 bytes
2019-12-09 17:36:33 -05:00
7ee74099ab
fix mavlink: fixes for mavlink on USB instance
...
Open the UART after adding the instance: mavlink_open_uart() might block,
and in that case the parent task waiting for mavlink to be started times
out.
And while waiting for the USB UART device to come up:
- check for _task_should_exit
- check for check_requested_subscriptions()
Side-effects when USB is not plugged in during boot:
- reduces boot duration by 100ms
- fixes duplicate instance name in 'top':
201 mavlink_if0 1 0.000 1328/ 2572 100 (100) w:sig 3
204 mavlink_if0 572 4.221 1632/ 2540 100 (100) w:sig 4
- 'mavlink stop-all' now stops the usb instance as well
2019-12-06 15:25:39 +01:00
08e36de020
mavlink: remove unused get_uart_fd(unsigned index) method
2019-12-06 15:25:39 +01:00
c17c54b61b
navigator: fix triplet resetting/publication logic
...
The navigator has a notion of resetting the triplets which means the
triplet setpoints are set to invalid and therefore not to be used by
downstream modules such as flight tasks.
However, before this patch, the triplets were not published if invalid
meaning that a valid triplet would stay the truth until a new valid
triplet would get published.
E.g. this lead to the corner case case where we publish a valid triplet
with an IDLE setpoint on ground in HOLD and then don't update the
triplet while flying in POSCTL mode. Later, when RTL is engaged, the
flight task will use IDLE until navigator (which runs slower) has
published the next triplet.
The fix involves two main changes:
- Publish invalid triplets to avoid stale triplets.
- Avoid publishing the triplet on every iteration in manual modes by not
setting `_pos_sp_triplet_published_invalid_once = false`.
When testing this I realized that a mission upload during RTL would stop
RTL. This is because the mission is updated while the mission navigation
mode is not active and reset_triplets() is called from there. This is
now only done for the case where we are actually in mission navigation
mode. The fact that a mission is updated when not active also seems
wrong and is something to fix another time.
2019-11-25 09:59:45 -05:00
865cf56cd2
uorb: do not open a node exclusively for an advertiser
...
Exclusive open is not required, but we now need to ensure the queue size
is set atomically.
It avoids a race condition between 2 single-instance advertisers,
where one of them would fail to open the node with -EBUSY.
2019-11-25 10:25:34 +01:00
667a04b3f2
uorb: fix several race conditions during topic initialization
...
Possible race conditions (they all happen between the check of existence
of a topic and trying to create the node):
- single instance, with multiple advertisers during the first advertise:
both advertisers see the topic as non-existent and try to advertise it.
One of them will fail, leading to an error message.
This is the cause for telemetry_status advert failure seen in SITL in
rare cases.
- multi-instance: subscription to non-existing instance -> px4_open fails,
and the subscriber tries to create the node. If during that time a
publisher publishes that instance, the subscriber will get (instance+1)
(or fails if the max number of instances is exceeded).
This is a race that goes pretty much unnoticed.
- multi-instance: 2 publishers can get the same instance (if is_published()
is false in case both have not published data yet).
This can also go unnoticed.
Therefore the patch changes where _advertised is set: it is now set
directly during the advertisement instead of during publication.
2019-11-25 10:25:34 +01:00
8e8d6deea5
refactor uorb: rename published to advertised
...
No semantic change (yet)
2019-11-25 10:25:34 +01:00
0e9fde2055
uORBDeviceNode: use px4::atomic instead of volatile for _generation
...
_generation is read in a multi-threaded context w/o locking.
2019-11-25 10:25:34 +01:00
20ede04cf1
vmount: tell user how to use vmount test
...
This confused me, so hopefully it will help the next user, e.g. me.
2019-11-22 12:22:19 -05:00
1e3a522245
vmount: remove commented out code
2019-11-22 12:22:19 -05:00
3b446c0015
vmount: set correct MAV_MOUNT_MODE
2019-11-22 12:22:19 -05:00
0312159f00
mc_pos_control: reset velocity derivatives
2019-11-20 11:10:09 +01:00
4e126c061c
px4io: When running HITL, don't publish actuator_outputs. Fixes #13471 .
...
When running in HITL mode, pwm_out_sim publishes actuator_outputs.
px4io unconditionally publishes the uOrb actuator_outputs. When HITL
is configured, the px4io copy of the uOrb has all zeros.
The result is that there are two publications, one valid, and one
all-zeros. This causes the HIL_ACTUATOR_CONTROLS mavlink message
to be incorrect (all-zeros) and the SERVO_OUTPUTS_RAW mavlink
message to be inconsistent, as it takes the data from one or the
other uOrb randomly each cycle.
The fix is to let px4io know that HITL is in effect when it is
started, and modify px4io to suppress publication in this case.
This is a bigger more complicated fix than I would like, but I
think it is conceptually correct.
Signed-off-by: Nik Langrind <langrind@gmail.com >
2019-11-20 10:26:17 +01:00
1b313c675c
fmuk66-v3:Fix hang on SDIO card removal/reinsertion
...
The interrupt driven card detect logic was enabled
but the auto mounter was not. That interrupt was
calling mmcsd_mediachange.
There is a reentrancy issues in the kinetis callback logic.
Toplevel calls mmcsd_mediachange calls SDIO_CALLBACKENABLE
that calls kinetis_callbackenable that calls kinetis_callback
that calls mmcsd_mediachange.
2019-11-15 14:11:30 -05:00
cacf821452
ak09916: fix mag spikes
...
This fixes spuriously occuring mag spikes in the external mag of Here2.
The reason for the spikes was that the fact that the I2C registers were
not read out correctly as suggested in the datasheet.
Before we were reading out ST1, data, and ST2 in one pass and ignoring
the data ready bit (DRDY) in ST1. This meant that we could run into race
conditions where the data was not ready when we started reading and
being updated as the registers are read.
Instead, we need to check the read the ST1 register first to check the
data ready bit and then read the data and ST2 if the data is ready. By
reading ST2 we then trigger the next measurement in the chip.
2019-11-13 10:55:38 +01:00
474b8028d0
ak09916: cleanup only
...
Note: the author name was removed because this file has almost no
resemblence with the code written by that author 4 years ago, has been
copied to new places, and was initially commited without author anyway.
Also, my opinion is that the version control system should take care of
attribution, and not outdated comments.
2019-11-13 10:55:38 +01:00
748b664ad0
Reposition landing gear check so that it is not overwritten by setpoint operations. ( #13412 )
2019-11-07 14:35:05 -05:00
37cc877c80
smbus: fix invalid memory access in read_word()
...
read_word() expected 3 bytes (uint16_t + PEC byte), but was passed an
address to an uint16_t value.
write_word() is changed to be type-safe as well.
2019-11-07 10:02:42 -05:00
a124664b80
disable airspeed selector module startup for 1.10
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-11-06 11:41:42 +01:00
c8886ee32f
mixer_module: fix poll error in SITL lockstep
...
This fixes the case where the mixer_module would subscribe and use its
own test_motor publication which was created only to make sure the
topic is advertised and subsequent updates will work properly.
This happened in SITL lockstep because the timestamp would be 0 at the
very beginning, and hence elapsed time would be 0 as well.
This lead to an actuator publication which would then get lockstep out
of sync causing poll errors on the Gazebo side.
2019-11-05 12:48:29 -05:00
3c8685742e
Removed lidar lite reset after intialization
2019-11-05 09:07:19 -05:00
23334df1e5
BlockingList: fix unsafe getLockGuard() API
...
getLockGuard relies on copy elision to work correctly, which the compiler
is not required to do (only with C++17).
If no copy elision happens, the mutex ends up being unlocked twice, and the
CS is executed with the mutex unlocked.
The patch also ensures that the same pattern cannot be used again.
2019-11-05 14:19:10 +01:00
5c6d16ca27
NuttX/nuttx with SDIO fixes ( #13311 )
...
* NuttX/nuttx with SDIO fixes
2019-10-31 13:42:22 -04:00
5bd5fa34fa
sensors: own BAT_V_DIV and BAT_A_PER_V params ( #13299 )
...
- this is currently necessary for the QGC power setup gui, but should be reverted in the future
- fixes #13292
2019-10-28 16:52:42 -04:00
24143a9fcf
mavlink: only ignore messages on UDP before init
...
We should still accept messages arriving over serial.
2019-10-28 16:52:42 -04:00
469ab9dce6
mavlink: accept msgs without source initialized
...
I don't understand why we should wait to parse incoming MAVLink traffic
just because we don't have the source address initialized. We still
check the source address before doing a sendto.
This should fix serial MAVLink communication on FMU5x where both serial
and UDP is available. There the serial connection previously did not
work because nothing was connected over UDP.
2019-10-28 16:52:42 -04:00
d5f003eed5
px4io: add missing lock()/unlock() in ioctl
2019-10-28 16:04:11 -04:00
6535d5123e
AutoLineSmoothVel: fix constrain priority for autocontinue.
...
The constrainAbs function was not prioritizing the minimum value
that produces the autocontinue behaviour. This caused zig-zag
paths when the waypoints were almost -but not exactly- aligned.
2019-10-28 16:04:11 -04:00
0d895f2a0a
Update submodule sitl_gazebo to latest Fri Oct 25 12:40:00 UTC 2019
...
- sitl_gazebo in PX4/Firmware (ffefd458behttps://github.com/PX4/sitl_gazebo/commit/c0634b241eb730cee2ef91e5f5298427a4a328c8
- sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/169d48217df89922e9fae72ef34fa46ce2e209dd
- Changes: https://github.com/PX4/sitl_gazebo/compare/c0634b241eb730cee2ef91e5f5298427a4a328c8...169d48217df89922e9fae72ef34fa46ce2e209dd
169d482 2019-10-22 Julian Oes - travis: let's not bother about macOS Sierra
78fef51 2019-10-22 Julian Oes - travis: install gstreamer using brew
764d1b7 2019-10-21 Julian Oes - models: fix reported validation errors
053622b 2019-10-11 TSC21 - Travis CI: Cleanup scripts and add more MacOSX build pipelines
0c8214c 2019-10-21 Julian Oes - cmake: fix Qt prefix path for macOS
bb2c08c 2019-10-06 TSC21 - CMake: fix Qt5 find in MacOS
81f072b 2019-10-14 Julian Oes - travis: install GStreamer using brew
39d4399 2019-10-14 Julian Oes - cmake: link to glib-2.0 and gobject-2.0
fef3ff5 2019-10-14 Julian Oes - cmake: fix GStreamer and Qt deps for macOS
605da22 2019-10-22 Nuno Marques - Update README.md
2a8a54e 2019-10-20 Nuno Marques - README: update install instructions
2019-10-28 16:04:11 -04:00
940ce5b2d6
UAVCAN: Optical Flow: Bug fix (missing integration_timespan field in optical_flow topic). ( #13257 )
2019-10-28 16:04:11 -04:00
9771bac8e8
Fix typhoon h480 parameter ( #13263 )
2019-10-28 16:04:11 -04:00
9e3775515e
mission: ensure precland::on_inactivation() is called once landed
2019-10-28 16:04:11 -04:00
8e9dc60eaa
Mavlink Submodule update
2019-10-28 16:04:11 -04:00
662795cb90
Fix incorrect default for parser
2019-10-28 16:04:11 -04:00
e65515cd9b
Parameter parser/markdown includes boolean flag
2019-10-28 16:04:11 -04:00
16d7db1e69
InnovationLpf: initialize state to zero
2019-10-28 16:04:11 -04:00
471bc23a9f
Jenkins CI: Colcon build on ROS2 Dashing workspace
2019-10-28 16:04:11 -04:00
12c0d198ae
bump container tags to 2019-10-24
2019-10-28 16:04:11 -04:00
1ee8b67591
Jenkins CI: Tests: bump px4-dev-ros-melodic tag to 2019-10-23
2019-10-28 16:04:11 -04:00
a0367b30b8
Jenkins CI: move SITL tests to Melodic container
2019-10-28 16:04:11 -04:00
6cab14fc5d
ekf2: Fix heading not stable issue. The prblem was that a large
...
dt could drive the alpha filter crazy because of the small dt
approximation during the computation of the coefficient.
- Remove unused bitmask packing of the innovation checks
2019-10-28 16:04:11 -04:00
45bc2c5882
arch.sh: get rid of ignition-cmake workaround
...
The AUR repository got fixed upstream after
I reported the issue. I tested on a fresh machine
so we can get rid of the workaround that was necessary. See
https://aur.archlinux.org/packages/ignition-cmake/#comment-712301
2019-10-28 16:04:11 -04:00
571c6f136d
modalai fc-v1: add dshot support
2019-10-28 16:04:11 -04:00
e038f06778
Fix a missed refactor of board name in vscode file
2019-10-28 16:04:11 -04:00
71a7bf420e
Add rangefinder dependency to the CM8JL65 driver CMakeList and organize #includes.
2019-10-28 16:04:11 -04:00
4a76f608ac
Retune h480
2019-10-28 16:04:11 -04:00
3e84def1e2
rcS: do not wipe next flight UUID parameter when resetting parameters
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-10-28 16:04:11 -04:00
112f24c54f
ekf2_main - Add optical flow innovation pre-flight check ( #13036 )
...
* ekf2: Add FirstOrderLpf and InnovationLpf classes for innovation lowpass filtering
* ekf2: use InnovLpf filter class in preflight checks
* ekf2: move selection of yaw test limit for pre-flight check in function
* ekf2: Move pre-flight checks into separate function
* ekf2: use static constexpr insetead of inline for sq (square) function
* ekf2: Split pre-flight checks in separate functions
Also use the same check for all the innovations:
innov_lpf < test and innov < 2xtest
* ekf2: Add optical flow pre-flight check
* ekf2: Combine FirstOrderLpf and InnovationLpf in single class
* ekf2: check vel_pos_innov when ev_pos is active as well
* ekf2: transform InnovationLpf into a header only library and pass the
spike limit during the update call to avoid storing it here
* ekf2: Static and const cleanup
- set spike_lim constants as static constexpr, set innovation
- set checker helper functions as static
- rename the mix of heading and yaw as heading to avoid confusion
* ekf2: use ternary operator in selectHeadingTestLimit instead of if-else
* ekf2: store intermediate redults in const bool flags. Those will be used for logging
* ekf2: set variable const whenever possible
* ekf2: create PreFlightChecker class that handle all the innovation
pre-flight checks.
Add simple unit testing
Use bitmask instead of general flag to have more granularity
* PreFlightChecker: use setter for the innovations to check instead of sending booleans in the update function
This makes it more scalable as more checks will be added
* ekf: Use booleans instead of bitmask for ekf preflt checks
Rename "down" to "vert"
2019-10-28 16:04:11 -04:00
17d0073f95
generate_listener.py don't use message length
2019-10-28 16:04:11 -04:00
a59a0b64b8
perf counter cleanup (mostly intervals)
...
Some of these perf counters were useful during initial development, but realistically aren't needed anymore, some are redundant when we can now see the average interval from `work_queue status` and some of them simply aren't worth the cost at higher rates.
2019-10-28 16:04:11 -04:00
f7e62349b3
px4_posix: increase posix stack overhead (mostly for ASan)
...
- sync address sanitizer SITL tests
2019-10-21 16:56:09 -04:00
6a0f5249f8
sensors: split out analog battery handling to new standalone battery_status module
2019-10-21 13:40:23 -04:00
f956bafa4e
MixingOutput: remove safety button check
...
The assumption is that the system can only ever get into armed state if
the safety button is already off.
2019-10-21 09:42:08 +02:00
529da7b33e
MIXERIOCLOADBUF ioctl: remove unnecessary string length restriction
...
mixer.cpp ensures the string is null-terminated (buffer length is 2048).
2019-10-21 09:42:08 +02:00
a8f6622831
OutputModuleInterface::updateOutputs return bool to control actuator_outputs pub
...
Required for pwm_out_sim: only publish actuator_outputs when we get
actuator_controls. Otherwise lockstep startup does not work.
The issue was there before but hidden, due to a long poll timeout.
Works with HIL too.
2019-10-21 09:42:08 +02:00
380247168d
mixer_module: avoid using an enum as px4::atomic argument
...
Does not compile on MacOS.
2019-10-21 09:42:08 +02:00
0871802568
mixer_module: add support for test_motor (motor_test CLI command)
2019-10-21 09:42:08 +02:00
349469cf75
refactor pwm_out_sim: use mixer_module and run on work queue
...
Tested with SITL + HITL
2019-10-21 09:42:08 +02:00
2837152983
refactor mixer_module: move some code in update() into separate methods
2019-10-21 09:42:08 +02:00
72a8be538a
mixer_module: more robust logic to set 'stop_motors' flag
...
Checking the first output_limited for a disarmed value is fragile.
For example a disarmed value might be within the range of min/max output
values and could then be triggered while armed.
2019-10-21 09:42:08 +02:00
177da1f923
RTL params - proposed updates
2019-10-21 09:08:27 +03:00
4cc7bb7296
addressed review comments
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-10-21 09:08:27 +03:00
b1a9d4b4c7
updated rtl parameter descriptions.
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-10-21 09:08:27 +03:00
2930b55732
microRTPS: templates: only decode ros2_distro when possible and nedeed
2019-10-20 16:08:32 +01:00
981f8d5d90
systemcmds/tests: IntrusiveQueue and List fix memory leaks
2019-10-20 10:46:44 -04:00
687a3a15c5
top: decrease priority below IMU sensor WQ threads
...
- otherwise top can potentially disrupt with sensor sampling
2019-10-19 13:44:24 -04:00
3bbf1cc868
Add support for ModalAI FC1
2019-10-19 12:23:23 -04:00
070d75496d
Handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN 'Do nothing for autopilot'
2019-10-18 15:57:50 -04:00
08ec6a28f0
mc_att_control: remove TPA
...
because it's mostly unused and we have thrust curve correction
see parameter THR_MDL_FAC
2019-10-18 15:54:09 -04:00
f9ddbd7e2a
mpu6000: remove factory test for fmu-v2
2019-10-18 15:00:41 -04:00
22c4bb498c
FlightTaskDescend: set no vertical thrust when commanding velocity
2019-10-18 16:18:19 +02:00
de90543d6f
FlightTasks: add Descend task to land without GPS
...
This adds a flight task to catch the case where we want to do an
emergency descent without GPS but only a baro.
Previously, this would lead to the navigator land class being called
without position estimates which then made the flight tasks fail and
react with a flight task failsafe. This however meant that landed was
never detected and a couple of confusing error messages.
This applies if NAV_RCL_ACT is set to 3 "land".
2019-10-18 16:18:19 +02:00
5f53ae1253
mc_pos_control: execute failsafe with invalid setpoints
2019-10-18 16:18:19 +02:00
95dc522b99
update sitl_gazebo submodule 18/10/2019
2019-10-18 11:43:58 +01:00
d3da4a92e0
msg: don't implement print_message for fmu-v2
...
This saves about 3.4k of flash for fmu-v2.
2019-10-18 11:54:24 +02:00
e9c9fb8239
fix multicopter land detector: do not update parameters every cycle ( #13212 )
...
And add updateParams() call in LandDetector::_update_params().
2019-10-18 09:25:41 +02:00
cefa7ec5dc
arch.sh: use nproc instead of grepping /proc/cpuinfo
2019-10-17 12:48:04 -04:00
be1f966e5f
Collision prevention: Option to enable flying outside FOV and rename parameters (new CP group)
...
* rename parameters to allow more descriptive names under CP group
* add option to enable moving where there is no data
* add test for param CP_GO_NO_DATA
Co-Authored-By: Martina Rivizzigno <martina@rivizzigno.it >
2019-10-17 11:23:50 -04:00
2fcddd9b8d
mavlink: fix uninitialized mavlink warnings
2019-10-17 08:44:53 -04:00
ec95378821
logger: fix uninitialized coverity warnings
2019-10-17 08:44:53 -04:00
8e625285fc
platforms: initialize strings
...
This might fix a warning about argv being a TAINTED_SCALAR further down.
2019-10-17 08:44:53 -04:00
cf8f03f190
Changed listener to not busy-wait ( #13157 )
...
* Changed listener to not busy-wait
2019-10-17 11:29:36 +02:00
40bb209fd2
dshot telemetry: enable telemetry publishing for setups with only one ESC
2019-10-17 11:13:38 +02:00
6ccb4af8b0
CollisionPrevention: remove unnecessary double precision floating point math
2019-10-17 08:44:33 +02:00
e942d3a3b2
FlightTasks: remove unnecessary double precision floating point math
2019-10-17 08:44:33 +02:00
25aded36ec
WorkQueue: avoid potential semaphore counter overflow
...
This could happen in the following cases:
- IRQ/publisher rate is faster than the processing rate, and therefore
WorkQueue::Add is called at a higher rate
- a long-running or stuck task that blocks the work queue a long time
Both cases are not expected to happen under 'normal' circumstances (if the
system runs as expected).
2019-10-16 18:29:26 +02:00
2296c9acfa
uavcan_virtual_can_driver: fix invalid use of px4_sem_getvalue
...
sem_getvalue returns 0 on success, -1 on error, and never a value > 0.
2019-10-16 18:29:26 +02:00
884621415d
dataman: fix invalid use of px4_sem_timedwait
...
px4_sem_timedwait expects an absolute time (from CLOCK_REALTIME), but a
relative time was provided.
This is only relevant if FLASH_BASED_DATAMAN is set (only on Intel aero).
2019-10-16 18:29:26 +02:00
bde36f0f4a
ROMFS: rc.vtol_defaults limit inner loop rate ( #13196 )
...
- temporary remedy for https://github.com/PX4/Firmware/issues/13149
2019-10-16 12:27:06 -04:00
17c17f26a9
VTOL GPSF: fix fixed bank loiter ( #12778 )
...
* GPS Failsafe fix for VTOL
* navigator: use new uORB API for VTOL publication
2019-10-16 17:57:44 +02:00
412c364e90
microRTPS bridge: templates: do not change naming of topics based on the fasrtpsgen version
2019-10-16 16:16:11 +01:00
a053b7f69b
vtol_att_control_main: only reset thrust when disarmed
...
to see flaps moving according to attitude control before arming
and not have tailsitter elevons move to follow north heading.
2019-10-16 16:30:38 +02:00
4cc7b1319f
Fix param update in mc_att_control
...
ModuleParams::updateParams() was never called
2019-10-16 08:17:04 -04:00
17551a99f8
io_timer: fix potential invalid memory access
2019-10-16 13:13:17 +02:00
617f37afbf
mixer_{multicopter,helicopter}: add buffer size check
...
Fixes a potential buffer overflow if an MC/helicopter mixer is used that
exceeds the number of physical pins.
This is not a useful/flyable configuration, but the system still should
not crash.
2019-10-16 13:13:17 +02:00
173337e49c
uORBManager: print errno for advertisement failures
...
Helps with debugging.
2019-10-16 13:13:17 +02:00
45a53726d6
LandDetector: switch to uORB::Publication
2019-10-16 00:47:01 -04:00
679e4fedf5
LandDetector: switch land flags to properies instead of one state
2019-10-16 00:47:01 -04:00
1e1549a169
Add support for Bosch BMP388 barometer
2019-10-15 23:33:49 -04:00
c58cfce6be
do not check VP fusion during GPS startup
...
This is solution for https://github.com/PX4/Firmware/issues/11864
2019-10-15 17:01:20 +01:00
a4e035d338
Add param to choose vision observation noise source
2019-10-15 16:06:37 +01:00
6bfb50df8a
run arm authorization as last pre-arm check, as it used to be implemented
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-10-15 15:44:24 +01:00
e843090383
Replace a lot of memset with {} initializers
2019-10-15 10:01:03 -04:00
b8f70e865c
voted_senors_update: remove memset 0 initializations because of zero initializer in header
2019-10-15 10:01:03 -04:00
185e2811dc
gyro_calibration: use constexpr instead of const
2019-10-15 10:01:03 -04:00
09faa4647b
ekf2_params: correct typo
2019-10-15 10:01:03 -04:00
bfab544a64
Jenkins CI: reactivate Catkin build stage
2019-10-15 10:42:14 +01:00
0cbb693a8d
Add return INFINITY; to the LandDetector class _get_max_altitude() method declaration ( #12343 )
2019-10-15 08:19:53 +02:00
9f639d1f3b
mc_att_control: move rate control to RateControl class
...
This makes the controller more modular, more readable and hence
better maintainable.
2019-10-15 07:46:47 +02:00
97e1edc835
microRTPS: templates: fix support for ROS2 Dashing
2019-10-14 23:17:27 +01:00
f91770f9cd
generate_microRTPS_bridge: fix fastrtpsgen version check handler
2019-10-14 21:23:27 +01:00
c51475640e
mavlink: only send ATTITUDE/ATTITUDE_QUATERNION msgs on vehicle_attitude update
...
- fixes #13182
2019-10-14 15:47:22 -04:00
fb12ddb69a
Cherry pick the directory and voted_sensors_update.h from PR #9756 .
...
Consolidate _update_params() methods for improved inheritance from the LandDetector base class.
Move common uORB::Subscriptions to the base class for inheritance.
Deprecate redundant override methods.
2019-10-14 21:25:57 +02:00
c44e4b9578
imu/mpu6000: support ICM20689 rev 4 ID
2019-10-14 15:17:43 -04:00
51374aec7b
px4_fmu-v5: add here2 mag to startup
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-10-14 15:16:33 -04:00
b72d010c34
Update vehicle_local_position.ref_alt comment to reflect how ref_alt is being used in PX4
2019-10-14 12:33:25 -04:00
bb91db2057
AttitudeControlTest: fix adaptAntipodal() function
2019-10-14 18:23:22 +02:00
83dfa227a7
AttitudeControlTest: include all corner case combinations
...
Which revealed antipodal quaternion corner cases when
the first element is zero.
2019-10-14 18:23:22 +02:00
511828bfd2
AttitudeControlTest: add first controller convergence test
2019-10-14 18:23:22 +02:00
10e3bcd138
ulog stream msgs: rename 'sequence' fields as they are protected names in fastrtpsgen
2019-10-14 16:37:17 +01:00
88a7e3df09
microRTPS bridge: fix templates for ROS2 usage
2019-10-14 16:37:17 +01:00
3007b0876c
mavlink: add protection against setting wrong type of parameters
2019-10-14 11:18:08 -04:00
5324c37d04
Add support for voxlpm (I2C power monitor)
2019-10-14 11:08:56 -04:00
13c3ae3b52
FW RWTO: add throttle_ramp_time parameter RWTO_RAMP_TIME
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* add throttle_ramp_time parameter support fixed wing runway takeoff
2019-10-14 11:07:33 -04:00
7e2fb6b4da
arch.sh: switch permissions of pip install (again)
...
after testing the right solution on a fresh installation
2019-10-14 10:54:09 -04:00
123f769306
enable safe landing test
2019-10-14 10:53:13 -04:00
7f4ddde378
enable avoidance test
2019-10-14 10:53:13 -04:00
001da78089
mc_pos_control: improve failsafe handling
...
See issue #12307
Since commander should still handle all failsafes we should only run
into this case as last resort to not crash.
If all failsafe actions are disabled but data is missing
e.g. RC loss action disabled but flying in manual and no RC
this can be tested.
2019-10-14 15:07:09 +02:00
068f56d66f
FlightTasks: fix switchTask() comment typo
2019-10-14 15:07:09 +02:00
97efbde6f4
WIP: commander re-evaluate RC mode switch when local position becomes valid
2019-10-14 14:16:24 +02:00
093d3b76d9
PULL_REQUEST_TEMPLATE: change order of titles ( #13174 )
2019-10-14 13:11:44 +02:00
35e0554ace
navigator: fix save mission state. ( #12468 )
2019-10-14 11:58:42 +02:00
04ea84908e
Update submodule mavlink v2.0 to latest Sun Oct 13 08:37:21 EDT 2019
...
- mavlink v2.0 in PX4/Firmware (c09ea2a9b0https://github.com/mavlink/c_library_v2/commit/31cc5bb39e1cb69f5e608e8e2cac8a4d57332e1c
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/c549ee329842e6182bc0dd72369a83fc0deb8f6e
- Changes: https://github.com/mavlink/c_library_v2/compare/31cc5bb39e1cb69f5e608e8e2cac8a4d57332e1c...c549ee329842e6182bc0dd72369a83fc0deb8f6e
2019-10-13 13:47:06 -05:00
c09ea2a9b0
arch.sh: don't execute pip as root
...
otherwise packages get installed in
/root/.local/lib/python3.7/site-packages
2019-10-12 08:38:39 +02:00
50c5150471
arch.sh: work around gazebo AUR build error and correct comments
2019-10-12 08:38:39 +02:00
bba464d722
arch.sh: enable multicore gazebo compilation
2019-10-12 08:38:39 +02:00
7dd1be65ca
arch.sh: add gazebo installation
2019-10-12 08:38:39 +02:00
803a71928f
fmu-v3: enable DShot
...
Disables RX DMA on TEL4 and IO debug serial port
2019-10-11 08:14:17 +02:00
82106105b7
parameters: defer auto-saving to after disarming for flash-based params
...
This is especially important for DShot, that does not update when the CPU
stalls.
2019-10-11 08:14:17 +02:00
67500123e3
fmu-v5: add dshot support
...
But only on the first 4 FMU outputs, as the next ones conflict with px4io
serial dma (UART8_RX)
RX DMA is disabled on the GPS port as well (conflicts with TIM1).
2019-10-11 08:14:17 +02:00
8a9744d05a
dshot: allow boards to enable dshot only on a subset of the timers
2019-10-11 08:14:17 +02:00
93a12436a3
parameters: update perf counter for flash-based param_save_default()
2019-10-11 08:14:17 +02:00
a545f7ee16
mixer_module: extend printf status output
2019-10-11 08:14:17 +02:00
b080679146
kakutef7, kopis airframe: enable dshot & telemetry
2019-10-11 08:14:17 +02:00
d0a7490222
dshot: update timer generation before DMA request
...
This reloads the timer configuration before triggering DMA. Without that,
in rare cases, there were 17 bits sent instead of 16.
The 1. bit (1. pulse) was always wrong (too much), the rest of the bits
were the correct DShot packet that was meant to be sent.
2019-10-11 08:14:17 +02:00
7445c25fcc
dshot: check if DMA still in progress
...
No other functional change, just restructuring.
2019-10-11 08:14:17 +02:00
182efaa757
dshot: reduce static buffer size
...
And handle failures of up_dshot_init().
On Omnibus: reduces memory usage if dshot is enabled by ~1.0KB.
The buffer is roughly 1KB in size.
2019-10-11 08:14:17 +02:00
e78250ab8d
dshot telemetry: retrieve & print ESC info with 'dshot esc_info' CLI command
2019-10-11 08:14:17 +02:00
26648ad0b9
dshot: add support to send commands via CLI
...
This enables the possibility to permanently reverse motor directions :)
2019-10-11 08:14:17 +02:00
65f3c7f93d
dshot: add telemetry and publish esc_status message
2019-10-11 08:14:17 +02:00
d44302c03b
module_schema.yaml: add 'decimal' and 'increment' for floats
2019-10-11 08:14:17 +02:00
4c4ce09005
esc_status: trim the message and remove unused fields
2019-10-11 08:14:17 +02:00
69c10dcaac
dshot: move implementation to a separate directory & library
...
So that the static memory overhead is not added to targets w/o dshot
2019-10-11 08:14:17 +02:00
775916ef11
kakutef7: enable dshot
2019-10-11 08:14:17 +02:00
23dbd9426a
dshot: handle dcache, flush cache before DMA transfer
2019-10-11 08:14:17 +02:00
3234aca53b
px4_micro_hal: add PX4_ARCH_DCACHE_LINESIZE definition
2019-10-11 08:14:17 +02:00
132dcdaf25
beta75x airframe: enable DShot600
2019-10-11 08:14:17 +02:00
543a057f80
fmu-v4: add dshot timer config
2019-10-11 08:14:17 +02:00
ac82c5114b
omnibusf4sd: add dshot timer config
2019-10-11 08:14:17 +02:00
d8ef1b59b9
ROMFS: add dshot startup support
2019-10-11 08:14:17 +02:00
a161be6ec8
dshot: add dshot driver
...
Supports all DShot modes, but no telemetry yet.
It includes the modes and capture configuration from FMU so that it serves
as drop-in replacement.
2019-10-11 08:14:17 +02:00
f3eea85bef
MOT_ORDERING, MC_AIRMODE: move param def to mixer_module and 'Mixer Output' group
2019-10-11 08:14:17 +02:00
2a492a8e47
fmu: remove unused include and variable
2019-10-11 08:14:17 +02:00
5bd9659301
stm32 timers: add dshot implementation
2019-10-11 08:14:17 +02:00
061ee15139
update sitl_gazebo submodule (10/10/2019)
2019-10-10 15:51:09 +02:00
ab2e235333
Commander: bugfix: get all available messages on the subsystem_info topic
2019-10-10 13:12:31 +02:00
b6f21fa76e
voted_sensors_update: fix style
2019-10-10 10:31:56 +02:00
316a188e8e
voted_sensors_update: parameter CAL_*_EN enables sensor with id CAL_*_ID
2019-10-10 10:31:56 +02:00
d3e79c4726
voted_sensors_update: set priority properly in case of late mag subscriptions or sensors enabled param changes
2019-10-10 10:31:56 +02:00
7f63ed8202
Arch setup script ( #13111 )
...
* ubuntu.sh: fix space and capitalization
* Add setup script for Arch Linux
* arch.sh: remove numerous confirmations, added some base packages
* setup scripts: adjust messages according to review
2019-10-10 08:59:11 +02:00
307dc3e32d
mavlink: fix boot complete without lockstep
...
Without lockstep the actual monotonic clock of the host computer is
used. Therefore, this time is likely much more than 20 seconds and the
check if the boot complete happened in time will fail immediately.
Therefore, it probably makes more sense to count the time from the first
mavlink creation.
2019-10-10 08:58:34 +02:00
ea35923d3a
navigator: bugfix to prevent NaN setpoints
...
The asinf function is NaN outside of -1 to 1. Therefore, it probably
makes sense to constrain the input to prevent NaN setpoints further down
the line.
2019-10-09 08:36:34 -06:00
ca711fecc7
Commander: improve message for RC override event
2019-10-09 15:34:46 +02:00
f9a5c91f8c
Deprecate vehicle_attitude_sub from MulticopterLandDetector as it is no longer utilized.
2019-10-09 09:48:17 +02:00
5ac0a3043b
Clarify Documentation of THR_MDL_FAC
...
The documentation of the thrust model parameter `THR_MDL_FAC` did not
mention both thrust and "PWM" being relative values. Also the use of the
term PWM could be misleading, since the model is applicable to CAN ESCs
as well.
This commit rephrases the user documentation string and a few source
code comments, but no logic changes are made.
Closes PX4/Firmware#13105
2019-10-09 08:06:51 +02:00
c1faea8d32
Commander: add const qualifiers for clarity
2019-10-09 08:03:07 +02:00
63f2c009c7
PreflightCheck: refactor failureDetectorCheck return value
2019-10-09 08:03:07 +02:00
8e0ee88e0a
PreflightCheck: add const qualifiers to parameters
...
to help readability
2019-10-09 08:03:07 +02:00
c570dc9315
PreflightCheck: remove goto from imu consistency check
2019-10-09 08:03:07 +02:00
6066300757
Set a default signal_quality value in the MavlinkReciever::handle_message_distance_sensor() method.
2019-10-08 21:19:47 +01:00
5ccba5541d
Added missing fields and a TODO with commented field to the MavlinkReciever::handle_message_distance_sensor().
2019-10-08 21:19:47 +01:00
8c4d32ff4b
navigator: when setting pos_sp_triplet yaw, also set the yaw valid flag to true
2019-10-07 20:53:40 -04:00
741f6787a7
mavlink: disable sending RC override
...
This was added to enable a Pixhawk to be used as an RC input for e.g.
SITL. As far as we're aware of that's not really used. However, sending
this can cause issues if multiple Pixhawks are in the same network.
Also, is uses up some of the MAVLink bandwidth.
Therefore, it's probably best to remove that feature for now.
2019-10-07 09:59:17 -04:00
9a4a02a255
uorb_rtps_message_ids.yaml: fix typo
2019-10-07 12:58:15 +01:00
5e663b9321
Remove eigen leftovers
...
It looks like we're not using Eigen for a while now.
2019-10-07 12:04:50 +02:00
02e861b16e
enable silent compare of parameter ( #12850 )
...
Remove false errors after comparing parameters that doesn't exists.
as described in #12832
2019-10-07 09:50:11 +02:00
05446c0875
ubuntu.sh: correct output during ccache installation ( #13106 )
2019-10-07 09:14:00 +02:00
941a3258b6
Update submodule mavlink v2.0 to latest Sun Oct 6 12:38:38 UTC 2019 ( #13100 )
...
- mavlink v2.0 in PX4/Firmware (91badceb27https://github.com/mavlink/c_library_v2/commit/d4a4a4314b8912015e999e17a3f66afee434a9cd
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/31cc5bb39e1cb69f5e608e8e2cac8a4d57332e1c
- Changes: https://github.com/mavlink/c_library_v2/compare/d4a4a4314b8912015e999e17a3f66afee434a9cd...31cc5bb39e1cb69f5e608e8e2cac8a4d57332e1c
2019-10-06 10:41:21 -04:00
91badceb27
Update submodule sitl_gazebo to latest Sun Oct 06 11:02:54 GMT 2019
2019-10-06 11:40:02 +01:00
5a8aa04970
CI: bump container tags to 2019-10-04 ( #13095 )
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* bump container tags to 2019-10-04
* docker_run: update container name and tag
* generate_microRTPS_bridge.py: force FastRTPSGen to version 1.0 if the result of 'fastrtpsgen -version' command is not a number
* CI: temporarly disable avoidance and safe landing tests
* CI: try to revive tiltrotor test
2019-10-06 01:21:04 -04:00
c8f3f07ff7
matrix: pull explicit constructors
2019-10-05 11:46:07 -04:00
474c406147
CI: microRTPS: deploy templates to px4_ros_com
2019-10-04 16:56:03 +01:00
e7b0384f05
fix FastRTPSGen version verification
2019-10-04 16:56:03 +01:00
9c00f3de02
microRTPS bridge: CMake: add verbosity regarding the FastRTPSGen version
2019-10-04 16:56:03 +01:00
5c0f01a8b8
microRTPS bridge: try/catch FastRTPSGen errors
2019-10-04 16:56:03 +01:00
2677e12024
microRTPS bridge: templates: Publisher.cpp.em: close 'if' statement
2019-10-04 16:56:03 +01:00
8846092c59
readd console output removal
2019-10-04 16:56:03 +01:00
1970ef875f
micrortps bridge: clean templates; add backwards compatibility; add ROS2 compatibility
2019-10-04 16:56:03 +01:00
278d2fd21f
first push on supporting ROS2 Dashing and IDL 4.2
2019-10-04 16:56:03 +01:00
f885d2274a
Revert "vtol_att_control: update parameter strings to class enum"
...
This reverts commit 5351f886ec
2019-10-03 11:28:51 -04:00
a5895e5a99
Revert "commander: update parameter strings to class enum"
...
This reverts commit c322f1d156
2019-10-03 11:28:44 -04:00
5f040fe24c
Update submodule ecl to latest Wed Oct 2 20:37:33 EDT 2019
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- ecl in PX4/Firmware (4d0ac1a400cc007af392c99bbfa809d59d3e7ecd): https://github.com/PX4/ecl/commit/b78429aa60257157c53a8a43c1c29646560de124
- ecl current upstream: https://github.com/PX4/ecl/commit/f005e0ea8f33d10dd014a0700e712426540bb58a
- Changes: https://github.com/PX4/ecl/compare/b78429aa60257157c53a8a43c1c29646560de124...f005e0ea8f33d10dd014a0700e712426540bb58a
f005e0e
2019-10-03 00:26:16 -04:00
cee8c31649
Update submodule matrix to latest Wed Oct 2 20:37:38 EDT 2019
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- matrix in PX4/Firmware (cb369cb6a75cae71035d72a3bacecce3e109f971): https://github.com/PX4/Matrix/commit/c34e8dc98fd05ea55dcd4c9fc551b11a3d23a601
- matrix current upstream: https://github.com/PX4/Matrix/commit/973999a4d3c6d4d85bf0153230974fd9571f7846
- Changes: https://github.com/PX4/Matrix/compare/c34e8dc98fd05ea55dcd4c9fc551b11a3d23a601...973999a4d3c6d4d85bf0153230974fd9571f7846
973999a
2019-10-03 00:25:18 -04:00
3ce58f7102
sensors: organize vars in voted_sensors_update.h
2019-10-02 19:54:38 -04:00
e3bbac0447
land_detector: move to same WQ as estimator
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- the primary data sources of the land detector run from the same WQ so
don't lose anything by serializing these modules
2019-10-02 19:44:46 -04:00
c639444ef9
intel aerofc-v1 disable sih module to save flash
2019-10-02 19:44:46 -04:00
315141873e
NuttX boards reduce CONFIG_MAX_TASKS 64 -> 32 (default)
2019-10-02 19:44:46 -04:00
7baf474940
mc_pos_control: move to WQ
2019-10-02 19:44:46 -04:00
3c623af903
ekf2: move to WQ with uORB callback scheduling
2019-10-02 19:44:46 -04:00
5351f886ec
vtol_att_control: update parameter strings to class enum
2019-10-02 19:43:32 -04:00
c322f1d156
commander: update parameter strings to class enum
2019-10-02 19:43:32 -04:00
508ffa1b39
land_detector: Remove recently added vehicle_attitude.timestamp check from MulticopterLandDetector::_get_maybe_landed_state(). ( #13072 )
...
PR #12681 added a check to the MulticopterLandDetector::_get_maybe_landed_state() method for a valid vehicle_attitude.timstamp value to finish work in PR #9756 . It was discovered that the addition of that check leaves it possible to fly in acro mode without a valid attitude and auto-disarm can engage, allowing the multicopter to fall out of the sky.
2019-10-02 16:31:06 -04:00
d537f3ec6b
vscode: restore editor.smoothScrolling to default
2019-10-02 16:24:53 -04:00
2644742b37
Deprecate RoverLandDetector virtual methods that are redundant.
2019-10-02 16:02:30 -04:00
5842c0c2fb
UAVCAN: add battery support (uavcan::equipment::power::BatteryInfo)
2019-10-02 13:08:43 -04:00
26364d44c9
px4_work_queue: command line status output and shutdown empty queues
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* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
2019-10-02 12:23:17 -04:00
cc1d86bc0b
@value will be printed with Whitespace in start of line for serial_config parameters
2019-10-02 10:34:10 +02:00
0fe271b7f5
CollisionPrevention add more distance_sensor orientations
2019-10-01 21:05:37 -04:00
5126e6ea61
cmake: use gold linker if available
2019-10-01 20:44:07 -04:00
3687677095
cmake: show sitl_gazebo build output and improve rebuild
2019-10-01 14:22:30 -04:00
27f459c14e
px4io: move to uORB::Publication<>
2019-10-01 12:24:27 -04:00
fa9ac6ecf6
github: tone stalebot down
...
My suggestion is to re-configure stale bot so it just adds the label
stale but does not close the issue/PR.
This enables us to look for outdated issues using the stale label and
close them.
This brings these advantages:
- No more endless re-opening of PRs and issues which is not fun (and I
will eventually give up on).
- Less stalebot comment noise. (Because it is handy to look for all
issues/PRs without any comments to see what is unanswered).
- I'm not listed as "participating" in all the issues/PRs just because
I was just fighting the stalebot.
- Less notifications meaning we can see anything in the noise.
2019-10-01 10:35:28 -04:00
2989ce981c
rc_input: move to uORB::PublicationMulti<>
2019-09-30 18:41:23 -04:00
6941077218
FlightTasks: orbit and obstacle test use new uORB::Publication<>
2019-09-30 18:26:01 -04:00
045f6233d4
FlightTasks: switch to uORB::Subscription
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- delete SubscriptionArray
- all FlightTasks are now responsible for updating their own subscriptions (typically in updateInitialize()).
2019-09-30 18:16:36 -04:00
ad728cc0c7
sf1xx: Fix max distance for SF/LW20/b
2019-09-30 20:10:57 +01:00
a557f3ffe4
bitcraze crazyflie add dmesg and console buffer
2019-09-30 14:29:54 -04:00
62bc0ab8ad
CollisionPrevention: limit collision warning to every 3 seconds and minor cleanup
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- whitespace and formatting fixes
- mark locals const for readability
2019-09-30 10:48:12 -04:00
34b03d5659
frsky_telemetry: move to uORB::Subscription
2019-09-30 10:28:03 +02:00
0af942ce12
Jenkins hardware skip sd_bench on px4_fmu-v5_stackcheck
2019-09-29 20:29:34 -04:00
030e22c724
adc test shorten
2019-09-29 20:29:34 -04:00
c8e59c4e39
parameter_update use uORB::Subscription consistently
2019-09-29 10:49:03 -04:00
bbb96cbd0c
Mavlink startup script per board
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-moved rc.mavlink to the boards optional rc additions (now it's called rc.board_mavlink) to handle board specific mavlink needs (mavlink over usb, ethernet, additional streams, etc.)
-mavlink module will be responsible to usb defaults, therefore less args are needed to be passed to mavlink module if one wants to use mavlink over usb.
-the way to check if connection is usb is by it's designated variable and not by config mode.
2019-09-29 10:46:08 -04:00
fdefaf1ad3
lights/blinkm: move to uORB::Subscription
2019-09-28 18:34:20 -04:00
ec061a7cfd
telemetry/bst: move to uORB::Subscription
2019-09-28 18:19:38 -04:00
105bbef3bf
commander: rc_calibration move to uORB::Subscription
2019-09-28 16:43:53 -04:00
ce4290c8d4
mavlink: typo fix att -> act
2019-09-28 16:40:13 -04:00
b0035e5704
mavlink: prevent race if shut down immediately
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If we do mavlink stop-all right after mavlink start, we do a perf_free
before actually having stopped the threads accessing the perf counters.
2019-09-28 16:40:13 -04:00
0486d69240
delete obsolete segway example
2019-09-28 15:05:50 -04:00
fd67bd0680
uORB: SubscriptionCallback cleanup naming
2019-09-28 13:43:56 -04:00
3f9b3fb4da
px4_log: publish all PX4_INFO messages as well ( #12954 )
2019-09-27 14:04:30 -04:00
637d52c74f
frsky_telemetry: increase stack by 60 bytes
2019-09-27 11:37:29 -04:00
4f71c4e123
Change #defines to static constexpr types in LidateLite.h, updated the docs link in ll40ls.cpp, and shortened comments to allow uniform indentation in LidarLiteI2C.h.
2019-09-27 07:55:53 +01:00
9023030931
LidarLite driver minor comment updates/formatting and change instances of OK to PX4_OK.
2019-09-27 07:55:53 +01:00
7b16c3482d
Refactor the ll40ls namespace driver methods to more closely match the cm8jl65, mappydot, leddar_one, and other distance sensor driver implementations.
2019-09-27 07:55:53 +01:00
8ce4a15778
Update frame in mavlink receiver odometry to newest mavlink
2019-09-26 14:48:20 -04:00
9c46a89f64
Update EKF_AID_MASK
2019-09-26 14:48:20 -04:00
bfbc9dda91
VTOL: fix front transition rate publication (enable FW attitude controller to run instantly when transition is started). For that the vehicle_status_poll is moved before vehicle_control_module_poll in FW att C
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-09-26 11:39:55 -04:00
190c817a9e
ekf2: update to latest ecl version [continued] ( #13023 )
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* ekf2: update to latest ecl version
Includes compatibility changes for renamed variables.
* ekf2: Add write of odometry velocity data
Co-Authored-By: kritz <kritz@ethz.ch >
* ekf2: Modify parameters to enable control of vision velocity fusion
* ekf2: Update to latest ecl with timestamp messages
2019-09-26 10:21:53 +02:00
dedd257433
CollisionPrevention: fix integer rounding ( #13028 )
2019-09-26 09:45:55 +02:00
3031f94ded
mavlink: optimize normal mode for typical GCS usage over serial radio
2019-09-25 14:08:04 -04:00
2366abefd8
nxp/fmuk66-v3: readd uavcan
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* this was accidentally dropped earlier this year
2019-09-25 13:42:59 -04:00
88fb6f7b8e
cm8jl65: move to PX4Rangefinder and cleanup
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* cm8jl65 split out header and main
* cm8jl65: move to PX4Rangefinder
* PX4Rangefinder: move signal_quality handling to PX4Rangefinder
2019-09-25 12:52:45 -04:00
a217e15c5f
Jenkins temporarily disable Catkin build
2019-09-25 10:45:12 -04:00
db8e203a7a
Update the Integrator class local variable dt from double to float and utilize the hrt_abstime typedef. ( #12935 )
2019-09-25 14:41:54 +02:00
0b368d043f
mavlink: always check stream subscriptions ( #13018 )
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This fixes the regression where we saw this in SITL:
ERROR [mavlink] system boot did not complete in 20 seconds
The reason was that the stream subscription requests were not checked
because the while loop was not running yet because mavlink was not
booted completely.
By moving the stream subscription requests into a function we can run
them even if we don't run the rest of the loop.
2019-09-25 14:37:08 +02:00
b6db872303
listener fix incorrect "never published" cases ( #13006 )
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- fixes #12955
2019-09-25 10:46:13 +02:00
bc8781d130
Appveyor: update to Windows Toolchain v0.6 ( #13016 )
2019-09-25 10:43:04 +02:00
4a6742c3e6
Deprecate the non-functioning HC_SR04 driver. ( #13021 )
2019-09-25 10:34:50 +02:00
07d656e971
Guidance feature for Collision Prevention ( #13017 )
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* add guidance
* remove COL_PREV_ANG and replace with COL_PREV_CNG
* safe max ranges per bin
* increase default value for colprev delay to account for tracking delay
* update parameter description
* fix and extend testing
* add handling for overlapping sensor data
* fix decision process for overlapping sensors
2019-09-24 17:00:04 +02:00
6139812293
FailureDetector - use standard topic subscription for attitude topic and
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pass vehicle_status from commander instead of subscribing to it.
2019-09-24 14:17:58 +02:00
000c1e364c
FailureDetector - Ignore attitude check for MC in acro and rattude, and FW in manual, acro and rattitude modes
2019-09-24 14:17:58 +02:00
35c50f693f
Add missing id for vehicle_visual_odometry_aligned for rtps
2019-09-24 10:49:33 +01:00
6a5ca6e336
FlightTask: use inline assignment initializer for reset_counters struct
2019-09-24 10:34:08 +02:00
679b1659eb
AutoLineSmoothVel - Reorganize functions declarations to match cpp file
2019-09-24 10:34:08 +02:00
c811cf4784
FlightTask - Move ekf reset counter monitoring logic in the base FlihtTask
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Each child FlightTask can simply implement what it wants to do in case
of an EKF reset event by overriding one of the _ekfResetHandler functions
2019-09-24 10:34:08 +02:00
7427768e70
ECL reference frame alignment fix ( #12771 )
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* Fix EKF frame alignemen in ECL
* Remove empty lines
* Add initalization for ev_odom
* Only use yaw covariance for angErr
* Improve frame naming in comments
* Use copyTo
* Add aligned as suffix
* Add missing vehicle_visual_odometry_aligned
2019-09-23 14:24:52 -04:00
412b44ff6e
Commander: allow RC to override during RTL
2019-09-23 12:42:33 +02:00
4f44fde080
Commander: remove not disarming by RC message
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Refactoring the condition to be more clear.
2019-09-23 12:42:33 +02:00
41516fbd55
Old style exceptions are Python 3 syntax errors
2019-09-22 17:47:37 -04:00
bc35251799
Update submodule mavlink v2.0 to latest Sun Sep 22 08:37:26 EDT 2019
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- mavlink v2.0 in PX4/Firmware (09bd7bbcab7ba508043018eefbe020ff74d79c66): https://github.com/mavlink/c_library_v2/commit/be2f1fbe0a8235ff4632e7df1d54c89a3c8615bd
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/d4a4a4314b8912015e999e17a3f66afee434a9cd
- Changes: https://github.com/mavlink/c_library_v2/compare/be2f1fbe0a8235ff4632e7df1d54c89a3c8615bd...d4a4a4314b8912015e999e17a3f66afee434a9cd
2019-09-22 14:23:56 -04:00
fb3a91cc4f
added circuit_breaker_enabled_by_val()
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added and using circuit_breaker_enabled_by_val() where possible instead of circuit_breaker_enabled() which search for cbrk parameters by name, which is extensive process.
2019-09-22 13:55:40 -04:00
c18104d48b
Use print() function in both Python 2 and Python 3
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Legacy __print__ statements are syntax errors in Python 3 but __print()__ function works as expected in both Python 2 and Python 3.
2019-09-22 13:54:24 -04:00
cdbe4a3ee8
Refactor the terraranger driver.
2019-09-22 12:23:25 -04:00
c67a7536d4
Update submodule matrix to latest Sun Sep 22 08:37:30 EDT 2019
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- matrix in PX4/Firmware (8b1f9546aabfe6ab2a0431f1d5af6dcc976d4f59): https://github.com/PX4/Matrix/commit/60c9c99dcc44ea12bed0c3f9b95d01e2aa6d7d9e
- matrix current upstream: https://github.com/PX4/Matrix/commit/c34e8dc98fd05ea55dcd4c9fc551b11a3d23a601
- Changes: https://github.com/PX4/Matrix/compare/60c9c99dcc44ea12bed0c3f9b95d01e2aa6d7d9e...c34e8dc98fd05ea55dcd4c9fc551b11a3d23a601
c34e8dcbbaa93833a6291b0b7d7237472325844b0e1e80807a374f37
2019-09-22 11:34:53 -04:00
fe4f6c186e
Mavlink: ifdef networking code
2019-09-21 13:46:01 -04:00
86dc4c5a00
cmake generate vscode launch.json
2019-09-21 13:06:49 -04:00
42ca17ce77
Update submodule v2.0 to latest Thu Sep 19 20:38:28 EDT 2019
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- v2.0 in PX4/Firmware (103595e866882191593136495a52825c455d2026): https://github.com/mavlink/c_library_v2/commit/ac40c0329e88b70ae5db4c1467ed5853d305af54
- v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/be2f1fbe0a8235ff4632e7df1d54c89a3c8615bd
- Changes: https://github.com/mavlink/c_library_v2/compare/ac40c0329e88b70ae5db4c1467ed5853d305af54...be2f1fbe0a8235ff4632e7df1d54c89a3c8615bd
be2f1fb 2019-09-17 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/b21a2652249a27a151b38cd3da5c4ac9d51fcb69
d465e22 2019-09-17 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/af677f748aa2c3268f71db6f3a1c867530b51894
5631a1e 2019-09-16 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/2876e4c06e707519a8770b661abaac008feef703
05a4389 2019-09-16 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/77a18b1cb7d4667b669e0429d86082ed38b79886
2019-09-20 11:41:27 +02:00
6f3868b5ba
ManualVelocitySmoothing - Fix unlock initialization
2019-09-19 17:31:49 +02:00
0153e1b126
Matrix - Explicitly cast array[3] to Vector3f
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Use .xy() for Vector2 -> Vector3 assignment
2019-09-19 17:31:49 +02:00
f405bf506b
AltitudeSmoothVel - Use ManualVelocitySmoothingZ class instead of re-implementing the logic
2019-09-19 17:31:49 +02:00
ce96d98621
ManualVelocitySmoothing - Cosmetic changes (renaming, indentation,..)
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Set the classes as final and set destructor to non-virtual
2019-09-19 17:31:49 +02:00
7cdb2364e9
ManualVelocitySmoothingXY - Add simple unit test
2019-09-19 17:31:49 +02:00
f5d7eb4d87
Refactor FlightTaskManualPositionSmoothVel
2019-09-19 17:31:49 +02:00
080eedfd02
ManualPositionSmoothVel - Split large function into smaller ones, split XY and Z axes
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Next step is to move as much as possible to a library in order to
reuse the Z axis in the Altitude FlightTask
2019-09-19 17:31:49 +02:00
453b6a39e4
TrajMath: move from FlightTasks/Utility into mathlib library because the function is also used by other libraries
2019-09-19 14:09:44 +02:00
e6b7062442
TrajMath: replace type placeholder with floats
2019-09-19 14:09:44 +02:00
e9ab6a75ba
MC rate control - Scale the integrator with K during the integration
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part to avoid having to scale its saturation separately. This is
required to avoid premature saturation of the integrator when using
the K term.
Also remove double saturation of the integrator
2019-09-19 14:05:28 +02:00
67e528ec0c
Takeoff - allow publishing NAN longitude and latitude
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A NAN is interpreted in the FlightTaskAuto as a non-valid global coordinate and sets a local position.
If a zero is sent instead, the global coordinate is recognized as valid and will be executed.
This is a problem when the global position is gained for the first time after takeoff and that a valid global reference did not exist before
2019-09-19 14:03:58 +02:00
549a962553
EKF2: move handling of invalid range into ECL ( #12988 )
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* ekf2: Move handling of invalid range finder data inside ecl library
The ecl library EKF is able to use vehicle motion and in-air status to better determine when the default on-ground range finder reading can be used.
The description for the EKF2_MIN_RNG parameter has been updated to make its use clearer.
2019-09-19 11:29:34 +02:00
fa13f63db6
ekf2: temporarily hardcode new quality information to unkown
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until priseborough's and nicovanduijn's pr #12950
2019-09-18 22:01:36 -04:00
c8d0eba1d2
Update ecl and matrix to safe matrix access
2019-09-18 22:01:36 -04:00
1ecbf8efd2
test_matrix: remove duplicate namespace accesses
2019-09-18 22:01:36 -04:00
2d4ecab3b0
Remove unsafe access to .data() and _data in Matrix
2019-09-18 22:01:36 -04:00
78bf12f0db
px4_tasks: reduce POSITION_CONTROL priority
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* this is to prevent the loss of any sensor data or estimator time slip in the event of a position controller or flight task overrun
2019-09-18 09:55:06 -04:00
494f35d5f4
Mavlink: wait for boot complete before sending or receiving anything
2019-09-18 09:07:55 -04:00
be61d93d64
tfmini split out header and main
2019-09-17 21:50:59 -04:00
9b7ef7141f
tfmini cleanup and use PX4Rangefinder
2019-09-17 21:50:59 -04:00
18eaeb564d
PMW3901 improvements ( #12977 )
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* PMW3901: use frame count and quality metric
* PMW3901: set qual to 0 for unsuccessful SPI reads
* PMW3901: improve comment for collect_time
* PMW3901: set qual to zero for huge flow values
2019-09-17 10:54:56 -04:00
72e93a9c36
fixed total flight time counting bug
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After landing it can happen that a second take off is detected and then the _takeoff_time is rest, resulting in a wrong total flight time counter. With this fix the flight time is reliably counted from the first take off until the vehicle is disarmed. Normally the vehicle will not spend much time armed after landing, if it does the flight time will be off but this is the same as before this fix. This fix was tested in several flight experiments.
2019-09-17 14:52:27 +02:00
c13835c0f0
replay module split replay_main.cpp into separate compilation units
2019-09-17 14:33:04 +02:00
270e12a4df
VelocitySmoothing: refactor local scope t variables instead of array
2019-09-17 09:27:00 +02:00
da8ac8cafb
VelocitySmoothing - Clean up updateTraj function based on Matthias' comments
2019-09-17 09:27:00 +02:00
b82fa68893
VelocitySmoothingTest - Fix typo and use "zero" instead of "null"
2019-09-17 09:27:00 +02:00
42cedb7fda
VelocitySmoothing - Change direction of "brake" as braking means that
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only the T3 part is required and that the jerk applied during T3 is the
opposite of the one defined by "_direction".
2019-09-17 09:27:00 +02:00
8490266be8
VelocitySmoothing - (Re)set _state_init every time _state is (re)set
2019-09-17 09:27:00 +02:00
654938f6a1
VelocitySmoothing - Cosmetic changes (new lines, reorganize functions),
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regroup both updateTraj functions and edit some comments
2019-09-17 09:27:00 +02:00
0b765a1642
AltitudeSmoothVel - Update to use new implementation of VelocitySmoothing
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Remove jerk reduction (not needed in the new implementation)
2019-09-17 09:27:00 +02:00
862454827e
VelocitySmoothingTest - Test that the trajectory is always within the constraints
2019-09-17 09:27:00 +02:00
8cc2a7018e
VelocitySmoothing - Re-enable time stretch, integrate dt to get local time.
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Also split a few functions into smaller ones for readability, fix
formatting, use geters to get the current state of the trajectory
instead of return arguments.
2019-09-17 09:27:00 +02:00
c7696488fe
VelocitySmoothing - Improve computation of the direction of the trajectory by predicting the velocity at zero acceleration instead of the current velocity
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This helps when the current velocity is smaller than the target but that
the acceleration is too large such that the velocity will overshoot.
Without this check, the algorithm increases the acceleration which leads
to an even larger overshoot.
2019-09-17 09:27:00 +02:00
052932fa95
VelocitySmoothingTest - Update unit test to use the same parameters ordering (time, setpoint) as the VelocitySmoothing class
2019-09-17 09:27:00 +02:00
c13499e64b
test_velocity_smothing - Update test script to use new polynomial evaluation algorithm
2019-09-17 09:27:00 +02:00
a03cc495ce
VelocitySmoothing - Refactor class to use polynomial evaluation instead of numerical integration
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This solves many numerical issues when the trajectory is close to the
primary NE axes (small velocities). It is also more robust when dt is
large and has some jitter.
2019-09-17 09:27:00 +02:00
0c0b261ff2
ubuntu.sh - remove modemmanager
2019-09-17 00:38:14 -04:00
5507f14bb2
Jenkins HIL disable rgbled
2019-09-15 17:17:09 -04:00
ed6c7cc806
cmake remove unused/broken _no_optimization_for_target
2019-09-15 17:16:38 -04:00
251831f7af
cmake px4_add_library remove unused PX4_LIBRARIES property
2019-09-15 17:16:38 -04:00
dc46b6a749
cmake px4_add_module MAIN is always present (required)
2019-09-15 17:16:38 -04:00
fb7521eb5e
cmake px4_base -> px4_parse_function_args
2019-09-15 14:36:38 -04:00
d256fb8770
cmake px4_find_python_module move to standalone file
2019-09-15 14:36:38 -04:00
d27dfcd921
NuttX CMakeLists.txt extract helpers (jlink, upload, etc)
2019-09-15 14:36:38 -04:00
f2189dd045
CMakeLists.txt extract top level helpers (ccache, doxygen, metadata, etc)
2019-09-15 14:36:38 -04:00
d4f984fea5
FlightTaskAutoLineSmooth: Fix comment to be style compliant
2019-09-13 18:10:05 +02:00
47401d1177
AutoLineSmoothVel - Replace min/max absolute constraints with a function named constrainAbs
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This function constrain the absolute value of some value but keeps the original sign.
2019-09-13 17:46:01 +02:00
3c5b24037a
AutoLineSmoothVel - Improve virtual pilot logic that provides velocity setpoints to the trajectory generator.
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Constrain the generated velocities in the NE inertial frame rather than
just constraining the norm.
2019-09-13 17:46:01 +02:00
59f54a7fd8
mathlib - Add FLT_EPSILON deadzone in sign computation
2019-09-13 17:46:01 +02:00
410dd85289
Comment out the ll40ls (LidarLite) driver from the fmu-v2 build.
2019-09-13 11:03:13 -04:00
a26865c279
drivers: set CM8JL65 signal_quality invalid beyond bounds
2019-09-13 10:42:10 -04:00
78279f6587
Unit tests for Obstacle Avoidance interface ( #12816 )
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* FlighTask: remove legacy definition of empty_trajectory_wapoint
* add unit tests for the ObstacleAvoidance interface
2019-09-12 14:37:31 +02:00
39451b811a
Do syscall for time once, outside of loop
2019-09-11 12:34:59 -04:00
b27d6a958a
Account for the time since range data arrived
2019-09-11 12:34:59 -04:00
94ef585f76
Link to missing params docs
2019-09-11 09:17:00 -04:00
fd10220a34
Ubuntu.sh: check for requirements.txt
2019-09-11 09:15:44 -04:00
6277710fac
Github actions simple cpp build
2019-09-10 17:07:51 -04:00
df01eda550
systemcmds/tests: delete obsolete test_sensors
2019-09-10 16:37:33 -04:00
702c6f6df4
FW pos C: fix altitude control for VTOL/FW by also publishing attitude sp if in altitude, not only if position or velocity controlled
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-09-10 13:20:07 -04:00
92b824e218
VTOL attitude controller: run update_vtol_state only if mc or fw att sp changed, such that pusher support in hover works again
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-09-10 13:52:33 +02:00
1b2403a87f
VTOL land detector: trigger land detector in fixed-wing mode if disarmed.
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-09-10 13:46:43 +02:00
a8fbe6bba2
Remove references to pow(x,0.5), use sqrt instead ( #12928 )
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* Remove references to pow(x,0.5), use sqrt instead
* Update matrix library
2019-09-10 13:29:39 +02:00
47e668eb86
simulator and dumpfile fix minor resource leaks
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* Certain conditional branches returned before closing the file handler.
2019-09-09 13:24:07 -04:00
a5e6c880fe
Update submodule mavlink v2.0 to latest Mon Sep 9 12:38:36 UTC 2019
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- mavlink v2.0 in PX4/Firmware (65db4b70fd76afe122c1aed404de60e978ead294): https://github.com/mavlink/c_library_v2/commit/d5d131cf710ceaa93d26884ea12de8de95804985
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/ac40c0329e88b70ae5db4c1467ed5853d305af54
- Changes: https://github.com/mavlink/c_library_v2/compare/d5d131cf710ceaa93d26884ea12de8de95804985...ac40c0329e88b70ae5db4c1467ed5853d305af54
2019-09-09 12:29:42 -04:00
e4509486e8
Correct a typo and create a #define for the LeddarOne FOV.
2019-09-06 11:59:29 +02:00
aea139bc1b
Correct the LeddarOne FOV and deprecate the unneeded _distance_sensor_topic after migrating to PX4RangeFinder.
2019-09-06 11:59:29 +02:00
ddd9a97d42
Modify the LeddarOne driver class to utilize the PX4RangeFinder library.
2019-09-06 11:59:29 +02:00
94d39e4466
Return from LeddarOne::collect() via LeddarOne::measure() and alphabetize #includes.
2019-09-06 11:59:29 +02:00
f31ac44289
Const correctness and fix leddar_one::test().
2019-09-06 11:59:29 +02:00
c0e8b37d96
Add collect() validation to the LeddarOne::init() method, format whitespace and console output.
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Reduce measure/collect timing logic complexity to use ScheduleOnInterval() rather than SchuleDelayed().
2019-09-06 11:59:29 +02:00
04073f2c71
Deprecate the LeddarOne request() and publish() methods to match other distance sensor driver classes and fix perf counter errata.
2019-09-06 11:59:29 +02:00
f3c5ca6015
Collision Prevention: support multiple sensors and frames ( #12883 )
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* build internal sensor map
* Extend testing coverage
* Update matrix library
2019-09-06 08:38:56 +02:00
eb81f4bce2
ubuntu.sh: Add note to reboot computer
2019-09-06 08:02:02 +02:00
0b049fa4d7
Add updated ccache for Ubuntu 16.04 dev scripts
2019-09-06 08:02:02 +02:00
7bea81f02c
Add board orientation ROLL_90_YAW_270
2019-09-05 20:41:32 -07:00
c75954fef8
lib/led: temporarily ignore implicit fallthrough warning
2019-09-04 20:03:02 -07:00
c8d13bacf2
pwm_out_sim: don't advertise garbage
2019-09-04 09:21:54 -07:00
f6a5c7cca9
qshell: rename qshell sequence fields so they can be parsed on fastrtpsgen
2019-09-04 17:04:28 +01:00
69475a172b
Update submodule ecl to latest Wed Sep 4 08:37:31 EDT 2019
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- ecl in PX4/Firmware (da6970329175df98ff46b2d9ddfa467ba438bb2e): https://github.com/PX4/ecl/commit/62fa464e4dd6cb5e585d23bd353aa50a469879f7
- ecl current upstream: https://github.com/PX4/ecl/commit/3b32ee41660afd4785c374355e0fdefdae83e9b9
- Changes: https://github.com/PX4/ecl/compare/62fa464e4dd6cb5e585d23bd353aa50a469879f7...3b32ee41660afd4785c374355e0fdefdae83e9b9
3b32ee4be368f3c5abfe667512d8a2ff41553eac6e933c32cea352a605196db
2019-09-04 08:09:36 -07:00
6ab5c2170e
remove unused pca8574 and oreoled drivers
2019-09-04 08:05:08 -07:00
b4709d229a
PMW3901: use quality metric
2019-09-04 08:03:04 -07:00
5fd483dbf8
ll40ls: fixed typo errors.
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-09-04 15:27:16 +01:00
6a8b25a1b9
ll40ls: simplified probe logic and lowered max readable distance.
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-09-04 15:27:16 +01:00
59f61b3107
ll40ls: fix v3hp signal quality and modified probe to detect v3hp.
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-09-04 15:27:16 +01:00
327529d063
ll40ls: unify maximum operational distance to 35m
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-09-04 15:27:16 +01:00
fcdd2fabeb
ll40ls: refactor driver start on i2c.
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-09-04 15:27:16 +01:00
5eefd9409b
ll40ls: [Wingtra docet] fix for properly resetting v3 and v3hp modules.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-09-04 15:27:16 +01:00
7799f4c68b
ll40ls: fix for lidar lite v3hp
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-09-04 15:27:16 +01:00
5e9cae11f8
controllib: fix for undefined sanitizer
2019-09-03 11:54:09 -05:00
78d3986013
platforms: fix main function signature
2019-09-03 11:52:54 -05:00
f1339038ca
px4_fmu-v5_stackcheck disable roboclaw and pca9685 to reduce flash
2019-09-03 08:03:32 -07:00
b6bba0428a
uavcan: fix limit actuator poll interval.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-09-03 09:35:01 -05:00
d5fdc55460
fmu-v5: add baro again in startup
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-09-03 13:48:34 +02:00
09dab07071
Enable support for global position setpoints with SET_POSITION_TARGET_GLOBAL_INT ( #12819 )
2019-09-03 11:21:41 +02:00
9bc19fd732
IMU_GYRO_RATEMAX add common options
2019-09-02 23:53:26 -05:00
f280977ed0
mavlink: update orb_publish to uORB::Publication<>
2019-09-02 23:51:54 -05:00
20e6adc4ca
sensors: update orb_publish to uORB::Publication<>
2019-09-02 20:44:03 -04:00
c8f77d438d
load_mon: update orb_publish to uORB::Publication<>
2019-09-02 20:41:34 -04:00
4d9f2bf776
add IMU_GYRO_RATEMAX to optionally limit gyro control publication rate
2019-09-02 20:06:50 -04:00
49c74ab021
add new parameter LIGHT_EN_BLINKM to start blinkm lights
2019-09-02 20:02:00 -04:00
7162000e80
fw_pos_control_l1: update orb_publish to uORB::Publication<>
2019-09-02 16:20:44 -04:00
e83026f106
fw_att_control: update orb_publish to uORB::Publication<>
2019-09-02 16:20:44 -04:00
b0f82ee8ac
CollisionPrevention: update orb_publish to uORB::Publication<>
2019-09-02 15:35:34 -04:00
9f5f9c577e
uavcan: limit actuator controls poll interval
...
* rather than only in UavcanEscController updates
2019-09-02 14:21:54 -04:00
6938955b8d
vtol_att_control: limit state updates to input availability and always publish both FW/MC actuator controls
2019-09-02 14:13:33 -04:00
06cf801121
SENS_BARO_QNH set reboot_required
...
- fixes https://github.com/PX4/Firmware/issues/12866
2019-09-02 13:40:34 -04:00
3c8a41aff7
px4_fmu-v2 variants disable mpu9250
2019-09-02 12:42:18 -04:00
0c11ab1e5e
Update submodule mavlink v2.0 to latest Mon Sep 2 12:38:04 UTC 2019 ( #12868 )
...
- mavlink v2.0 in PX4/Firmware (51a0a59d2c65869a79e85d7d43c0917db2b5ff06): https://github.com/mavlink/c_library_v2/commit/e26d03dbf858d3b04babb4fe106ecc831ac9b906
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/d5d131cf710ceaa93d26884ea12de8de95804985
- Changes: https://github.com/mavlink/c_library_v2/compare/e26d03dbf858d3b04babb4fe106ecc831ac9b906...d5d131cf710ceaa93d26884ea12de8de95804985
2019-09-02 11:53:30 -04:00
8a45c6145b
add new parameter SENS_EN_PMW3901 to start pmw3901 optical flow
2019-09-02 11:08:51 -04:00
47355333ad
Clarify comment
2019-09-02 10:47:40 -04:00
ced201bdb5
IO: respect actuator_armed.prearmed flag
2019-09-02 10:47:40 -04:00
9c50f5ea08
Add parameter COM_PREARM_MODE
...
Condition to enter the prearmed state, an intermediate state between disarmed and armed
* in which non-throttling actuators are active.
*
* @value 0 Disabled
* @value 1 Safety button
* @value 2 Always
2019-09-02 10:47:40 -04:00
bc58bed960
Add test for jerk reduction
2019-09-02 14:51:18 +02:00
865157228f
Add collision prevention velocity limitations also based on max accel/jerk
2019-09-02 14:51:18 +02:00
60e5e0821a
land_detector: Add and max_altitude and timestamp validity checks to MulticopterLandDetector class. ( #12681 )
...
* Rename local camelCase vars to snake_case and control_mode -> vehicle_control_mode to match typdef with established class convention.
2019-09-02 00:30:46 -04:00
c180d63441
delete accidental systemlib/param/param_new.c
2019-09-01 20:42:41 -04:00
a77fc9aca9
Add docker gazebo dependencies
2019-09-01 20:18:52 -04:00
ceaf134092
Change java to openjdk like docker
2019-09-01 20:18:52 -04:00
33ae0bb705
ubuntu.py: update to dual install to Python2
2019-09-01 20:18:52 -04:00
82bcfcb710
boards/px4/fmu-v5x remove alternate configs until default is complete
2019-09-01 18:48:55 -04:00
0817ee40f8
Add generic vtol tailsitter airframe/mixer and incorporate modifications from PR 9849 in 4001_quad_x and 13001_caipirinha_vtol.
2019-09-01 18:35:14 -04:00
328544ae2e
deltaquad: remove deprecated parameter MAN_R_MAX
2019-09-01 14:56:59 -04:00
891aae0377
commander increase cpu overload threshold
...
* the large 20% margin is no longer appropriate now that nearly all work in the system is
scheduled (moved out of ISRs) and represented in the load percentage
* closes https://github.com/PX4/Firmware/issues/12753
2019-09-01 14:55:05 -04:00
9aad996b04
PMW3901 add register write delay (TIME_us_TSWW)
2019-09-01 14:19:46 -04:00
ab92f3ab7d
pmw3901 split out header and main
2019-09-01 14:19:46 -04:00
41e544727c
pmw3901 cleanup and updates
...
- includes updates from PixArt
2019-09-01 14:19:46 -04:00
ff6577ce5f
EKF and AirspeedSelector: publish multiple wind estimate topic instances and log them all
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-09-01 14:05:06 -04:00
10ed88db57
VTOL airframes update legacy VT_MOT_COUNT parameter
2019-09-01 13:09:48 -04:00
e3b60cd9e7
rc.sensors: moved common ms5611 start to rc.board_sensors per board
2019-09-01 12:55:50 -04:00
9c6d4e28ea
fxos8701cq cleanup and move to PX4Accelerometer/PX4Magnetomer
2019-09-01 12:08:52 -04:00
ee9f65b38b
fxos8701cq split out header and main
2019-09-01 12:08:52 -04:00
f0ee0b5d49
MixingOutput: make scheduling configurable
...
And make sure fmu calls MixingOutput::updateSubscriptions on startup even
if no mixer is loaded, so that it gets scheduled.
2019-08-31 10:05:00 -04:00
a2ebbe9066
pwm_limit: rename to output_limit
...
As there is nothing pwm-specific about it.
2019-08-31 10:05:00 -04:00
1bee984bb0
MC_AIRMODE: move parameter definition to mixer_module
...
Makes sure that the parameter is included for the builds that need it.
2019-08-31 10:05:00 -04:00
077b229655
MixingOutput: make mixer loading thread-safe
2019-08-31 10:05:00 -04:00
d3fb610fde
mixer_module: create MixingOutput library and use in fmu
...
This should be a pure refactoring, no functional change.
2019-08-31 10:05:00 -04:00
0ec6e79a0a
fmu: remove unused _num_failsafe_set
2019-08-31 10:05:00 -04:00
1d577802cf
fmu: remove unused write() interface
2019-08-31 10:05:00 -04:00
5b87b81b90
fmu: fix comments & documentation
2019-08-31 10:05:00 -04:00
d3c7d06288
FlightTaskOrbit: don't apply yaw feed forward in circle approach
...
The yaw pointing towards the center makes sense since that's the approach
direction anyways. But with the yaw feed forward results in a weird looking
bias when not orbiting yet.
2019-08-31 14:25:39 +02:00
7774b150a9
FlightTaskOrbit: only reapproach circle if center changed
...
The condition that the vehicle is more than 3m away from the circle line
was too sloppy. That often happens when the radius is changed by sticks.
A reapproach is only necessary when the center is moved and that's only
possible through the orbit command.
2019-08-31 14:25:39 +02:00
cca7596bcd
FlightTaskOrbit: use StraightLine library to approach circle
...
The initial approach to the circle to orbit on was very agressive since
it was just the controller trying to stay on the circle reaching the
limits. Now there's first an approach phase in which the vehicle reaches
the circle trajeectory in a smooth perpendicular line before starting the
orbit execution.
2019-08-31 14:25:39 +02:00
345ad06d7e
StraightLine: rewrite old implementation
...
Before it was:
- not used anywhere
- copied from an old mission implementation version
- didn't plan in advance
- had a lot of broken cases
- dependent on a lot of parameters
I'm starting with a new relatively simple implementation that works as
expected for a minimum viable implementation and can be improved over time.
The first version is used to approach the circle path in Orbit mode to
verify the interface and get testing such that it gets eventually used
everywhere.
2019-08-31 14:25:39 +02:00
78ef8aab2d
STACK_MAIN increase default 1024 -> 2048
2019-08-30 19:11:51 -07:00
9ed2daef48
Fixing and simplifying mavlink odometry handling ( #12793 )
...
* Fixing and simplify mavlink odometry
2019-08-30 06:33:13 -07:00
43fdcd7876
px4_middleware: remove that header and move px4::init to px4_init.h
...
delete include:
for i in $(grep -rl 'px4_middleware.h' src platforms); do sed -i '/#include <px4_middleware.h/d' $i; done
2019-08-30 07:59:44 +02:00
f32abe8534
src/platforms: move remaining source files to platforms/common
2019-08-30 07:59:44 +02:00
f8e0441e7b
src/platforms/common: move to platforms/common
...
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
2019-08-30 07:59:44 +02:00
5d0e72040c
src/platforms/posix: move to platforms/posix/src/px4/common and src/drivers/driver_framework_wrapper
2019-08-30 07:59:44 +02:00
fa8165a1c3
platforms/posix/src: move to platforms/posix/src/px4/common
2019-08-30 07:59:44 +02:00
8cbb3852ba
src/platforms/qurt: move to src/drivers
2019-08-30 07:59:44 +02:00
3bdfd8ce8d
ToneAlarmInterface: move to drivers/drv_tone_alarm
...
It belongs there since it's not a library providing the implementation, but
just declaring the interface.
2019-08-30 07:59:44 +02:00
f3fccf53f6
src/drivers/{kinetis,stm32}: move to arch-specific directories
2019-08-30 07:59:44 +02:00
3003e7d0fc
drv_led_pwm: move to arch-specific directory
2019-08-30 07:59:44 +02:00
bd1b267baa
NuttX hrt: move into arch-specific directory
2019-08-30 07:59:44 +02:00
1cb6c36a00
adc: refactor into arch-specific directories
2019-08-30 07:59:44 +02:00
ab43a83bed
platform: restructure (NuttX) architecture-specific code
...
updated: tone_alarm, px4io_serial, px4_micro_hal
2019-08-30 07:59:44 +02:00
2fa3ee9336
Jenkins hardware add Modal AI v5m/v5x
2019-08-30 00:40:22 -04:00
db4b4719c3
BabyShark VTOL: update config file
...
- increased transition throttle
- enable airmode
- increased max roll angle
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-29 09:58:20 -04:00
fe73cef224
TestVelocitySmoothing - Split time synchronization and final state checks into two different test functions
...
Also improve the comments
2019-08-29 15:20:53 +02:00
94d15931f2
TestVelocitySmoothing - Remove useless function override, use ceil instead of ceilf and remove line duplicate
2019-08-29 15:20:53 +02:00
5b82fa3a0f
TestVelocitySmoothing - add check for time synchronization and final acceleration
2019-08-29 15:20:53 +02:00
f40d571858
VelocitySmoothing - add zero setpoint test
2019-08-29 15:20:53 +02:00
c59bcc686c
VelocitySmothing - Add gtest script
2019-08-29 15:20:53 +02:00
1e510f5a44
[FlightTasks] Added class enum for FlightTasks errors ( #12822 )
2019-08-29 14:48:52 +02:00
497a053bc1
fxas21002c fix perf counter typo and add interval
2019-08-29 00:37:24 -04:00
e8dcd8c2fc
cmake nuttx ignore linking target warning
2019-08-28 22:50:23 -04:00
2bb00e1f28
Jenkins snapdragon always pass sanity check for now
2019-08-28 21:49:40 -04:00
511438d6ef
Update submodule matrix to latest Thu Aug 29 00:42:01 UTC 2019
...
- matrix in PX4/Firmware (341c0ae739753db98dcd0711e91f621c1666b16d): https://github.com/PX4/Matrix/commit/56b069956da141da244926ed7000e89b2ba6c731
- matrix current upstream: https://github.com/PX4/Matrix/commit/cc084e0791535e8426780e6a4f05794804db1b82
- Changes: https://github.com/PX4/Matrix/compare/56b069956da141da244926ed7000e89b2ba6c731...cc084e0791535e8426780e6a4f05794804db1b82
cc084e0#82 )
84b3da2#81 )
2019-08-28 21:45:09 -04:00
690aeef186
drivers/gps: increase task stack
2019-08-28 21:20:45 -04:00
3ee78cb36a
safety_button set STACK_MAIN
2019-08-28 21:20:45 -04:00
aebf244464
mc_pos_control: takeoff fix implicit switch fallthrough
2019-08-28 18:16:28 -04:00
5a5e15d384
Update submodule mavlink v2.0 to latest Wed Aug 28 15:06:44 UTC 2019
...
- mavlink v2.0 in PX4/Firmware (f0881530b255eb6f7cdbbed12d8da453e59f09dc): https://github.com/mavlink/c_library_v2/commit/dc26ccd71dcb0138b23176233eade1c04a09b462
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/e26d03dbf858d3b04babb4fe106ecc831ac9b906
- Changes: https://github.com/mavlink/c_library_v2/compare/dc26ccd71dcb0138b23176233eade1c04a09b462...e26d03dbf858d3b04babb4fe106ecc831ac9b906
2019-08-28 13:31:39 -04:00
0c736fc98b
Jenkins add bloaty SITL and disable ccache
2019-08-28 12:22:39 -04:00
7ee1043932
gitattributes *.bin, *.pdf, and *.png are binary
...
* fixes #12818
2019-08-28 11:01:35 -04:00
e50dd7c364
replay: close replay log file after replay is finished, then exit ( #11264 )
2019-08-28 08:13:50 +02:00
a20b508d7e
gitignore remove core
2019-08-27 08:59:48 -04:00
2f10c315b5
listener print all instances by default
2019-08-26 16:07:41 +02:00
693d89583d
RTPS: add check for ID space
2019-08-25 23:04:09 +01:00
1fa43a707f
uorb_rtps_message_ids: enlarge id space for base type msgs
2019-08-25 23:04:09 +01:00
062b693fea
uorb_rtps_classifier: improve way to check base type of alias
2019-08-25 23:04:09 +01:00
ac6ee972d3
airspeed_validated: move it out of the alias space
2019-08-25 23:04:09 +01:00
32fb4a9585
px4io: force io firmware build
...
This fixes incremental build of the px4io firmware on targets that use the px4io driver.
fixes #11042
2019-08-25 09:48:50 -04:00
b1d59c8817
px4fmu split safety button into new driver
2019-08-24 17:14:17 -04:00
2cb26dd5f5
GPS: Prevent injection from choking the driver ( #12710 )
...
Sending a continuous stream of injection messages can cause the
GPS driver to get stuck indefinitely in the handling loop.
2019-08-23 19:12:20 -04:00
0262a699c1
UVify Core board support and airframes (Draco, Draco-R, IFO) ( #12337 )
...
* also includes minor changes to make it easy to keep in sync with px4_fmu-v4
2019-08-23 17:02:25 -04:00
ec5d36d9c7
UAVCAN esc: relax threshold for detecting offline escs.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-23 11:40:53 -04:00
f3eafdc296
Fix wrong initialization of PWM_AUX_RATE.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-23 15:37:57 +02:00
a7c541d7e2
version: more tests to check tags with - prefix
2019-08-23 13:18:52 +02:00
3fa3cbd28a
version: add beta tag
...
This adds the "beta" tag and adds a dash before "rc" or "beta".
2019-08-23 13:18:52 +02:00
c3529baa5b
jMAVSim: disable GUI using HEADLESS=1
...
@katzfey added the option to run jMAVSim without GUI. Now we just need
to read the HEADLESS env variable to use it.
2019-08-23 09:27:42 +02:00
3c0f4f9ace
Jenkins hardware snapdragon build with CCACHE_BASEDIR and dump logs
2019-08-22 16:20:39 -04:00
331b533b3d
Jenkins hardware linux add CCACHE_BASEDIR for rpi build
2019-08-22 15:46:39 -04:00
e7e477962c
snapdragon fix sanity test and add to Jenkins hardware
2019-08-22 15:11:32 -04:00
b45f459ef1
Jenkins add linux (raspberry pi) build and test
2019-08-22 15:09:04 -04:00
68078795c0
px_update_git_header.py: allow -beta/-rc in tag
...
This changes two things:
- This adds "-beta" as a valid tag suffix.
- This changes "rc" without "-" to "-rc". "rc" without is now described
as deprecated and with "-rc" is preferred.
2019-08-22 18:45:50 +02:00
f4b40865af
SmoothVel - Fix altitude lock logic.
...
It was broken because _velocity_setpoint is used for input and output
and was assumed to be the input at a place where it was already overwitten
To clarify this, the input setpoint is renamed "target"
2019-08-22 16:43:41 +02:00
dd2d5c029f
platforms: match usb-Hex_ProfiCNC device ( #12772 )
...
This means that we are able to detect and flash the Pixhawk Cube Black.
2019-08-22 01:32:39 -07:00
b55ae09f00
FW: set default RTL_TYPE = 1 for fixed wing
...
This change adds the line "param set RTL_TYPE 1" to the default init scripts for fixed wing. Similar to the other PR that sets default RTL_TYPE=1 for VTOLs, RTL_TYPE=1 should be default for normal fixed wings as well. Reference: https://github.com/PX4/Firmware/pull/12746/files
2019-08-22 08:47:50 +02:00
950dbc1d2e
Rover: Enable Offboard support for Rover position control
2019-08-21 12:04:19 -04:00
ccdc2dffa9
WQ decrease att_pos_ctrl stack
2019-08-21 11:59:50 -04:00
7fa885c7b3
Document the behaviour of TERMINATE and LOCKDOWN in comments
2019-08-21 07:56:20 -07:00
85c2e7d65d
Offboard failsafe actions: cleanup and move to dedicated functions
2019-08-21 07:56:20 -07:00
84eeacfb38
Offboard failsafe actions: add DISABLED, LOCKDOWN and TERMINATE options
2019-08-21 07:56:20 -07:00
4c9288d993
Commander: cleanup COM_POSCTL_NAVL parameter
...
- move to px4::params
- use enum
2019-08-21 07:56:20 -07:00
907b6ccf46
fmu: fix implicit fallthrough
2019-08-21 07:56:20 -07:00
d41f72f092
Re-enable implicit-fallthrough warning
2019-08-21 07:56:20 -07:00
7f6a9e587f
logger: fix multiple format definitions for multi-instance topics
...
With https://github.com/PX4/Firmware/pull/12123 all multi-instance topics
lead to repeated format definitions in the ULog file.
2019-08-21 10:47:31 -04:00
5c68880b56
Reset parameters in test setup, not teardown
2019-08-21 14:53:41 +02:00
ddd4181b39
Don't run each functional test in a different process
2019-08-21 14:53:41 +02:00
63140f1d61
Do a single setup of uORB/Parameters instead of once every test
2019-08-21 14:53:41 +02:00
914417f580
Enable offboard local position setpoints for fixed wing position control
2019-08-21 12:12:29 +02:00
536f073d02
VTOL: set RTL_TYPE default for VTOL to 1 (return to home via mission landing if available)
2019-08-21 10:15:06 +02:00
8a8cc3b52b
Navigator: VTOL: set heading of transition of a VTOL_TAKEOFF to the VTOL_TAKEOFF waypoint (and enforce heading)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-21 10:08:04 +02:00
b1d38ee050
Navigator: VTOL: fix mission yawing timeout (MIS_YAW_TMT)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-21 10:08:04 +02:00
ab28f1e4f7
Navigator: VTOL: disable weather vane during yaw aligning before front transition
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-21 10:08:04 +02:00
af0d63250c
check velocity_setpoint instead of sticks in altitude mode
2019-08-21 10:02:40 +02:00
d168d5049f
check vel_setpoint instead of stick input for position lock
2019-08-21 10:02:40 +02:00
5a736c9af8
update babyshark VTOl config
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-21 05:23:25 +02:00
5d813224c8
PX4 SPI default to thread locking mode
2019-08-20 21:36:21 -04:00
7d248e0f45
px4fmu: move to WQ with uORB callback scheduling ( #12224 )
2019-08-20 20:24:12 -04:00
b439e08e24
tone_alarm move to uORB::Subscription
2019-08-20 19:44:03 -04:00
5ae408382b
led drivers and controller move to uORB::Subscription
2019-08-20 14:03:23 -04:00
41dee3875e
VTOL: only run on actuator publications corresponding to VTOL mode
2019-08-20 13:50:34 -04:00
be233f6bc7
Collision Prevention: don't allow moving outside sensor FOV ( #12741 )
...
* don't allow moving outside FOV
* Update parameters in tests
2019-08-20 17:01:13 +02:00
d38dfcfcd3
uORB::Subscription fix initialization but not yet published case
...
- otherwise uORB::Subscription will erroneously report published after the first successful initialization of an unpublished topic
2019-08-20 10:28:09 -04:00
6cf55ac83a
av_x-v1 fix timer_config clock bit
2019-08-19 15:22:08 -04:00
737f5d4e3d
px4io fix code style
2019-08-19 15:11:39 -04:00
310fd80405
added logic to encode NAN as INT16_MAX to transfer to IO from FMU
2019-08-19 21:08:11 +02:00
c1c253d9be
TRIG_PINS: clarify TRIG_PINS on FMU ( #12714 )
2019-08-19 14:45:59 +02:00
1958275495
drivers/boards/common: now checks if board has "px4-io" in its name instead of just "io"
2019-08-19 08:45:42 -04:00
a7eed520b4
commander: refactor module usage output
2019-08-19 10:54:56 +02:00
d64d3170c0
commander unit tests: enable preflight checks
...
- the last check expects pre_arm to run so we need to enable the
preflight checks. This is closer to the real system.
- as a result we need to enable HIL for other tests so that the sensors
are not checked.
2019-08-19 10:54:56 +02:00
878ed8136c
commander: add 'commander arm -f' command to force arming
...
This allows to bypass preflight and prearm checks.
During development there are regular cases where I just want to arm the
board/vehicle no matter what, and the preflight checks are guaranteed to
fail (e.g. sensors uncalibrated, inconsistent, powered via USB, etc.).
Allowing an easy and quick way to arm (assuming you know what you are
doing) helps to speed up development considerably and is less frustrating.
2019-08-19 10:54:56 +02:00
b8dba34fd0
commander arming_state_transition: do not call prearm_check if !fRunPreArmChecks
...
Reason: if you don't want preflight checks, you don't want prearm checks
either (these are the circuit breakers, like usb connected check).
The other changes are cleanup and rework of operations.
In most cases, arming_state_transition is called with fRunPreArmChecks set
to true, so no change in behavior.
The cases with fRunPreArmChecks=false are:
- unit tests
- in_arming_grace_period=true (quick arming after disarm)
- VEHICLE_CMD_PREFLIGHT_CALIBRATION (does not transition to armed)
2019-08-19 10:54:56 +02:00
f9f2afd856
add .gitattributes to force all line endings to LF
...
- this improves the windows development experience when moving between cygwin, WSL, and native tools
- cmd and bat files are left alone (we don't currently have any)
2019-08-18 14:13:26 -04:00
646519fa0d
vscode disable selection drag and drop
2019-08-18 12:59:03 -04:00
24041370c0
vscode github pull request default merge method squash
2019-08-18 12:59:03 -04:00
3c33962e78
vscode disable telemetry and experiments
2019-08-18 12:59:03 -04:00
404984c355
vscode settings sort git ignoreLimitWarning
2019-08-18 12:59:03 -04:00
929b48099e
vscode files watcher exclude build folder
2019-08-18 12:59:03 -04:00
6515c11048
vscode make astyle default formatter
2019-08-18 12:59:03 -04:00
f3aba02654
vscode recommended extensions update docker and ros
2019-08-17 20:12:34 -04:00
24764c676e
Jenkins hardware run logger and attempt to stop modules
2019-08-17 13:43:10 -04:00
67644e29b7
Jenkins hardware print AUX pwm info
2019-08-17 13:43:10 -04:00
b9fc3ed2ab
Jenkins hardware select airframe 4001 on fmu-v4
2019-08-17 13:43:10 -04:00
17c46623f9
Jenkins hardware default airframe 4001 -> 13000 (run all controllers)
2019-08-17 11:03:26 -04:00
b8cdec65cc
Jenkins hardware target general px4_fmu-v5
2019-08-17 11:03:26 -04:00
7adc43b795
px4_fmu-v5: add critical section monitor build ( #12724 )
2019-08-16 21:48:09 -04:00
acc7067596
Jenkins hardware run adc test
2019-08-16 19:05:55 -04:00
76b9198522
kinetis/adc move to new WQ
2019-08-16 19:05:55 -04:00
746f13d2d4
stm32/adc move to new WQ
2019-08-16 19:05:55 -04:00
6e7e2b6e3b
px4_fmu-v5: add irqmonitor build ( #12723 )
2019-08-16 19:01:16 -04:00
b28dda3926
rpi_rc_in: fix typo that was causing build to fail rpi
2019-08-16 15:52:49 -04:00
48f5ab2896
Update submodule mavlink v2.0 to latest Fri Aug 16 12:37:56 UTC 2019 ( #12717 )
...
- mavlink v2.0 in PX4/Firmware (be3d09c700https://github.com/mavlink/c_library_v2/commit/0385f82286df78d51b06e5e325b13e2411ba2170
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/dc26ccd71dcb0138b23176233eade1c04a09b462
- Changes: https://github.com/mavlink/c_library_v2/compare/0385f82286df78d51b06e5e325b13e2411ba2170...dc26ccd71dcb0138b23176233eade1c04a09b462
dc26ccd 2019-08-15 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/e5597b68bd5a98bf689aa056c623da480e7ef17a
2019-08-16 14:20:45 -04:00
dacaabe92e
introduce sensor_gyro_control message for vehicle_angular_velocity ( #12145 )
2019-08-16 13:53:59 -04:00
be3d09c700
uavcan: add optical flow support (Here Flow)
...
* move uavcan dsdlc generation to module
* 20200.Measurement.uavcan sync with upstream project (https://github.com/OpenMotorDrive/flow/blob/master/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan )
Signed-off-by: DanielePettenuzzo <daniele@px4.io >
2019-08-15 12:22:29 -04:00
dab66e92d3
Fix typo
2019-08-15 14:31:23 +02:00
bf25c462b2
Orbit failsafe: switch internal_state to Posctrl such that Manual-Positionctrl is activated after failsafe recovery. This is needed because Orbit can only be invoked via vehicle_command msg.
2019-08-15 14:31:23 +02:00
82ecf4d942
motor_ramp: set fmu in test mode and cleanup ( #11249 )
...
and restore pwm min after test
2019-08-15 09:42:07 +02:00
d4fedca1ee
Rename _accel_horz_lp -> _xy_accel_filtered to standardize naming, use time literal, and delete unneeded #includes in the FixedwingLandDetector class.
2019-08-14 23:10:20 -04:00
0414d59ee9
mavlink_main: stream OBSTACLE_DISTANCE to GCS
2019-08-14 13:32:15 -04:00
82bee2bf54
mavlink: match commands aimed at any sysid/compid
...
When we send a command to any sysid or any compid, we need to match an
ack from a specific sysid or compid. If we don't do that, we keep
sending retransmissions and eventually time out.
2019-08-14 13:29:07 -04:00
a4fb18a6c4
commander: fix arming auth param translation
...
The int32 param COM_ARM_AUTH is mapped to a packed struct. However, this
struct was not actually packed (anymore) and therefore the values were
applied incorrectly.
I fixed this by applying the packed attribute. By using a union with a
int32_t I could rid of the warning about address-of-packed-member.
2019-08-14 13:29:07 -04:00
b7f0db62ba
mRo Control Zero F7 initial board support
2019-08-14 13:13:27 -04:00
5cadb0aab1
px_mkfw: add git commit hash to .px4 file
2019-08-14 12:37:20 -04:00
9e055e9b21
Implement ModuleParams inheritance in the VtolLandDetector class. Requires PR #12356 .
2019-08-14 11:58:14 -04:00
9e3493bd6e
Update commander_params.c
...
Addressing parameter description syntax
2019-08-14 14:17:33 +02:00
3ab5932adf
updating pre-takeoff and landding values to defaults
2019-08-14 14:17:33 +02:00
963467b4df
splitting preflight and land disarm times into 2 parameters
2019-08-14 14:17:33 +02:00
e25db01620
Mavlink: Fix forwarding of messages with target system/component id ( #12559 )
...
Mavlink does not correctly forward messages that have the target_system or target_component routing fields in the message.
Some investigation revealed that the Mavlink::forward_message function is incorrectly utilizing the mavlink_msg_entry_t.target_system_ofs and mavlink_msg_entry_t.target_component_ofs fields. These offsets are intended to be used relative to the start of the message payload. But, as implemented, these offsets are incorrectly being used relative to the start of the message. This pull-request corrects that problem.
I also correctly made use of the mavlink_msg_entry_t.flags field to determine if a message contains a target_system or target component field. The previous check incorrectly assumed that they would always be non-zero if present.
Signed-off-by: Mark Owen <maowen801@gmail.com >
2019-08-13 07:16:09 -07:00
166639be3a
logger: unconditionally call _writer.notify()
...
The file writer thread could get into a state where it blocked infinitely
on pthread_cond_wait() (or rather until the logging stops).
This is very rare and the following conditions must be met:
- the buffer is almost empty (<4KB filled), so that the writer thread does
not write anything.
- an fsync call is scheduled (happens once every second)
- the fsync call takes a long time (several 100ms), during which time the
complete log buffer fills up.
The main thread would then get into dropout state where it does not call
_writer.notify() anymore.
Notifying the writer thread on every loop update of the main thread fixes
that.
It does not increase resource usage.
2019-08-12 08:07:37 +02:00
6abf2203a3
sensors: uniform initialization and whitespace formatting in voted_sensors_update.h
2019-08-10 02:14:22 -04:00
6413525645
uORB::PublicationQueued don't unadvertise on destruction ( #12674 )
...
* this is a bit of a hack for vehicle_command and vehicle_command_ack usage
2019-08-09 12:45:02 -04:00
b5a01532ae
vtol_att_control move to WQ with uORB callback scheduling ( #12229 )
...
* add perf counters for cycle time and interval
2019-08-09 12:44:11 -04:00
decb9a8982
mc_pos_control_main: Fixed missing semicolon
2019-08-09 17:00:43 +02:00
d70b024ec7
GTest functional tests that include parameters and uORB messaging ( #12521 )
...
* Add kdevelop to gitignore
* Add test stubs
* Rename px4_add_gtest to px4_add_unit_gtest
* Add infrastructure to run functional tests
* Add example tests with parameters and uorb messages
* Fix memory issues in destructors in uORB manager and CDev
* Add a more real-world test of the collision prevention
2019-08-09 15:10:09 +02:00
4eb9c7d812
Create TrajMath library and move waypoint speed calculations in it
2019-08-09 12:04:48 +02:00
b1698b78bc
AutoSmoothVel - scale down acc_hor using traj_p parameter in the computation of the maximum waypoint entrance speed
2019-08-09 12:04:48 +02:00
de10f1e04d
MC auto - Modify yaw_sp_aligned to take mis_yaw_error tolerance.
...
Add check for this flag in AutoLine
2019-08-09 12:04:48 +02:00
9e9b2ab9e8
FlightTaskAutoLine/SmoothVel: stop at waypoint if altitude is has not been reached yet
2019-08-09 12:04:48 +02:00
255c911155
AutoSmoothVel - Compute desired speed at target based on angle between previous-current and current-next waypoints
...
Also remove crosstrack P controller that produces overshoots when the
acceptance radius is large (crosstrack error is suddenly large at
waypoint switch).
2019-08-09 12:04:48 +02:00
07895cd3b6
Airspeed Selector: resolve conflics for wind estimate topic publishing after rebase
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-09 10:55:05 +02:00
d129fcccd5
Omnibus: take out local_position_estimator from build as was out of flash after ecl update for airspeed selection module
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-09 10:55:05 +02:00
5bc6979796
AirspeedSelector: added RTPS ID for airspeed_validated message
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-09 10:55:05 +02:00
cedf14e2ba
Airspeed Selector: repurpose wind estimator into an airspeed (selection, validation) module.
...
This new airspeed module does:
-runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale
-selects another airspeed sensor if for the current one a failure is detected
-estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present
-outputs airspeed_validated topic
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-09 10:55:05 +02:00
970e362e9a
Increased stack of lp work queue as with new airspeed modudle it was getting low
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-09 10:55:05 +02:00
50dc8aee7a
Airspeed Selector: added airspeed validator class
...
This validator takes measurements from a single airspeed sensor and:
-checks validity of measurement
-can estimate an airspeed scale factor (estimation enabled with parameter setting) to accout for errors in airspeed due due placement of sensor
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-09 10:55:05 +02:00
248e1818e2
Airspeed Selector: changes in airspeed library to account for new EAS state (equivalent airspeed)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-09 10:55:05 +02:00
aae16cc594
uavcan esc: use time literals for timeout checks.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
2eb9fb9ed6
Commander: move esc_status as local variable.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
5fe7992af5
mixer_group: improved get_multirotor_count () code readbility.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
09d79b221f
Simplified esc_status healthiness logic.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
8a2d05be4f
Improved code comment for condition_escs_error topic.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
75c336c00c
uavcan_main: replaced printf messages with PX4_INFO
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
1e04d718f6
uavcan escs: Modified esc_status reporting to have _rotor_count published.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
187a025dfe
Commander: added esc_status prearm checks
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
d06c679252
uavcan esc: added timeout checks to escs.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
03637fa6f1
Added topics to esc_status and vehicle_status_flags.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
056c8000a1
MultiCopterLandDetector: Implement ModuleParams inheritance ( #12356 )
2019-08-09 07:57:42 +02:00
2f222d6cbf
containers/List add nullptr check
2019-08-09 07:55:13 +02:00
9481b3b232
Update submodule mavlink v2.0 to latest Fri Aug 9 02:59:05 UTC 2019 ( #12669 )
...
- mavlink v2.0 in PX4/Firmware (e8a11086ebhttps://github.com/mavlink/c_library_v2/commit/72832840733f0d78cda7e2071a6bf6c7fc3f9273
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/0385f82286df78d51b06e5e325b13e2411ba2170
- Changes: https://github.com/mavlink/c_library_v2/compare/72832840733f0d78cda7e2071a6bf6c7fc3f9273...0385f82286df78d51b06e5e325b13e2411ba2170
2019-08-09 00:15:38 -04:00
34ed454ea9
Update submodule ecl to latest Fri Aug 9 02:59:11 UTC 2019
...
- ecl in PX4/Firmware (e93e676c38bc3ce2e57c20a8dc33ffe377826903): https://github.com/PX4/ecl/commit/d38164fc8e68b740405669127138e550c3c7375c
- ecl current upstream: https://github.com/PX4/ecl/commit/62fa464e4dd6cb5e585d23bd353aa50a469879f7
- Changes: https://github.com/PX4/ecl/compare/d38164fc8e68b740405669127138e550c3c7375c...62fa464e4dd6cb5e585d23bd353aa50a469879f7
62fa464a7d9c7309f29db
2019-08-08 23:39:43 -04:00
e8a11086eb
create uORB::PublicationMulti for multi publications
2019-08-08 21:01:56 -04:00
0a0c404a08
mavlink receiver move to uORB::Publication
2019-08-08 21:01:56 -04:00
21782603b3
px4_fmu-v5x: add networking
...
* fixed dropped CONFIG_LIBC_FLOATINGPOINT=y
* fix RMII TX pinning
* update platforms/nuttx/NuttX/nuttx w/ f7 eth
2019-08-08 20:38:56 -04:00
887b55269a
Delete whitespace to quiet githooks.
2019-08-08 18:56:26 -04:00
c6aaa606da
sensors angular velocity and acceleration publishers fix auto usage
...
- if the primary gyro or accel change this will cause the callback to be registered multiple times
2019-08-08 11:36:27 -04:00
c66fc85630
fw_pos_control_l1: move to WQ with uORB callback scheduling
2019-08-07 23:13:21 -04:00
cab0aee2a0
fw_att_control: move to WQ with uORB callback scheduling
2019-08-07 22:54:44 -04:00
0955fd2d58
NuttX boards reduce CONFIG_NFILE_DESCRIPTORS 54 -> 20
2019-08-07 21:23:27 -04:00
e43e37cc46
fw_pos_control_l1 add new simple min groundspeed
2019-08-07 18:50:42 +02:00
161429f8c6
voted_sensors_update: refactor to camelCase function names
2019-08-07 18:44:39 +02:00
89a0a3acb6
PreflightCheck: improve output in case of mag inconsistency
2019-08-07 18:44:39 +02:00
fe37ee2b7f
voted_sensors_update: refactor out matrix:: because of using namespace
2019-08-07 18:44:39 +02:00
45187e1aa8
Improve magnetometer inconsistency check
...
To check directional difference between the magnetometer field vectors
instead of vector component difference.
2019-08-07 18:44:39 +02:00
83e532d339
logger move to uORB::SubscriptionInterval ( #12123 )
2019-08-07 11:02:16 -04:00
e91614c791
change angle parmeter to degrees
2019-08-07 15:29:13 +02:00
f80a539faa
add unit for coll prev angle
2019-08-07 15:29:13 +02:00
14f128b89d
add parameter for detection angle
2019-08-07 15:29:13 +02:00
150b5df7cb
change size of reaction angle
2019-08-07 15:29:13 +02:00
b26d3ac9d4
no slinding in collision prevention (roll jerk fix)
2019-08-07 15:29:13 +02:00
a917f22b65
sensors: create vehicle_acceleration module ( #12597 )
2019-08-07 05:05:48 -04:00
50fbb56737
Yaw mode 3 - Add check for minimum distance to target in MPC_YAW_MODE 3 (along trajectory) to be consistent with the other yaw modes
2019-08-07 10:30:34 +02:00
119e5e3182
Revert "CollisionPrevention only process distance_sensor updates"
...
This reverts commit 839787568c
2019-08-07 04:01:50 -04:00
6e781c2289
InvenSense ICM20948 move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer helpers
2019-08-06 23:36:31 -04:00
5421ef5535
NuttX increase HPWORK and LPWORK stack by 256 bytes
2019-08-06 23:15:07 -04:00
4c329c3b4b
simple circleci.com px4_fmu-v5 build & archive example
2019-08-06 19:07:21 -04:00
7b179776e2
vehicle_angular_velocity: sensor_selection callback
...
- needed to update the main sensor_gyro subscription if the primary
stops responding
2019-08-06 14:23:57 -04:00
b945e28e08
uORB fix vehicle_angular_velocity RTPS id
2019-08-06 13:39:56 -04:00
2ad12d7977
sensors: create vehicle_angular_velocity module ( #12596 )
...
* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
2019-08-06 12:55:25 -04:00
bf0eaf4d54
bloaty fix master comparison
...
- jenkins add new sections and segments output
2019-08-06 11:57:53 -04:00
6f2d1d55f6
logger use uORB::PublicationQueued for ulog_stream
...
- queue depth is now set by the msg
2019-08-06 11:07:59 -04:00
5b511eaa1a
logger move non-logged subscriptions to uORB::Subscription
2019-08-06 11:07:59 -04:00
9d701a077d
NuttX reduce stack for interrupts, HPWORK, LPWORK
2019-08-06 11:00:55 -04:00
bf474028ff
px4flow add parameter to enable (SENS_EN_PX4FLOW)
...
- fixes https://github.com/PX4/Firmware/issues/12571
2019-08-06 10:55:35 -04:00
d3ba9c59e0
mavlink: added check if instance mode is serial when trying to find if instance exists ( #12642 )
2019-08-06 10:53:07 -04:00
5a1c46deeb
fmuv5x:Use ADC3 for HW VER/REV detection
...
fmu-v5x:hrt needs to be running for ADC time out
Fixes bug introduced in 320d2e adding platform layer.
2019-08-06 10:46:37 -04:00
890f805b37
adc:Add that ability to select an ADC
2019-08-06 10:46:37 -04:00
0ebb87357f
fmu-v5:hrt needs to be running for ADC time out
...
Fixes bug introduced in 320d2e adding platform layer.
2019-08-06 10:46:37 -04:00
8f5b7de498
uORB::Subscription minor API cleanup
...
* the forceInit() method was combined with the existing subscribe()
* delete unused last_update()
2019-08-06 10:28:49 -04:00
cfba41d2f4
posix configs: set trigger interface to mavlink as it's the only one
...
supported on posix
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-08-06 08:08:56 +02:00
cd85f584cf
camera trigger: do not try to start if interface was not created
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-08-06 08:08:56 +02:00
f21dc82c24
Add i2cdetect to K66
2019-08-05 19:40:32 -04:00
e8d874cf34
i2cdetect do not exceed 100Khz
2019-08-05 19:40:32 -04:00
64f105b530
Update submodule nuttx to latest Mon Aug 5 20:30:34 UTC 2019 ( #12636 )
...
- nuttx in PX4/Firmware (be76f909beadfe80415b733c020695efb042adef): https://github.com/PX4/NuttX/commit/b4013dcd4a9ec8edf412277fa3e4dccd419089c1
- nuttx current upstream: https://github.com/PX4/NuttX/commit/14f4dc735a6f092b7acbf5861c0b9f1ed5e19216
- Changes: https://github.com/PX4/NuttX/compare/b4013dcd4a9ec8edf412277fa3e4dccd419089c1...14f4dc735a6f092b7acbf5861c0b9f1ed5e19216
14f4dc7 2019-08-05 David Sidrane - [BACKPORT] kinetis:i2c transfer ensure correct result returned
2019-08-05 13:32:46 -07:00
a6777ca4f1
uORB add RTPS message id for new wheel_encoders msg
2019-08-05 12:34:48 -04:00
19ad80385e
ObstacleAvoidance: update empty_trajectory_waypoint
2019-08-05 16:05:40 +02:00
e0893c383d
increase mc_pos_control stack from 1300 to 1500
2019-08-05 16:05:40 +02:00
d29f2ff60c
ObstacleAvoidance: use hysteresis on z to check progress towards the goal
2019-08-05 16:05:40 +02:00
39e59d6cc4
add point type (mavlink command associated with wp) in Obstacle Avoidance interface
2019-08-05 16:05:40 +02:00
4d5f922e7a
commander: use shutdown_if_allowed() to check for shutdown safety
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Signed-off-by: Andrei Korigodski <akorigod@gmail.com >
2019-08-05 05:55:33 -07:00
5133453822
vehicle_status: replace ARMING_STATE_REBOOT with ARMING_STATE_SHUTDOWN
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Signed-off-by: Andrei Korigodski <akorigod@gmail.com >
2019-08-05 05:55:33 -07:00
4a330c6e0a
commander: do not reboot on USB disconnect when armed
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Signed-off-by: Andrei Korigodski <akorigod@gmail.com >
2019-08-05 05:55:33 -07:00
2e3926b577
Fix a corner case that prevented mavlink config streams from being indexed appropriately when USB is not connected at boot.
...
Break out Mavlink class constructor logic into set_instance() and set_channel() methods. and add const specifiers and default arguments to Mavlink::mavlink_open_uart().
2019-08-05 05:02:20 -07:00
3d993773ae
Mavlink FTP: Fix for wrong component id in retry
2019-08-05 13:51:10 +02:00
43d006aff2
mavlink command sender: give channels more time to request command
...
- if a channel receives an ack for a command, do not immediately remove the
command item from the send queue but wait until the next ack timeout occurs.
This gives other mavlink channels time to try to put identical commands into
the send queue.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-08-05 12:07:05 +02:00
71791fa8f8
mavlink_command_sender: don't try to resend command to instance which
...
did not request this command
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-08-05 12:07:05 +02:00
807cfc8aac
mavlink: fix race condition in mavlink_command_sender
...
- if we receive an ack for a command through a specific mavlink channel
then do not drop the corresponding command in the queue if this specific
mavlink channel did not issue the command. If we don't do this we can
end up in a situation where we associate an ack coming through a specific
mavlink channel to a command in the queue which was not requested by this mavlink channel.
Moreover, the actual command for which the ack was meant remains in the
queue and eventually triggers a timeout.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-08-05 12:07:05 +02:00
830d576f45
Changed wheel encoder publication to multi-instance
2019-08-05 02:45:33 -07:00
3850322046
Added module.yaml and serial port configuration.
2019-08-05 02:45:33 -07:00
35dae9e285
More code cleanup
2019-08-05 02:45:33 -07:00
ee5a790ecb
Removed some parameters
2019-08-05 02:45:33 -07:00
834ae3128f
Implemented reading speed from the Roboclaw
2019-08-05 02:45:33 -07:00
2406aa8b50
Further fixing up parameters
2019-08-05 02:45:33 -07:00
2b79684f29
Added parameters
2019-08-05 02:45:33 -07:00
ffe505b76b
Fixed timeout error handling
2019-08-05 02:45:33 -07:00
e6dc847360
Minor cleanup
2019-08-05 02:45:33 -07:00
71067a7e2d
Fixed timeout handling
2019-08-05 02:45:33 -07:00
f780191c5a
Fixed disarming
2019-08-05 02:45:33 -07:00
b5cf8416b6
Publishing encoder message at regular intervals
2019-08-05 02:45:33 -07:00
60da26978f
Ongoing encoder work
2019-08-05 02:45:33 -07:00
0b3f636603
Ongoing encoder work
2019-08-05 02:45:33 -07:00
6ea03bee58
Ongoing work to update RoboClaw driver
2019-08-05 02:45:33 -07:00
cfdabb26d7
update all docker tags 2019-03-08 -> 2019-07-29
2019-08-05 00:19:18 -04:00
030508a71d
cmake make bloaty available everywhere and improve output
2019-08-05 00:19:18 -04:00
a2288b1e16
AV-X board_config.h fix ADIS16497 chip select
2019-08-05 00:14:03 -04:00
618ce49479
rtps: ids: add missing aliased topics
2019-08-04 20:04:19 +01:00
47f5b23419
rtps: generation scripts: make indexing of lists possible in both Python 2 and 3
2019-08-04 20:04:19 +01:00
e69398c09f
introduce uORB::PublicationQueued and transition most orb_advertise_queue usage
2019-08-04 10:08:09 -04:00
839787568c
CollisionPrevention only process distance_sensor updates
2019-08-04 10:04:09 -04:00
34598fe353
mavlink uavcan parameters initialize value
2019-08-03 15:05:34 -04:00
6a6bc4be58
drivers helper classes remove empty publication (forced advertise)
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- this is no longer necessary with all publications outside of ISRs
2019-08-03 14:08:45 -04:00
483280236b
mavlink use all ORB battery_status instances instead of BOARD_NUMBER_BRICKS
2019-08-03 13:36:42 -04:00
991669073e
Jenkins HIL run sd_bench and configure as multicopter
2019-08-03 11:22:31 -04:00
dcccbbe584
Mavlink receiver ODOMETRY fix code style
2019-08-02 21:36:20 -04:00
b203bc15df
Fix rotation of odometry velocities from body frame to local frame in the mavlink receiver odometry handler
...
Summary:
PX4 assumed that odometry orientation was a way to rotate data from parent frame to child frame, so to rotate child to parent, it was taking the inverse rotation of the odometry orientation,
but orientation rotates the parent frame to the child frame, whereas for data, it represents a rotation from child to parent; hence, the rotation inverse operations were removed.
Test Plan: Checked that vehicle_mocap_odometry and vehicle_local_position gave correct linear velocities. Also visualized px4 output twist in rviz.
2019-08-02 23:15:47 +01:00
77694183b2
delete position_estimator_inav
2019-08-02 17:38:28 -04:00
d301c22665
Bosch BMI088 initial driver
2019-08-02 13:38:36 -04:00
5f962401cb
Update submodule DriverFramework to latest Fri Aug 2 08:39:05 EDT 2019
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- DriverFramework in PX4/Firmware (eda49a4b63https://github.com/PX4/DriverFramework/commit/06277ef49fb8c9fad18d56ef40e8bc9fe1655a65
- DriverFramework current upstream: https://github.com/PX4/DriverFramework/commit/c7d2fe2d4f5954b9042af4edf7e5aeb21dbdd129
- Changes: https://github.com/PX4/DriverFramework/compare/06277ef49fb8c9fad18d56ef40e8bc9fe1655a65...c7d2fe2d4f5954b9042af4edf7e5aeb21dbdd129
c7d2fe2 2019-07-23 Andrii Beregovenko - Fix missing symbol from librobotcontrol
2019-08-02 10:36:38 -04:00
39a5799e65
Mavlink: fixed temperature for batteries ( #12605 )
2019-08-02 10:09:03 -04:00
959a35b3bd
add safe_landing_planner to CI
2019-08-02 09:12:02 -04:00
14501dfdf2
update local_planner ci to avoidance stable release 0.3.0
2019-08-02 09:12:02 -04:00
c2a5fc0520
Jenkinsfile-SITL_tests: bump kinetic container to 2019-07-29 tag
2019-08-02 09:12:02 -04:00
eda49a4b63
PixArt PAW3902 optical motion tracking driver ( #12576 )
2019-08-01 23:43:26 -04:00
e0c85c8831
ll40ls: correct a write_reg issue ( #12604 )
...
* deprecate a goto statement
* migrate to uniform initialization in LidarLite base class.
2019-08-01 23:41:05 -04:00
8609be28a7
Update submodule v2.0 to latest Thu Aug 1 18:09:13 EDT 2019
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- v2.0 in PX4/Firmware (d0f1a551e9https://github.com/mavlink/c_library_v2/commit/18cf6ff2fc0e51e4555b19fc31e8b06eb38bdd79
- v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/72832840733f0d78cda7e2071a6bf6c7fc3f9273
- Changes: https://github.com/mavlink/c_library_v2/compare/18cf6ff2fc0e51e4555b19fc31e8b06eb38bdd79...72832840733f0d78cda7e2071a6bf6c7fc3f9273
7283284 2019-07-26 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/9c1d1feec0f2bd7ee7f408bed53f3de90a16c537
51a62d5 2019-07-23 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/06e378b91a620d20d99fe1476d57bc41e7210b18
477a5b6 2019-07-11 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/6e06b09b9ceb1d03c8f54e91494ab84901d33d9c
2a9615b 2019-07-10 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/e2c91dcc8c389a02a5e2f02b18662a951af7a33d
cd2a362 2019-07-07 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/8b75e0a5a74429c98aa0b33a8b65fe3a7384d38d
beb7890 2019-06-27 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/95031e31a5eec47dc951fc09e2939071b8cf3c2b
614164b 2019-06-27 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/595037a9fbd95ab51d84497f7d1cff3f998ba76e
2019-08-02 00:30:10 +01:00
f7c9acbdab
Update submodule nuttx to latest Thu Aug 1 18:09:20 EDT 2019 ( #12603 )
...
- nuttx in PX4/Firmware (210dbb5b8365eb003453695aa4711044bb6d49be): https://github.com/PX4/NuttX/commit/257e1730dca1faafdf3a694ba53da423f46d569c
- nuttx current upstream: https://github.com/PX4/NuttX/commit/b4013dcd4a9ec8edf412277fa3e4dccd419089c1
- Changes: https://github.com/PX4/NuttX/compare/257e1730dca1faafdf3a694ba53da423f46d569c...b4013dcd4a9ec8edf412277fa3e4dccd419089c1
b4013dc 2019-08-01 David Sidrane - [BACKPORT] stm32l4:serial add HW HS on UART 4 & 5
4380c12 2019-08-01 David Sidrane - [BACKPORT] stm32h7:serial add HW HS on UART 4 & 5
0ff3e6c 2019-08-01 David Sidrane - [BACKPORT] stm32:serial add HW HS on UART 4 & 5
316126f 2019-07-31 David Sidrane - [BACKPORT] stm32f7:serial add HW HS on UART 4 & 5
2019-08-01 16:14:45 -07:00
d0f1a551e9
manual_contol_setpoint: fix mode slot numbering ( #12578 )
...
* This fix is necessary because usually uORB structs get initialized with
all zeros and then get filled with the fields that are actually in use.
* The number 0 for the mode slot was already commanding to switch to the
mode in slot one even though for example the joystick input via mavlink
does not use this mechanism at all.
2019-08-01 12:27:58 -04:00
5d986f2030
posix: add argument to change the CWD ( #12482 )
2019-08-01 12:25:35 -04:00
4bf9344913
camera_trigger: move to new WQ and uORB::Subscription
2019-08-01 12:24:12 -04:00
bc9fb26ccd
commander esc_calibration move to uORB::Subscrition
2019-07-31 20:30:05 -04:00
7789e2de88
sensors: mag reload calibration parameters when first seen ( #12586 )
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* fixes UAVCAN MAG calibration application after reboot
2019-07-31 15:22:59 -04:00
29c50da1f6
ll40ls: cleanup and create PX4Rangerfinder helper class ( #12567 )
2019-07-31 15:17:35 -04:00
e9397eeb75
ll40ls: fix LIDAR-Lite v3 initialization ( #12453 )
2019-07-31 13:00:30 -04:00
1600b0fd82
Mavlink FTP - return ENOENT when directory doesn't exist ( #12589 )
2019-07-31 15:22:46 +02:00
eaaf66e46b
INA226::init Restored return OK in trigger mode
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Restore return state that was lost in e4926373e6
2019-07-31 03:20:46 -07:00
487addbba5
rc.autostart: add error reporting ( #12527 )
...
-Fixed bug : cd to /etc/init.d/airframes, but no cd after
-Added error report to user if value of SYS_AUTOSTART param value is incorrect
2019-07-31 07:37:40 +02:00
a90c87a791
px4fmu-v5x:BMI055->BMI088 ( #12582 )
2019-07-30 15:54:17 -07:00
0300a380cf
fmuv5x:Missing define PX4_SPI_BUS_SENSORS
2019-07-30 10:49:03 -04:00
423dd23ff1
fmu-v5x:SPI fix Typo on SPI4 causing assertion
2019-07-30 10:49:03 -04:00
25b95dcd0c
px4fmu-v5x:Fix up start script
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Fix commandline for bmm150
Add 2 internal bmp388 - needs works
Add 2 ina2662
2019-07-30 10:49:03 -04:00
72c742f53d
px4_fmuv5x:Update to master single wire
2019-07-30 10:49:03 -04:00
7c1d616187
px4_fmuv5x:Fix GPS
2019-07-30 10:49:03 -04:00
7eb7db476c
px4_fmuv5x:Fixed SDMMC DMA
2019-07-30 10:49:03 -04:00
13e777c2ce
px4_fmuv5x:Use slot 0 with SDMMC2
2019-07-30 10:49:03 -04:00
0e949a36ee
task_stack_info increase task_name length to match NuttX CONFIG_TASK_NAME_SIZE
2019-07-30 10:47:10 -04:00
0dc8119c89
listener print strings
2019-07-30 10:47:10 -04:00
ca74b3fef1
Update submodule nuttx to latest Mon Jul 29 12:38:24 UTC 2019
...
- nuttx in PX4/Firmware (0654fdcf0ec7e45cc1e1ca5cc38de6c5e36417bc): https://github.com/PX4/NuttX/commit/feb5b6f1743fc3376008013f7dbd16dbc8501f10
- nuttx current upstream: https://github.com/PX4/NuttX/commit/257e1730dca1faafdf3a694ba53da423f46d569c
- Changes: https://github.com/PX4/NuttX/compare/feb5b6f1743fc3376008013f7dbd16dbc8501f10...257e1730dca1faafdf3a694ba53da423f46d569c
257e173 2019-07-26 David Sidrane - [BACKPORT] stm32f7:If only one SDMMC it is slot 0
2019-07-29 10:59:28 -04:00
75531125a2
lsm303d split out header and main
2019-07-29 10:57:51 -04:00
87200d7954
lsm303d driver move to PX4Accelerometer/PX4Magnetometer and cleanup
2019-07-29 10:57:51 -04:00
203d9327ee
osd/atxxxx move to new WQ and uORB::Subscription
2019-07-29 10:52:33 -04:00
b75d2ce982
set trajectory generating flight task as default (MPC_POS_MODE = 3)
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-07-29 10:37:26 -04:00
a8071589bc
increase default fixed wing rate controller I term
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-07-29 10:37:26 -04:00
77fd290b0c
added default expo for yaw and x/y/z velocity demand in position mode
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-07-29 10:37:26 -04:00
81ae85015f
changed defaults of MPC acceleration limit parameters
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- vehicle will fly less aggressive
- it does not make sense to set the lower acceleration limit to something
that exceeds gravity if most of the vehicles do not support reverse thrust
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-07-29 10:37:26 -04:00
a5d3e10c67
MPC_MAN_Y_MAX: changed default from 200 to 150 deg/s
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- we have set the maximum yaw-rate MC_YAWRATE_MAX to 200 degrees and it
makes senses to leave a bit of margin between what the user can demand
and what the limits of the vehicle are
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-07-29 10:37:26 -04:00
f0cdd9be60
MPC_Z_VEL_I: changed default from 0.02 to 0.1
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- generally better attitude tracking
- much better altitude control immediately after takeoff (hover throttle offset)
- faster landing detection
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-07-29 10:37:26 -04:00
be99d2f111
sih: fix code style
2019-07-28 11:18:02 -04:00
09eaef82f6
sih: move to PX4Accelerometer/PX4Gyroscope/PX4Magnetometer/PX4Barometer helpers
2019-07-28 11:18:02 -04:00
f432f74611
ulanding: refactor driver to utilize ScheduledWorkQueue class inheritance ( #11894 )
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* Migrate variable initialization from constructor list to declaration uniform initialization, format whitespace, alphabetize/group/order variables and methods in ulanding.cpp.
* Refactor the uLanding driver to utilize the ScheduledWorkQueue.
2019-07-28 10:51:01 -04:00
ff8e70f6b3
jenkins: archive catkin test logs on failure
2019-07-28 10:25:36 -04:00
97445b60aa
commander preflightcheck update orb usage to uORB::SubscriptionData
2019-07-28 10:22:47 -04:00
1d191cc141
px4flow driver move to new WQ and cleanup
2019-07-26 20:03:21 -04:00
a462bfeb53
vscode add v5x variant (for cmake configure)
2019-07-26 12:59:27 -04:00
36534d5bab
Update submodule ecl to latest Fri Jul 26 12:38:35 UTC 2019
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- ecl in PX4/Firmware (83316cf7b0484e7ba7f9b61201dea7215185da49): https://github.com/PX4/ecl/commit/e1751188fd15b799cbfae86bd7373bb91206069b
- ecl current upstream: https://github.com/PX4/ecl/commit/d38164fc8e68b740405669127138e550c3c7375c
- Changes: https://github.com/PX4/ecl/compare/e1751188fd15b799cbfae86bd7373bb91206069b...d38164fc8e68b740405669127138e550c3c7375c
d38164f
2019-07-26 12:04:07 -04:00
eb951ede6a
urtps templates: minor cleanup
2019-07-26 15:05:54 +02:00
11a28665b7
px_generate_uorb_topic_files: cleanup uneeded conditions
2019-07-26 15:05:54 +02:00
85bcfd7d72
generate_microRTPS_bridge: remove commented code
2019-07-26 15:05:54 +02:00
2b4c878e77
rebase: sync up submodules
2019-07-26 15:05:54 +02:00
c15e54445e
increase cutoff margin for alias matching
2019-07-26 15:05:54 +02:00
5b2d952e4b
add checker for multitopic msg naming
2019-07-26 15:05:54 +02:00
3d9f83a4f2
microRTPS_bridge: structural change to make possible to generate pub/sub code for multi-topics/aliased msgs
2019-07-26 15:05:54 +02:00
a747116eab
microRTPS bridge: make mandatory that all the uORB messages have their RTPS id
2019-07-26 15:05:54 +02:00
98dfa30838
commander: fix disarming for rovers
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We have to ignore the landed flag for rovers, it doesn't really apply
for them.
2019-07-26 02:52:38 -07:00
308d91e5ff
commander: prevent potential disarms in-air
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This fixes the terrifying case where the drone disarms in-air just
because it receives a MAVLink disarm command. We now check param2 for a
magic number which enforces arming/disarming.
This is added to the mavlink protocol in:
https://github.com/mavlink/mavlink/pull/1162
2019-07-26 02:52:38 -07:00
71613ac631
Jenkins fetch all tags
2019-07-25 11:14:16 -04:00
57352ae3bd
Reinstated rover CI test
2019-07-25 10:53:39 -04:00
80f2603b17
Fixed timing of rover pos control
2019-07-25 10:53:39 -04:00
4f090980ab
kakutef7 board_config: remove usb valid defines
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Otherwise 'system_power' gets published with voltage5v_v = 0, as there is
no 5V sensing pin, leading to Avionics Power Low preflight check failures.
2019-07-25 10:38:57 -04:00
72ddf3e0aa
tune_control: use orb queue advertisement consistently
2019-07-25 10:38:57 -04:00
c869cb0ea5
validate_yaml.py: fix for python3
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RuntimeError: dictionary changed size during iteration
2019-07-25 10:38:57 -04:00
8e5aaff76b
airframes: add Kopis 2
2019-07-25 10:38:57 -04:00
5afa404b7f
appveyor: fix PX4 version format check
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by removing shallow clone such that we can infer the version from the
last tag
2019-07-25 10:36:58 -04:00
e296297ab7
Revert "hotfix for logger: use '%i' instead of '%zu'"
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This reverts commit e6aa035209
2019-07-25 05:28:46 -07:00
df0599913e
Firmwarte master with nuttx printf backport
2019-07-25 05:28:46 -07:00
c0053409a3
ak09916: fixed driver not reporting magnetometer as external
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-07-25 13:17:08 +02:00
2b8337e5e2
Add units for EKF2_RNG_A_HMAX and EKF2_RNG_A_VMAX ( #12545 )
2019-07-25 08:09:35 +02:00
8f47535b54
ROMFS: fix airframe incremental build
2019-07-24 05:40:53 -07:00
24c2846750
ROMFS: add explicit dependency to parser scripts
2019-07-24 05:40:53 -07:00
2fbb70d9ca
mc_att_control: output zero throttle in manual mode when landed
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- MPC_MANTHR_MIN is used as minimum throttle in attitude control mode when
the vehicle is in air. This is useful to retain some control around roll and
pitch axis if airmode is not enabled and the user demands zero throttle.
However, when the vehicle is landed there is not need to keep the throttle
at a higher value than zero.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-07-23 17:12:45 +02:00
ac5669deb4
CI: ensure 'git fetch --tags' is executed for all Firmware builds
2019-07-23 13:16:43 +02:00
05ff7bb731
version: validate format of the git tag
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This fails the build if a wrong version tag is used.
A wrong tag leads to wrong reporting in QGC, and incorrect error messages
about minimum required PX4 version.
It also leads to wrong statistics on Flight Review.
2019-07-23 13:16:43 +02:00
2ed8ebf889
rover_pos_control: refactor to ModuleBase and use C++ Param API
2019-07-23 11:16:52 +02:00
e23e3d7bae
Airframe parser: add docs
2019-07-22 13:02:45 +02:00
daeba4e75f
Add airframe .post scripts on NuttX targets
2019-07-22 13:02:45 +02:00
e964af9262
commander_params: enable RC override by default
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It doesn't affect fixed wing flying anymore. I disabled it for the
deltaquad since I presume @sanderux prefers to have the feature disabled
even when flying in multicopter mode.
2019-07-22 09:57:37 +02:00
706500f19c
Commander: make RC override multicopter only
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AAs discussed in the devcall this functionality is only useful for
rotary-wing (multicopter) flying since it's a big safety hazard to
accidentally bring a fixed wing out of an auto mode e.g. a mission
and fly away in a straight line or into an obstacle.
2019-07-22 09:57:37 +02:00
5c1ab06343
Commander: pure refactor of RC override conditions
2019-07-22 09:57:37 +02:00
84a0d16386
Clarify weird behavior of the LIS3MDL
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See issue #12514
2019-07-21 12:08:26 -04:00
b71bae414b
param: fix potential nullptr dereferencing on param import
...
NuttX 7.28 seemed to handle this gracefully, but officially passing NULL
results in undefined behavior, and with 7.29 leads to a hardfault.
This happens on configs with flash-based params, on the first unsuccessful
import attempt.
2019-07-19 09:55:08 +02:00
aaad71faab
commander_params: enable automatic disarming after land detection by default
2019-07-18 14:36:50 +02:00
9986a88697
mavlink: split BATTERY_STATUS from SYS_STATUS update and handle all bricks ( #12034 )
2019-07-18 13:32:41 +02:00
51d4239eee
Commented out rover SITL test
2019-07-17 16:52:24 +02:00
ecf396443f
Minor bugfix
2019-07-17 10:47:56 +02:00
b9a2c9daf8
Fixed uninitialized variable
2019-07-17 10:47:16 +02:00
4a02475dd1
rcS: reduce a few LOC in AUTOCNF logic ( #12467 )
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* Set/unset rcS vars at beginning and end of rcS script and reduce a few LOC checking SYS_AUTOCONFIG with improved logic.
* Restore current placement of set/unset vars in rcS script to leave only the SYS_AUTOCONFIG logic modification.
* Replace set AUTOCNF no after inadvertent deletion.
2019-07-16 16:48:25 +02:00
e6aa035209
hotfix for logger: use '%i' instead of '%zu'
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Work-around for https://github.com/PX4/Firmware/issues/12485 .
This can be reverted after the root-cause is fixed.
2019-07-16 13:11:41 +02:00
ea0e164145
FlightTask - Rename state_prev to last_setpoint
2019-07-16 13:09:09 +02:00
37a9b90945
FlightTask - Move checkSetpoints function in each FlightTask to be tailored to the specific needs and avoid checking all the setpoints
2019-07-16 13:09:09 +02:00
24811cf550
FlightTask smoothVel - Initialize ekf reset counters when task is activated
2019-07-16 13:09:09 +02:00
1414f50cea
FlightTask - When switching task, pass the last setpoints of the previous task to the new task
...
This is done to allow proper initialization of the new FlightTask and
give it a chance to continue the setpoints without discontinuity. The
function checkSetpoints replaces the setpoints containing NANs with an
estimate of the state. The estimate is usually the current estimate of
the EKF or zero.
The transition FlightTask also provides an estimate of the current
acceleration to properly initialize the next FlightTask after
back-transition. This avoid having to initialize the accelerations to
zero knowing that the actual acceleration is usually far from zero.
2019-07-16 13:09:09 +02:00
d24c415fd7
PID rate controller - Add controller gain to support Ideal PID form (ISA standard)
2019-07-16 10:24:19 +02:00
7c05073044
Fixed overflowing tslc.
2019-07-16 09:43:58 +02:00
e25ad348e8
Added message handler for UTM_GLOBAL_POSITION
2019-07-16 09:43:58 +02:00
efad34e55e
jenkins: pub_test needs to start px4 in daemon mode
2019-07-16 09:39:01 +02:00
f613581b70
Jenkinsfile-compile: add kakutef7 to nuttx build targets
2019-07-16 08:09:22 +02:00
84bca7e4d0
shellcheck: disable SC2181
...
The combination of 'if mycmd' and a logical expression is not supported in
NuttX.
2019-07-16 08:09:22 +02:00
d95aae4619
Generic-arm-none-eabi-gcc-cortex-m7: use SP float depending on NuttX config
...
Not all m7 boards support double, as for example the STM32F745.
2019-07-16 08:09:22 +02:00
6e833ed7a8
boards: add Holybro KakuteF7
2019-07-16 08:09:22 +02:00
098afad9e0
missing SD card error tune: play only twice instead of repeating endlessly
2019-07-16 08:09:22 +02:00
f803e54eee
ToneAlarmInterface: add support for non-pwm-based buzzers
2019-07-16 08:09:22 +02:00
92c2d7ae36
CBRK_BUZZER: allow to disable startup sound
...
The 'if [ $LOG_FILE = /dev/null ]' block can be removed, because
STARTUP_TUNE is already set in that case.
2019-07-16 08:09:22 +02:00
d8da9db04c
fix atxxxx osd driver: use correct device id
2019-07-16 08:09:22 +02:00
5fe4c61b42
rc_input: add RC_PORT_CONFIG param to configure RC port
...
The parameter will only be available if the board defines an 'RC' serial
port in SERIAL_PORTS (in default.cmake).
2019-07-16 08:09:22 +02:00
b7a0e1ef03
boards: simplify RC port configuration by using NuttX ioctl's
...
A board only needs to define:
#define RC_SERIAL_PORT "/dev/ttyS4"
Then it can optionally define one or more of the following:
#define RC_SERIAL_SWAP_RXTX
#define RC_SERIAL_SINGLEWIRE
#define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
2019-07-16 08:09:22 +02:00
9a1ad97c11
fix ToneAlarmInterface: correct TOME_ALARM_CLOCK for timer 13 and 14
2019-07-16 08:09:22 +02:00
a3c920db7d
board_defaults: remove unnecessary 'set MIXER_AUX none'
...
On all of these boards '$USE_IO = no' will hold.
2019-07-16 08:09:22 +02:00
4b0afff33a
fmu-v5 init.c: remove unused include
2019-07-16 08:09:22 +02:00
fcb7372554
atxxxx: fix comment
2019-07-16 08:09:22 +02:00
1112828dcf
adc: allow board to not define BOARD_ADC_HIPOWER_5V_OC or BOARD_ADC_PERIPH_5V_OC
2019-07-16 08:09:22 +02:00
5d8710d539
bmp280: fix device_id initialization
2019-07-16 08:09:22 +02:00
1fb80612f3
CollisionPrevention: address https://github.com/PX4/Firmware/pull/12179
...
review comments
2019-07-15 10:58:00 +02:00
ac67d5603f
CollisionPrevention: compute the attitude_sensor_frame outside for loop
2019-07-15 10:58:00 +02:00
560c9f972a
CollisionPrevention: use the maximum timestamp between offboard and
...
distance sensor such that if one of the two fails the vehicle goes into
failsafe, do not switch off CollisionPrevention if it fails
2019-07-15 10:58:00 +02:00
8aad105265
mc_pos_control: increase stack size by 100 bytes
2019-07-15 10:58:00 +02:00
02bdc2c46b
CollisionPrevention: use FlightTasks convention for private/public methods,
...
add doxygen on header file
2019-07-15 10:58:00 +02:00
8637a9255e
CollisionPrevention: add failsafe for stale distance data
2019-07-15 10:58:00 +02:00
0ee770e853
logger: log obstacle_distance_fused instead of obstacle_distance
2019-07-15 10:58:00 +02:00
ff6a4d9e71
stream mavlink message OBSTACLE DISTANCE
2019-07-15 10:58:00 +02:00
e6e4d846fb
add uORB message obstacle_distance_fused with data from offboard
...
obstacle_distance and distance sensor
2019-07-15 10:58:00 +02:00
a9b1946bea
CollisionPrevention: make sure that vehicle tilt compensation is
...
correct for all sensor orientation
2019-07-15 10:58:00 +02:00
2439dc09ae
CollisionPrevention: refactor code to make it more readable
2019-07-15 10:58:00 +02:00
b6eea508bb
CollisionPrevention: make sure that the timestamp is updated for distance
...
sensors even if they are out of range
2019-07-15 10:58:00 +02:00
09bfb00c88
Obstacle_distance: use only one increment in float directly
...
CollisionPrevention: rename a few variables to make the code more readable
2019-07-15 10:58:00 +02:00
d216b45202
cm8jl65: use paramter to set sensor orientation
2019-07-15 10:58:00 +02:00
6a0ed6af93
cm8jl65: add field of view
2019-07-15 10:58:00 +02:00
5b24f28ac7
CollisionPrevention: map distance_sensor data to obstacle distance
2019-07-15 10:58:00 +02:00
aff131774e
simulator mavlink: add horizontal and vertical fov + quaterion orientation
...
to distance sensor
2019-07-15 10:58:00 +02:00
02c3765c1b
obstacle_distance: add fields from mavlink extension
2019-07-15 10:58:00 +02:00
d375402b5b
distance_sensor: add horiontal and vertical fov, add quaternion for sensor orientation
2019-07-15 10:58:00 +02:00
53c5b6d24f
px4_fmu-v2_multicopter disable batt_smbus
...
- saves a bit of flash
2019-07-12 15:57:35 -04:00
7be5d15502
px4fmu: cleanup - removed duplicate const MAX_ACTUATORS definition
2019-07-11 18:25:56 -04:00
e5128ac7b9
Cosmetic - Use c++ list initialization
2019-07-11 17:46:44 +02:00
15ec73629b
MPC auto - Add MPC_YAW_MODE: towards waypoint (yaw first) mode. This mode ensures that
...
the vehicle yaws towards the next waypoint before accelerating. This is
required for drones with front vision and aerodynamic multicopters such
as standard vtol planes or highspeed multirotors.
2019-07-11 17:46:44 +02:00
2ed00c9cb6
Rover: Rewrote gnd_pos_control and removed gnd_att_control ( #12239 )
2019-07-11 09:39:13 -04:00
3743e6d8fb
yaml: use safe_load(f) instead of load(f, Loader=yaml.FullLoader)
...
yaml.FullLoader is not always defined
2019-07-11 10:20:06 +02:00
27ef1899c7
Fix up MAV_X_RATE as html tag doesn't render ( #12449 )
...
* Fix up MAV_X_RATE as html tag doesn't render
* Update src/modules/mavlink/module.yaml
Co-Authored-By: Beat Küng <beat-kueng@gmx.net >
2019-07-11 08:07:20 +02:00
4e5974f1ca
srf02 driver: Move member variable initialization to declarations, standardize against other drivers and format. ( #11891 )
...
* Migrate variable initialization from constructor list to declarations, standardize whitespace formatting, and alphabetize/organize order of methods and variables in srf02.cpp.
* Increase stack allocation size for the srf02 driver main.
2019-07-10 23:05:02 -04:00
d4cd1d0d2e
NuttX stm32f7 fully re-enable dcache with write back ( #12435 )
...
- fixes https://github.com/PX4/Firmware/issues/12216
- includes latest PX4/NuttX and apps update 7.29+
2019-07-10 19:08:12 -04:00
dc10a68539
NuttX and apps update 7.29
2019-07-10 12:58:35 -04:00
fbd3386c39
Jenkins Hardware ensure buzzer is disabled on test rack
2019-07-10 09:50:29 -04:00
453ecfeb55
YAML: use Loaders and safe_load ( #11910 )
2019-07-10 15:15:29 +02:00
6da8ce94f1
Fix off-by-one error in tgt_system (SDF version)
2019-07-10 14:49:18 +02:00
5e39e14e7c
Fix off-by-one error in tgt_system parameter
2019-07-10 14:49:18 +02:00
7ace66a2b9
Jenkins hardware increase timeout 10 -> 20 minutes
2019-07-09 21:08:07 -04:00
aa86bf5f92
landdetector flight time: fix cast to 64 bits
...
`_param_total_flight_time_low.get()` is an int32_t and gets sign-extended
if cast directly to uint64_t. To avoid that we first cast to uint32_t.
2019-07-09 20:26:40 -04:00
321c2c0392
boards don't use px4_add_library for drivers_board
...
- this prevents low level board support from using PX4 logging, uORB, etc
2019-07-09 19:09:47 -04:00
b54a43fccc
UAVCAN driver: support throttle linearization (THR_MLD_FAC parameter)
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-07-09 15:10:54 -04:00
2aa05e3914
Mavlink FTP - process only messages that have our component id
2019-07-09 20:21:15 +02:00
fdcb0f06d6
Babyshark VTOL: updated config file (new smooth flight task, detuned position control,
...
improved land detector, included autopilot rotation)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-07-09 15:38:40 +02:00
6df1600357
Auto - Update velocity setpoint generator to avoid overshoot at high cruise speed.
...
The linear mapping from position error to cruise velocity is changed by
a combination of that linear mapping and a nonlinear function containing
the maximum acceleration and jerk to avoid overshoots at waypoints due to
overoptimistic breaking distance.
2019-07-09 09:46:45 +02:00
59c555aec3
Multicopter Auto: Adjustable land speed via RC ( #12220 )
2019-07-08 23:55:21 -04:00
c1e4970841
Delete uneccessary #includes from the lights driver directory.
2019-07-08 23:45:01 -04:00
f3af3217c7
Delete unnecessary #includes from the irlock driver.
2019-07-08 23:45:01 -04:00
b495ddbdd3
Delete unnecessary #includes from the imu driver directory.
2019-07-08 23:45:01 -04:00
be414f7ab1
Alphabetize the heater driver #include list.
2019-07-08 23:45:01 -04:00
35e5327cc9
Delete unnecessary #includes in the gps driver directory.
2019-07-08 23:45:01 -04:00
2ef6e18640
Delete unnecessary #includes in the differential_pressure drivers directory.
2019-07-08 23:45:01 -04:00
2a3b98a463
Deprecate unneeded #includes from the camera_capture driver.
2019-07-08 23:45:01 -04:00
b10cb2a24e
Deprecate unnecessary #includes from the batt_smbus driver.
2019-07-08 23:45:01 -04:00
d1e46737a3
Organize, alphabetize, and deprecate unneeded #includes from the barometer drivers.
2019-07-08 21:32:52 -04:00
aff13f6f64
rc.fw_defaults: reduce EPH/EPV failsafe values from 5x to 3x MC
2019-07-08 17:50:54 -04:00
df45124d02
black sheep telemetry add new TEL_BST_EN parameter to enable
2019-07-08 16:30:22 -04:00
6ea5853161
px4_fmu-v2_multicopter sync with px4_fmu-v2_default
2019-07-08 14:49:58 -04:00
58b74e241e
px4_fmu-v2 disable mpu9250
2019-07-08 14:49:58 -04:00
26f6794aa9
px4_fmu-v2 re-enable CONSTRAINED_FLASH build
...
- this limits console output at boot
2019-07-08 14:49:58 -04:00
15d1543f95
create systemcmds/i2cdetect tool to scan i2c bus
2019-07-06 10:28:16 -04:00
d9c90ed31a
Update submodule ecl to latest Fri Jul 5 12:38:36 UTC 2019
...
- ecl in PX4/Firmware (590b55cb222ec68d4bbb61208f301102607b6161): https://github.com/PX4/ecl/commit/a036cf82cc92ef6572ea7ee960cfff4d305c01fa
- ecl current upstream: https://github.com/PX4/ecl/commit/e1751188fd15b799cbfae86bd7373bb91206069b
- Changes: https://github.com/PX4/ecl/compare/a036cf82cc92ef6572ea7ee960cfff4d305c01fa...e1751188fd15b799cbfae86bd7373bb91206069b
e175118
2019-07-05 16:46:31 -04:00
e54075abe8
MC pos control - Force cruise and manual speeds below max speed. ( #12404 )
...
- Force hover thrust between min and max thrust
2019-07-05 15:40:28 -04:00
ea0da3a3b6
px4/fmu-v5x: GPIO ADC had bad definition
2019-07-05 12:23:06 -04:00
7c8fa82e76
rtl cone angle: expose a few values to the user
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-07-05 18:05:09 +02:00
81ee40eac8
rtl: implemented RTL based on cone shape
...
- user defines a cone half angle which defines the RTL altitude behavior
- if vehicle is outside the cone it will climb until it intersects the cone
and then return at this altitude.
- if vehicle is inside the cone or above the predefined return altitude (RTL_RETURN_ALT)
then it will return at the current altitude
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-07-05 18:05:09 +02:00
f7a460427b
Changed name of mixer to be shorter
2019-07-05 18:00:15 +02:00
12fcddd288
fmu: remove unused functions
2019-07-04 22:08:00 -04:00
9b46c1d8a9
Upated Babyshark VTOL config and vtol_defaults
...
Updated the babyshark default parameters for improved flight performance,
as well as two MPC parameters in vtol_defaults for smoother hovering with VTOLS"
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-07-04 11:26:01 -04:00
2f1cfa60f4
precland: store result of _target_pose_sub.update() for later use
...
- Fixes #12391
2019-07-04 11:02:14 -04:00
72a449490a
Mavlink: Use MAV_BROADCAST only in context of ethernet
2019-07-03 14:02:37 -04:00
d139bc5a7c
Use bc to support floating point PX4_SIM_SPEED_FACTOR
2019-07-03 16:54:29 +02:00
dce1dda871
Fixed incorrect timestamps
2019-07-03 14:39:59 +02:00
a2471fb539
logger: handle 'char' type in messages
...
Fixes errors like:
ERROR [logger] No definition for topic char[10] key;uint8_t[2] _padding0; found
when the Debug logging profile is selected.
2019-07-03 10:43:59 +02:00
fecb32f88d
Parameter for virtual battery in SITL ( #12299 )
...
* New parameter for virtual battery in SITL
* Update src/modules/simulator/simulator_mavlink.cpp
Co-Authored-By: Beat Küng <beat-kueng@gmx.net >
* Updated description for parameter SIM_BAT_MIN_PCT
2019-07-02 15:53:18 +02:00
9bfc4f2d54
Analog Device ADIS16477 move to PX4Accelerometer/PX4Gyroscope and cleanup
2019-07-01 22:53:27 -04:00
9450496eb4
Analog Devices ADIS16497 move to PX4Accelerometer/PX4Gyroscope and cleanup
2019-07-01 22:47:31 -04:00
cdadb393b7
Analog Device ADIS16448 cleanup
...
- move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer helpers
- add barometer support (using PX4Barometer)
2019-07-01 16:02:00 -04:00
cbdfc0c587
px4_fmu-v5: rc.board_sensors start lis3mdl optional external magnetometer
2019-07-01 14:52:14 -04:00
6ef61e5c19
landing_target_estimator: update to uORB Subscription and Publication
2019-07-01 10:35:41 -04:00
38da0f95aa
rc_input move to uORB::Subscription
2019-07-01 10:35:26 +02:00
4f445cd7f8
vscode add av_x-v1 debug target
2019-06-30 19:05:54 -04:00
7f9415ba46
systemcmds/top: increase stack 200 bytes
...
- this is necessary after most boards increased CONFIG_MAX_TASKS 32 -> 64
2019-06-30 18:37:41 -04:00
d1298f2c37
Jenkins HITL exit upload monitor on nsh>
2019-06-29 17:18:22 -04:00
c165a6f71b
attitude_estimator_q: move most orb subscriptions to uORB::Subscription
2019-06-29 15:51:49 -04:00
423219c60e
pga460: Change variable initialization to uniform initialization style, format whitespace, and change baud rate unsigned to speed_t type. ( #11861 )
2019-06-28 21:52:16 -04:00
db96b6c08d
cm8jl65: Refactor driver, employ uniform initialization, format, and deprecate ringbuffer and IOCTL. ( #11853 )
...
* Move cm8jl65 class member variable initialization from constructor list to declarations. Format whitespace and move method doxy comments to declarations.
* Refactor the cm8jl65 driver start() method, and rename info()->status().
* Continued refactoring of the cm8jl65 driver class:
- Condense all class files into a single *.cpp file and give class scope resolution to previously unscoped methods.
- Refactor cm8jl65 namespace level driver entry methods to reduce code and improve clarity.
- Breakout CDev specific initialization LOC into the device_init() method.
- Move the endian modification inside of the crc16_calc() method.
* Deprecate the hardware ringbuffer, _class_instance, and ioctl() from the cm8jl65 driver.
2019-06-28 21:46:02 -04:00
4b778fd0c2
navigator: fix vehicle_status update ( #12364 )
2019-06-28 21:35:29 -04:00
5857cf4799
LeddarOne: Refactor the driver to standardize against other distance sensor drivers. ( #11858 )
...
* Migrate remaining member variable intialization to declarations and employ uniform initialization style. Copy/paste help() and main() methods to the bottom of the file to match convention with other distance sensor drivers.
* Refactor the LeddarOne driver class to give scope resultion to the methods that were global and to standardize the implementation against most of the other distance sensor drivers.
* Deprecate _reports member var, use of hardware ring buffer, and LeddarOne::read() method.
* Deprecate commented (dead) code from the LeddarOne class init() method.
* Refactor the LeddarOne class cycle() and collect() methods and create measure() method to untangle the previous logic implementation.
2019-06-28 21:29:44 -04:00
309322ce98
Update submodule sitl_gazebo to latest Fri Jun 28 12:37:57 UTC 2019
...
- sitl_gazebo in PX4/Firmware (7bba5a7287https://github.com/PX4/sitl_gazebo/commit/95adbb11f8deef06fb132bf0eb85c19e6ca00f6e
- sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/22df9475ca0d157e2db066a20f64c35906bf7f25
- Changes: https://github.com/PX4/sitl_gazebo/compare/95adbb11f8deef06fb132bf0eb85c19e6ca00f6e...22df9475ca0d157e2db066a20f64c35906bf7f25
22df947 2019-06-27 Martina Rivizzigno - Range.proto: fix indentation
8ef5625 2019-05-28 Martina Rivizzigno - update sonar message to match mavlink distance sensor definition
e04ff96 2018-12-04 Martina - get distance sensor orientation from the vehicle model instead of hard-coding it in the gazebo interface, add horizontal and vertical fov
2019-06-28 16:43:49 +01:00
55b5e7552c
mavlink: add new extvisionmin mode ( #12279 )
...
Signed-off-by: DanielePettenuzzo <daniele@px4.io >
2019-06-28 10:44:22 -04:00
c22ed9397e
land_detector: Implement ModuleParams inheritance in the FixedwingLandDetector class.
2019-06-28 10:26:59 -04:00
0b2af5c519
FixedWingAttitudeControl: don't lock integrator during transition
...
- airframes that are not well trimmed rely on the integrator to learn
the offset. This change can help improve altitude hold during transitions
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-06-28 09:54:40 -04:00
7bba5a7287
vtol_configs: replaced VT_MOT_COUNT with VT_MOT_ID
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-06-27 20:14:10 +02:00
afd95b14cf
vtol_att_control: use VT_MOT_ID instead of VT_MOT_COUNT
...
- VT_MOT_COUNT assumed that motors were always the first outputs. This
does not have to be true always. VT_MOT_ID allows to specify precisely how
many motors we have for hovering and to which channel they are connected.
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-06-27 20:14:10 +02:00
2c74216028
ekf2: fixed calculation of static pressure error
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-06-27 18:11:53 +02:00
1466d11acc
land_detector: cleanup actuator_armed and battery_status naming
...
* Rename _arming -> _actuator_armed
* Rename _battery -> _battery_status in the MulticopterLandDetector class.
2019-06-27 12:02:14 -04:00
94c1f21473
mb12xx: Refactor driver class to allow for multiple sensors and cleanup ( #11859 )
...
* Migrate mb12xx driver class member variable initialization to declarations.
Format whitespace and alphabetize/group/order var declarations.
Refactor driver reset() and mb12xx_main() methods for readability.
Deprecate usage of IOCTL.
* Deprecate the _reports ringbuffer, _class_instance, and read() method and minor formatting in the mb12xx driver.
* Add time_literal usage and #define MB12XX_BUS_SPEED.
* Refactor the mb12xx driver to mirror the mappy_dot driver implementation and create functionality for multiple sensors.
* Add stack size for the mb12xx driver.
2019-06-27 11:59:40 -04:00
c5deba53a2
mc_pos_control: Explicitly convert tilt variables to radians during check and assignments
2019-06-27 11:38:21 -04:00
748ff7f50a
Update README.md
...
Clarify the naming of FMU versions to not confuse users once the new industrial FMUv5X standard is established.
2019-06-27 08:28:32 +02:00
49966f4c46
launch: multiple sdf models ( #12306 )
2019-06-26 15:20:49 -04:00
6fcc4cc6a2
WIP Digital PM Support
2019-06-26 14:34:02 -04:00
1cf4a2d953
Added Suport for ICM 20602 on PX4_SPI_BUS_SENSORS1
2019-06-26 14:34:02 -04:00
e5b6adc7f3
fmu-v5X VER REV Combined
2019-06-26 14:34:02 -04:00
31dfaee76a
fmuv5x board support
2019-06-26 14:34:02 -04:00
6e9f706b12
Standardize remaining class member variable naming convention in the MulticopterLandDetector class.
2019-06-26 14:06:56 -04:00
df662245a2
Standardize class member variable naming convention in the LandDetector class.
2019-06-26 14:06:56 -04:00
6b6d82447e
Standardize class member variable naming convention in the MulticopterLandDetector class.
2019-06-26 14:06:56 -04:00
3f0159d784
Standardize class member variable naming convention in the VtolLandDetector class.
2019-06-26 14:06:56 -04:00
2b9ad179a2
Standardize class member variable naming convention in the FixedWingLandDetector class.
2019-06-26 14:06:56 -04:00
7ba658d573
MAVLink module: Add additional IMUs as default outputs
...
This simplifies setup and verification of systems, as all three sensors can be looked at in a graph view.
2019-06-26 10:24:16 -04:00
d7cfebe0a3
Add check_params(true) call to the LandDetector start() method. Break out _update_total_flight_time() method in the LandDetector class.
2019-06-26 09:23:02 +02:00
f783982edb
Revert changes to the check_params(const bool force) declaration/definition to match current PX4:master.
2019-06-26 09:23:02 +02:00
0ec7efcfc4
Delete _measure_interval and redundant parentheses in LandDetector.h.
2019-06-26 09:23:02 +02:00
faa3c3dc6f
Refactor the LandDetector class to
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- Reduce duplicate code in LandDetector _check_params() method.
- Standardize naming cases.
- Implement DEFINE_PARAMETERS() macro.
2019-06-26 09:23:02 +02:00
46662072d1
Missed conversion to radians in AutoMapper and AutoMapper2
2019-06-25 14:01:35 +02:00
6d9bf18ca6
Revert "VTOL: add parameter to prevent flight if roll direction was not checked"
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This reverts commit 5f06c6a1aa
2019-06-25 09:26:20 +02:00
5002b13bda
mc_att_control: Increase default rate integral gain
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@bkueang and me realized that on every frame we tune the integral gain for
the roll and pitch rate controller is much too low. Usually it needs to be
increased to 0.3 or even 0.4 to have better "locked in" flight performance
and 0.2 seems like a good compromise for a safe default.
2019-06-24 18:26:27 +02:00
443381327e
Airframes: rename normal S500 to generic and remove PX4 defaults
2019-06-24 18:26:27 +02:00
c22825ee45
Airframes: add Holybro S500 Kit which was tested at dev summit
2019-06-24 18:26:27 +02:00
d96c97ed48
Update submodule jMAVSim to latest Sat Jun 22 12:37:52 UTC 2019 ( #12316 )
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- jMAVSim in PX4/Firmware (fb8630c267https://github.com/PX4/jMAVSim/commit/883413f8b97cc53d48491d6ff3630d6efd2e2467
- jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/def7501bc0536b8d1050f65d09c7dfbebcc0ce61
- Changes: https://github.com/PX4/jMAVSim/compare/883413f8b97cc53d48491d6ff3630d6efd2e2467...def7501bc0536b8d1050f65d09c7dfbebcc0ce61
def7501 2019-06-18 romain-chiap - SIH support: add display-only mode for simulation-in-hardware (#101 )
2019-06-22 15:42:08 +02:00
fb8630c267
Adding VTOL Octoplane airframe type ( #12303 )
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* Srcparser updated, default script for VTOL octoplane added.
2019-06-22 14:13:29 +02:00
64ac8c18d2
mc airframes: increase I gains a bit
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Previous commit allows to increase them again.
Partially reverts commit 6c3e79f361
2019-06-22 13:23:19 +02:00
ea31f34d09
mc rate controller: add I term reduction factor
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Reduce the I gain for high rate errors to reduce bounce-back effects after
flips. Up to 200 degrees the gain is almost not reduced (<25%), so this
will only take noticeable effects for large errors (setpoint changes),
where we actually want to have an effect.
This allows to increase the MC_*RATE_I parameters w/o negative effects
when doing flips (i.e. bounce-back after flips).
The 400 degrees limit and the x^2 are empirical.
The better the rate tracking in general (high P gain), the less this is
required (because of the lower tracking error). At the same time it also
does not harm, as the i_factor will always be close to 1.
2019-06-22 13:23:19 +02:00
4c4bcc5fdb
Mavlink: Fill in thrust field correctly for offboard rates setpoints on fixed wing ( #12311 )
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* Fill in thrust field for rates sp
2019-06-20 17:17:32 +02:00
4831a4b0cf
Update submodule ecl to latest Tue Jun 18 20:37:33 EDT 2019
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- ecl in PX4/Firmware (4673dd0a0c9b90fcab84a26e75812a5c7172d1af): https://github.com/PX4/ecl/commit/0f49eb34a08e499a26d749ed981429047f2100ff
- ecl current upstream: https://github.com/PX4/ecl/commit/a036cf82cc92ef6572ea7ee960cfff4d305c01fa
- Changes: https://github.com/PX4/ecl/compare/0f49eb34a08e499a26d749ed981429047f2100ff...a036cf82cc92ef6572ea7ee960cfff4d305c01fa
a036cf80e946f2ad7f7afd6351bd7612fa4cef2ba5
2019-06-19 11:38:49 +10:00
e0f3fc8d00
Mavlink receiver SET_ATTITUDE_TARGET fill the correct throttle field by checking its frametype in offboard mode ( #12149 )
2019-06-18 02:06:41 +02:00
46c00ca6a4
vscode: add PX4_SIM_SPEED_FACTOR
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This env variable can be changed to adapt the simulation speed.
2019-06-18 01:56:49 +02:00
1cee945a22
vscode: use lockstep
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This changes the VSCode debugging to use lockstep. For lockstep, the
rate needs to be 250 Hz.
2019-06-18 01:56:49 +02:00
e1671571c8
jMAVSim: use PX4_SIM_SPEED_FACTOR, not cli arg
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In order to be consistent between Gazebo and jMAVSim we should be using
the env variable PX4_SIM_SPEED_FACTOR in the same way. This enables
vscode to set the speed using the env variable.
2019-06-18 01:56:49 +02:00
fea284f728
vscode: start gzclient GUI for Gazebo simulation
2019-06-18 01:55:21 +02:00
2deab6c607
commander: refactored state-machine strings
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- Follow-up changes to https://github.com/PX4/Firmware/pull/11796
2019-06-17 20:09:05 +02:00
136962d125
uORB Subscription callbacks with WorkItem scheduling on publication ( #12207 )
2019-06-17 16:26:06 +02:00
beaba44e5b
mc mixer: prioritize roll/pitch over yaw for full airmode
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Improves roll/pitch tracking in situations of large yaw demands.
2019-06-17 13:17:18 +02:00
8811c8315c
Modify the update_params() comment to better reflect what is taking place in mavlink_receiver.h.
2019-06-17 09:41:30 +02:00
742c22d099
Rename _param_sub to _param_update_sub and initialize. Re-define and re-implement the update_params() method and only call if parameters have been updated.
2019-06-17 09:41:30 +02:00
c92b8b03cd
Move variable initialization from constructor to declarations in MavlinkReceiver class, alphabetize var lists. Added update_params() method to ensure that parameters subscribed to are updated routinely.
2019-06-17 09:41:30 +02:00
b402c9697d
hardfault_log: fix NULL terminator truncation
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building "make omnibus_f4sd_default" with gcc 8.2.1 failes with:
hardfault_log.c:315:7: error: 'strncat' specified bound 30 equals destination size
gcc8 introduced -Wstringop-truncation, which will warn about NULL terminator
truncation.
This patch fixes two similar issues:
- strncpy() makes no sense if we want to copy without NULL terminator
- strncat() needs space to append the NULL terminator
fixes #12283
2019-06-17 08:15:34 +02:00
7c4bf6ddae
Mavlink ODOMETRY (331) support MAV_FRAME_BODY_FLU
2019-06-16 13:23:57 -04:00
09e09863b5
Update submodule mavlink v2.0 to latest Sun Jun 16 00:37:57 UTC 2019
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- mavlink v2.0 in PX4/Firmware (067eb41d23252cbc5725f98e63ea56a2951da317): https://github.com/mavlink/c_library_v2/commit/70c1b4ef2db3244df23196bf2e47e369e2e8b78a
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/18cf6ff2fc0e51e4555b19fc31e8b06eb38bdd79
- Changes: https://github.com/mavlink/c_library_v2/compare/70c1b4ef2db3244df23196bf2e47e369e2e8b78a...18cf6ff2fc0e51e4555b19fc31e8b06eb38bdd79
2019-06-15 23:22:45 -04:00
115b8f83ef
Update submodule sitl_gazebo to latest Sun Jun 16 00:37:52 UTC 2019
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- sitl_gazebo in PX4/Firmware (648e7de249https://github.com/PX4/sitl_gazebo/commit/f2593dbcc2980dd15714925931fbb0e46a63a4b2
- sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/95adbb11f8deef06fb132bf0eb85c19e6ca00f6e
- Changes: https://github.com/PX4/sitl_gazebo/compare/f2593dbcc2980dd15714925931fbb0e46a63a4b2...95adbb11f8deef06fb132bf0eb85c19e6ca00f6e
95adbb1 2019-06-08 David Jablonski - fix gstreamer package finding for ubuntu
2019-06-15 23:21:12 -04:00
f1c66749e3
vl53lxx: migrate variable initialization from constructor list to declaration uniform initialization ( #11896 )
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* Format whitespace
* Alphabetize/group/order variables and methods.
* Deprecate IOCTL usage and simplify a few methods.
2019-06-15 23:18:46 -04:00
f96c47ae1b
stm32f7 bootloader update support ( #11394 )
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* micro_hal: F7 add flash
* micro_hal: F7 non up_progmem functions
* bl_update: Add F7 Support
2019-06-15 21:46:46 -04:00
d7d0bd2764
Mavlink: Enable gimbal control using SET_ACTUATOR_CONTROL_TARGET while controlling the vehicle offboard ( #12146 )
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* Stop ignoring setpoints when actuator setpoints are for the gimbal
2019-06-15 21:35:41 -04:00
106ee280c5
land_detector initiate cycle immediately
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- fixes #12190
2019-06-15 21:30:09 -04:00
ce784d1ef0
Sensordots Mappydot+ driver ( #12147 )
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* Add MappyDot+ driver capable of utilizing multiple sensors on a single i2c bus.
2019-06-15 21:13:51 -04:00
eaa3d4a24f
tfmini: migrate driver class member variable initialization to declarations ( #11893 )
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* format whitespace
* alphabetize/group/order var/method declarations
* added a default port to start the tfmini driver without requiring arguments.
2019-06-15 21:01:36 -04:00
4e360064d9
commander refactor and cleanup offboard control mode
2019-06-15 20:45:26 -04:00
648e7de249
drivers/px4io move to uORB::Subscription
2019-06-15 20:14:10 -04:00
1657b5030a
wind_estimator always copy attitude and local position data
2019-06-15 19:42:48 -04:00
a175c4407d
Jenkins add rover SITL test
2019-06-15 17:55:44 -04:00
e7add33c12
Jenkins HIL print fmu status and pwm info
2019-06-15 16:59:04 -04:00
5f20d3cf3b
Jenkins HIL increase boot timeout for stackcheck build
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- px4_fmu-v5_stackcheck remove extra drivers (to try and get the system
usuable)
2019-06-15 16:59:04 -04:00
e6799e90ad
Jenkins HIL disable buzzer and remove redundant px4_fmu-v5 test
2019-06-15 15:06:02 -04:00
81c914a092
Jenkins HIL test run various commands to inspect system
2019-06-15 14:29:00 -04:00
d30e30a2a6
Jenkins HIL run more tests
2019-06-15 11:31:01 -04:00
4910bed45b
mavlink send_statustext_critical() remove redundant print
2019-06-15 10:14:41 -04:00
8e0e846e6e
Jenkins hardware target different V5 variants
2019-06-14 14:48:44 -04:00
6eb4cf0ceb
Add CUAV 5+ and Nano to fmu-v5 manifest
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* rcS: Set SYS_USE_IO for Nano
2019-06-14 13:19:41 -04:00
bf08b60b8f
vscode launch.json add nxp_fmuk66-v3
2019-06-14 11:35:12 -04:00
5e058ae290
vscode launch.json add black magic probe debug config
2019-06-14 10:31:42 -04:00
fe2dff649c
vscode launch.json (debug configurations) cleanup naming and sort list
2019-06-14 10:31:42 -04:00
146a3866c0
Testing: hotfix to recover test coverage CI
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CMAKE_TESTING should automatically be enabled
but I hoped to do that in the test.cmake
target specific options and not in the main
CMakeLists. I have to see if I can make that
order work. Here the hotfix to make CI work
again.
2019-06-14 06:54:10 -07:00
61512f063a
vscode debug linux vs osx handle external console properly
2019-06-14 08:27:37 -04:00
fd18a6c0e6
vscode improve fmu-v2/v3/v4/v4pro/v5 debug targets
2019-06-14 08:27:37 -04:00
83d90410ff
Jerk-limited auto mode - use MPC_ACC_HOR instead of MPC_ACC_HOR_MAX
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as written in the parameter desctiption
2019-06-14 09:56:56 +02:00
a4a130fe53
tests free test containers in IntrusiveQueue and List
2019-06-13 10:47:27 -04:00
aee8f13289
List fix remove() and update testing
2019-06-13 10:47:27 -04:00
1623de8bd0
IntrusiveQueue add remove method, iterators, and update test
2019-06-13 10:47:27 -04:00
327354705b
Fixed filename
2019-06-13 10:04:26 +02:00
c4bb6b53e8
Changed soft stop check
2019-06-13 10:04:26 +02:00
21760a5856
Changed constant name to UNMANNED_GROUND_VEHICLE
2019-06-13 10:04:26 +02:00
714c90b9db
Updated code style to fix confusing if conditions
2019-06-13 10:04:26 +02:00
a134da6e12
Removed is_rotor_wing, replaced with vehicle_type
2019-06-13 10:04:26 +02:00
2ca40bfc65
Changed navigator to properly separate xy and z distance to waypoint
2019-06-13 10:04:26 +02:00
6816f2a4ce
commander force offboard control update when first entering mode
...
- fixes #12241
2019-06-12 20:25:05 -04:00
048cca7bc4
vtol_att_control: apply multicopter takeoff hotfix also for vtol ( #12250 )
...
Please see reference:
https://github.com/PX4/Firmware/issues/12171
2019-06-12 13:59:29 -04:00
ae6fed4f29
Migrate remaining variable initializations from constructor list to declarations in mavlink_main.cpp/h.
2019-06-12 12:53:09 -04:00
7a586d2b60
ObstacleAvoidance: hysteresis on failsafe
2019-06-12 16:42:02 +02:00
79d4c09d59
uORB::Publication simplify and cleanup
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- base class is now template
- drop linked list
- virtualization no longer required
2019-06-12 08:48:19 -04:00
57fc6eb4b8
Update submodule devices to latest Tue Jun 11 20:38:48 EDT 2019
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- devices in PX4/Firmware (96e8e25a85a334872f2e46786d7c2f546ed846df): https://github.com/PX4/GpsDrivers/commit/a4999f111d13bcb209754823a3c503fa659a0d15
- devices current upstream: https://github.com/PX4/GpsDrivers/commit/69e38ecc846df03f0bb71aa136bcc830dd3316a9
- Changes: https://github.com/PX4/GpsDrivers/compare/a4999f111d13bcb209754823a3c503fa659a0d15...69e38ecc846df03f0bb71aa136bcc830dd3316a9
69e38ec 2019-06-06 Andreas Antener - sbf: report vertical velocity DOWN (converted from UP)
c803bad 2019-06-05 Andreas Daniel Antener - SBF Updates (#43 )
2019-06-12 08:01:31 +02:00
1ebf5d04d9
logger: add Ulog sync bytes at 1Hz and tagged log message definition ( #12144 )
2019-06-11 11:00:54 +02:00
736a1c4778
Update submodule ecl to latest Mon Jun 10 12:38:13 UTC 2019
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- ecl in PX4/Firmware (e80050ce8c261e9b5c1cf7e1e8c62f32db08099f): https://github.com/PX4/ecl/commit/54ac147ae8930f1c280a0bd5c25fa90eaf4c6e0d
- ecl current upstream: https://github.com/PX4/ecl/commit/0f49eb34a08e499a26d749ed981429047f2100ff
- Changes: https://github.com/PX4/ecl/compare/54ac147ae8930f1c280a0bd5c25fa90eaf4c6e0d...0f49eb34a08e499a26d749ed981429047f2100ff
0f49eb3cd34ab8340d85a90b4c7c710c529
2019-06-10 10:42:37 -07:00
32a89a1834
rename empy templates (*.template) to proper file extension (.em)
2019-06-10 10:42:00 -07:00
bef7a9ba8e
NuttX boards increase task limit 32 -> 64 ( #12230 )
2019-06-10 09:42:36 -04:00
070df61daf
Update submodule mavlink v2.0 to latest Mon Jun 10 12:37:58 UTC 2019 ( #12232 )
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- mavlink v2.0 in PX4/Firmware (b69bf26721b61a8dd026e3c28b201a5baa72d2df): https://github.com/mavlink/c_library_v2/commit/60df2613725c21f3eedc51251285f80a22e7d07d
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/70c1b4ef2db3244df23196bf2e47e369e2e8b78a
- Changes: https://github.com/mavlink/c_library_v2/compare/60df2613725c21f3eedc51251285f80a22e7d07d...70c1b4ef2db3244df23196bf2e47e369e2e8b78a
2019-06-10 09:10:49 -04:00
9db4d87587
Update submodule sitl_gazebo to latest Mon Jun 10 12:37:51 UTC 2019
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- sitl_gazebo in PX4/Firmware (b0176dc88ahttps://github.com/PX4/sitl_gazebo/commit/a0b0eb8df12b11e8f63d3cc766dee97cefa32ab7
- sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/af00ac4dfc5cfb25140254c5cae2a225944fc1c1
- Changes: https://github.com/PX4/sitl_gazebo/compare/a0b0eb8df12b11e8f63d3cc766dee97cefa32ab7...af00ac4dfc5cfb25140254c5cae2a225944fc1c1
af00ac4 2019-06-07 Lukas Woodtli - Add support for unit tests on macOS
3a81838 2019-06-04 Lukas Woodtli - Add support to build and run unit tests with catkin
c59d214 2019-05-11 Lukas Woodtli - Add unit tests for gps plugin
860e1ce 2018-09-20 Lukas Woodtli - Add unit tests for gimbal controller plugin
2019-06-10 09:09:49 -04:00
b0176dc88a
Pr cleanup board files ( #12218 )
...
Clear non exist functions definitions
Added RC Serial note before its relevant definitions
2019-06-08 15:48:53 -07:00
8a0beb83db
templates/module move print_usage() to bottom of file
2019-06-08 03:23:50 -07:00
910e938943
tune_control move usage() to bottom of file
2019-06-08 03:23:50 -07:00
cfa58dfc36
led_control move usage() to bottom of file
2019-06-08 03:23:50 -07:00
c223de8a50
vmount move usage() to bottom of file and format
2019-06-08 03:23:50 -07:00
933dd1357e
navigator move print_usage() to bottom of file
2019-06-08 03:23:50 -07:00
d9c5fb0500
mc_att_control move print_usage() to bottom of file and format
2019-06-08 03:23:50 -07:00
97c2dba2fa
logger move print_usage() to bottom of file and format
2019-06-08 03:23:50 -07:00
e428829b84
drivers/heater move print_usage() to bottom of file and format"
2019-06-08 03:23:50 -07:00
6c495bc4a3
leddar_one move help to bottom and format
2019-06-08 03:23:50 -07:00
63d582464e
mc_pos_control move print_usage() to bottom of file and format
2019-06-08 03:23:50 -07:00
d2c824c534
gpssim: don't advertize uninitialized data
...
According to valgrind uninitialized bytes were being advertized.
2019-06-07 17:10:35 -04:00
90bf26b239
CollisionPrevention move orb subscriptions to uORB::Subscription
2019-06-07 09:22:35 -04:00
5669df4ca4
mc_pos_control move orb subscriptions to new uORB::Subscription
2019-06-07 09:22:35 -04:00
be02ad3514
fw_att_control move orb subscriptions to uORB::Subscription
2019-06-06 20:02:02 -04:00
4bef573497
fw_pos_control_l1 move to new uORB::Subscription
2019-06-06 20:00:02 -04:00
528d2f61a0
sensors partially move to new uORB::Subscription
2019-06-06 19:07:17 -04:00
55c9786157
PX4Magnetometer implement MAGIOCGSCALE (copy out scale)
...
- fixes #12193
2019-06-06 14:10:13 -04:00
ab0466eddf
omnibus: enable dmesg buffer (3kb)
...
without LPE running, we have about 17.6 kb more free RAM.
2019-06-06 11:11:44 -04:00
223e3c6429
aerofc rc.board_defaults: remove wrong parameter settings
...
This was a regression.
2019-06-06 11:11:44 -04:00
73102dc3c4
SYS_MC_EST_GROUP: add q estimator only option and activate on omnibus
2019-06-06 11:11:44 -04:00
1321f96b59
omnibus rc.board_defaults: remove flash-based params transition logic
2019-06-06 11:11:44 -04:00
5c715978e8
param compare/greater: do not print 'parameter not found' message
...
Reduces clutter in the boot output (now that we have it in the log).
On omnibus for example we see:
ERROR [param] Parameter SENS_EN_BATT not found
ERROR [param] Parameter SENS_EN_LL40LS not found
ERROR [param] Parameter SENS_EN_LL40LS not found
ERROR [param] Parameter SENS_EN_MB12XX not found
ERROR [param] Parameter SENS_EN_PGA460 not found
ERROR [param] Parameter SENS_EN_SF1XX not found
ERROR [param] Parameter SENS_EN_TRANGER not found
2019-06-06 09:16:49 -04:00
0553d4d01e
Fix px_uploader.py to work in 16.04 with Python 2.7.
...
Before, the pyserial check would fail before it could check for the
VERSION that the Python 2.7 version contains. This fixes it to check
for the VERSION independently.
2019-06-06 09:13:54 -04:00
fcec3b3efc
px4_fmu-v4: increase uart buffer sizes for vision algorithms ( #12199 )
2019-06-06 09:01:42 -04:00
3796dda209
ekf2 move most orb subscriptions to uORB::Subscription
2019-06-06 08:22:15 +02:00
cecd009ddc
mc_att_control: fix vehicle_rates_setpoint_poll() error due to merge timing
2019-06-05 21:18:02 -04:00
ca5651bd8b
heater move to new WQ and uORB::Subscription
2019-06-05 20:38:42 -04:00
4c42cac380
mc_att_control move most orb subscriptions to uORB::Subscription
2019-06-05 20:37:47 -04:00
c0e735c88a
vtol_att_control move to new uORB::Subscription
2019-06-05 20:33:20 -04:00
71d58c9278
wind_estimator move to new WQ (lp_default) and uORB::Subscription
2019-06-05 20:31:16 -04:00
e4ad994763
navigator move to new uORB::Subscription
2019-06-05 20:28:44 -04:00
79eb74be3f
Fix bmp280 on FMUv4
2019-06-05 15:43:53 -04:00
9d726cb0c4
bmi160 move to PX4Accelerometer and PX4Gyroscope and cleanup ( #12128 )
2019-06-05 11:25:18 -07:00
ac4458460d
FailureDetector - update hysteresis to comply with new interface
2019-06-05 16:53:08 +02:00
57c2085ce4
IO driver - Recover flight termination state from IO after FMU reboot in air
2019-06-05 16:53:08 +02:00
c75f71abc2
IO failsafe - apply failsafe values to outputs when in failsafe.
...
This is required because otherwise, IO would output disarmed values if
FMU goes into a disarmed state.
2019-06-05 16:53:08 +02:00
96da46d1aa
Failsafe - cosmetic changes
2019-06-05 16:53:08 +02:00
776b1a28de
IO mixer - cleanup FMU timeout check (comments and indentation)
2019-06-05 16:53:08 +02:00
c576c57d7b
protocol.h - comment style update
2019-06-05 16:53:08 +02:00
4b8febf558
Flight termination IO - reword flight termination flag description
2019-06-05 16:53:08 +02:00
158463d0a0
Flight termination - Rename "flightterm" variables and defines to "flighttermination".
2019-06-05 16:53:08 +02:00
5becc24a1f
Failure detector - in failure detector preflight check, get
...
vehicle_status as const type. Also use FAILURE_NONE enum to check for a
failure
2019-06-05 16:53:08 +02:00
33a94c8191
Failure detector - change snake_case function names to camelCase
2019-06-05 16:53:08 +02:00
ee1f8f457b
px4io - rename safety_param_val to circuit_breaker_io_enabled and change its type to bool since circuit_breaker_enabled returns a boolean
2019-06-05 16:53:08 +02:00
03ad4ffd47
FailureDetector - Add is_failure() function to simplify the interface; the user does not need to check the bitmask
2019-06-05 16:53:08 +02:00
d3c9436f84
flight termination - rename in_flight_termination to flight_termination_triggered
2019-06-05 16:53:08 +02:00
e8705f08c4
quad_x_main - rename parachute output to failsafe output
2019-06-05 16:53:08 +02:00
4eaf6e77be
Flight termination - Always send flag to IO without checking the circuit breaker. The circuit breaker is used inside IO to decide if it has to go into failsafe if FMU dies and also controls is the FailureDetector sets the force_failsafe flag. The other sources of flight termination (rc loss, geo fence, ...) are not disabled by the circuit breaker
2019-06-05 16:53:08 +02:00
59265f6663
Failure detector - Add flight termination comments, make format
2019-06-05 16:53:08 +02:00
0655f7603b
FailureDetector - Increase min value of FD_FAIL_P/R to 60 degrees
2019-06-05 16:53:08 +02:00
d19614a94f
MC Lnd detector - Remove double include
2019-06-05 16:53:08 +02:00
38345be41a
FailureDetector - Add roll and pitch failures hysteresis
2019-06-05 16:53:08 +02:00
a72de95c94
Failure detector - Disable flight termination by default. Modify FD_FAIL parameters description
2019-06-05 16:53:08 +02:00
81bb7888de
Failure Detector - Add Failure Detector check to preflight checks
2019-06-05 16:53:08 +02:00
c73875cbf8
quad x mixer - Add null mixer for parachute triggering
2019-06-05 16:53:08 +02:00
34fca5a552
PWM - Remove unused MIXERADDSIMPLE
2019-06-05 16:53:08 +02:00
7b531bcaef
Failure Detector - Play TONE_PARACHUTE_RELEASE_TUNE when force failsafe is set
2019-06-05 16:53:08 +02:00
d655c33faa
IO mixer - Change default mixer to DISARMED and allow to set outputs to failsafe if FMU does not respond and if flight termination circuit breaker is not set
2019-06-05 16:53:08 +02:00
6fb1b4886c
IO - Send flight termination circuit breaker state to IO through PX4IO_P_SETUP_ENABLE_FLIGHTTERM
2019-06-05 16:53:08 +02:00
796631db20
PX4IO driver - use "curcuit_breaker_enabled" function instead of manually checking its value
2019-06-05 16:53:08 +02:00
19bf080313
PX4ioFirmware - Clean should_arm, should_arm_nothrottle and should_always_enable_pwm indentation for better understanding
2019-06-05 16:53:08 +02:00
ba93f9b983
FailureDetector - Update failure detector logic in commander.
2019-06-05 16:53:08 +02:00
664fff4a24
Px4io Driver - Remove unimplemented prototype
2019-06-05 16:53:08 +02:00
b64a2a884b
Circuit Breaker - Disable flight termination circuit breaker by default (reverts ab40008) -> Allow flight termination
2019-06-05 16:53:08 +02:00
50d75dc7a6
IOFirmware - Properly clear the alarm flags
2019-06-05 16:53:08 +02:00
cf15cef066
Param "User Flight Profile" : improve documentation
2019-06-05 06:45:43 -07:00
d8a4d70fce
Add Param "User Flight Profile"
...
This param has no effect within the Firmware.
The param can be used for example:
* in log post processing to have context about the flight
* in ground stations to adapt the UI automatically
2019-06-05 06:45:43 -07:00
1d5684823d
disable -fassociative-math (within -funsafe-math-optimizations)
2019-06-05 14:54:29 +02:00
e7d0cabb52
logger: fix uninitialized member variable
...
This was reported by Coverity Scan.
2019-06-05 14:46:03 +02:00
d5298fccbd
PWM_REV - Clarify use case. The user shoul not be tempted to use that
...
parameter to reverse the direction of a rotor.
2019-06-05 09:10:06 +02:00
f2b4480e6b
GPS driver update to uORB::Subscription
2019-06-05 08:18:02 +02:00
bece63866d
platforms: remove px4_backtrace
2019-06-05 08:16:19 +02:00
35074aaffd
posix: remove segfault handler
...
I could not get a core dump without removing the segfault handler, hence
this change.
2019-06-05 08:16:19 +02:00
f3620f7018
Remove all leftover PX4_BACKTRACE calls
2019-06-05 08:16:19 +02:00
5273e2af04
Tools: remove decode_backtrace.py
...
This hasn't been used in a while and didn't quite work with the
backtraces produced anyway.
2019-06-05 08:16:19 +02:00
a1b96ba3a5
mpu9250 delete unused perf counters
2019-06-04 20:31:47 -04:00
26e041c43c
WQ increase stacks from 1200 to 1250 bytes
2019-06-04 20:24:51 -04:00
574f7e9f00
batt_smbus move to new WQ
2019-06-04 19:54:06 -04:00
3faab909d7
commander move most orb subscriptions to uORB::Subscription
2019-06-04 18:44:51 -04:00
777b615cf9
land_detector move to PX4 WQ hp_default
2019-06-04 18:10:21 -04:00
53aa4130a8
land_detector move orb subscriptions to uORB::Subscription
2019-06-04 18:10:21 -04:00
2320088541
use position controller parameters for limitation instead of acceleration/jerk
2019-06-04 16:47:33 +02:00
c497d94616
publish a minimal message for logging/debugging
2019-06-04 16:47:33 +02:00
09e1d4888c
use velocity component in bin direction instead of norm
2019-06-04 16:47:33 +02:00
33cd032c35
camelcase function name, initialize c++11 style
2019-06-04 16:47:33 +02:00
e7d17cc265
consider acceleration ramp-up time
2019-06-04 16:47:33 +02:00
ab792093e1
fix wrong if clause
2019-06-04 16:47:33 +02:00
23c23e3aa5
clean up
2019-06-04 16:47:33 +02:00
f50a1d58b0
bugfixes and cleanup
2019-06-04 16:47:33 +02:00
4212ae8b87
sign bug fix and clean up
2019-06-04 16:47:33 +02:00
60befdce5b
change collision prevention algorithm
2019-06-04 16:47:33 +02:00
8427cd3051
constant acceleration breaking for collision prevention
2019-06-04 16:47:33 +02:00
6f9598c76a
topic_listener: document how to exit
...
This was left out when the feature was added.
2019-06-04 09:24:00 -04:00
ceac68e69d
uORB remove unused SubscriptionInterval and SubscriptionIntervalData
2019-06-04 09:17:34 -04:00
d68dcb9cf7
log_writer_file: increase stack size by 20 bytes
...
Seems to be due to the console buffer.
2019-06-04 11:57:54 +02:00
0d71eeccbf
console buffer: write to log as 'boot_console_output' message
2019-06-04 11:57:54 +02:00
08b8ee4831
replace fprintf(stderr with PX4_{INFO/WARN}
2019-06-04 11:57:54 +02:00
d947818654
console: add simple dmesg functionality (enable only on v5)
2019-06-04 11:57:54 +02:00
2307c7c390
Geofence - Rename _warning_action_on to _geofence_warning_action_on
...
since it is only set by the geofence logic. Simplify conditions in IF
statements.
2019-06-04 08:35:56 +02:00
f8f967f073
Geofence - Change from "re-engage geofence failsafe every 10s when
...
outside the fence" to "engage geofence failsafe on transition". This
way, the pilot is not stucked in the non flight zone and can switch to
a manual mode and fly back or trigger RTL.
2019-06-04 08:35:56 +02:00
427b2e6636
Geofence - Do not trigger geofence failsafe while in low battery
...
failsafe action.
Also move geofence flags from static variables declared into the if
statement to private members of the class.
2019-06-04 08:35:56 +02:00
a707403eaf
mc_att_ctrl: added yawrate control from offboard.
...
This commit adds Roll Pitch Yawrate Thrust (RPYrT) setpoint control to the
PX4 stack, enabling the UAV to follow specific yawrates sent from
offboard. It also introduces individual body_rate flags, along the
lines of mavros.
Tested on a MoCap enabled flight arena in KTH Royal Institute of
Technology, Stockholm. The MAV receives RPYrT setpoints from an
external PID controller to stabilize around position setpoints.
The UAV is also externally disturbed to assess the stability to
external unmodeled events.
Fixed Kabir comments.
Removed deprecated ignore_bodyrate.
Fixed integration test.
2019-06-04 08:26:09 +02:00
ac002db25c
MAVLink/Commander: @Pedro-Roque's offboard yawrate handling
2019-06-04 08:26:09 +02:00
579cbbb42c
mavlink move to new lightweight uORB::Subscription
2019-06-03 17:06:21 -04:00
2c63e335e9
uORB::Subscription subscribe directly to uORB device node object
2019-06-03 17:06:21 -04:00
2d1c60bc85
SITL offboard ATT test reduce Z boundary requirement
...
- fixes #12155
2019-06-03 12:31:12 -04:00
755eccbe60
simulator: fixing missing declaration
...
The "len" variable was not defined and gave me an error, declaring it as "int" fixed it
2019-06-03 10:02:36 -04:00
8966ad59c7
Add distance sensor id to the the MavlinkStreamDistanceSensor class and format whitespace in mavlink_messages.cpp.
2019-06-01 14:23:49 -04:00
32fb2bae8c
InvenSense MPU9250 move to PX4Accelerometer and PX4Gyroscope helpers
2019-05-31 21:43:30 -04:00
cd45d8fc68
fxas21002c split out main and header
2019-05-31 18:20:32 -04:00
b57dff8594
fxas21002c move to PX4Gyroscope and cleanup
2019-05-31 18:20:32 -04:00
c8ea198a78
uavcan cmake FATAL_ERROR if platform isn't set
...
- this indicates a build system error
2019-05-31 12:20:50 -04:00
43e3fc707d
simulator move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer, PX4Barometer helpers ( #12081 )
2019-05-30 21:07:26 -04:00
4a4d323a97
Update submodule mavlink v2.0 to latest Thu May 30 13:05:26 UTC 2019 ( #12127 )
...
- mavlink v2.0 in PX4/Firmware (a10b1afb54https://github.com/mavlink/c_library_v2/commit/4b80386684d6823d43a87c53b28dc62570bfd42b
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/60df2613725c21f3eedc51251285f80a22e7d07d
- Changes: https://github.com/mavlink/c_library_v2/compare/4b80386684d6823d43a87c53b28dc62570bfd42b...60df2613725c21f3eedc51251285f80a22e7d07d
2019-05-30 21:01:47 -04:00
f85c15e247
board common create generic dma allocator (from fat_dma_alloc)
2019-05-30 19:31:40 -04:00
bf12583d80
fw_pos_control_l1 replace FW_LND_THRTC_SC param description < character
...
- fixes #12124
2019-05-30 18:03:03 -04:00
e4926373e6
INA226 move to new WQ and cleanup
2019-05-30 10:22:15 -07:00
a10b1afb54
vtol_att_control vtol_type enum -> enum class
2019-05-30 09:04:08 -04:00
d13dfdcd24
AutoLineSmoothVel - Remove duplicate of _yaw_sp_prev update. This is done in the Auto FlightTask, _limit_yaw_rate
2019-05-30 11:14:44 +02:00
a7cf981c8c
AutoLineSmoothVel - Reduce jerk if acceleration, velocity and desired velocity are small to help the optimizer to converge towards zero
2019-05-30 11:14:44 +02:00
3499b6ff89
AutoLineSmoothVel - Do not generate heading from trajectory if the velocity vector is smaller than 10cm/s
...
This is done to avoid generating large yaw changes when the velocity
vector is small; for example when switching into loiter or reaching the
last waypoint.
2019-05-30 11:14:44 +02:00
21c791e959
listener exit with ctrl-c, escape, or q
2019-05-30 10:53:06 +02:00
2ac8841f35
vtol/fw/mc: fix VTOL enum shadowing
...
This changes the enums used for various VTOL states to enum classes
which makes them type-safe and should avoid shadowing.
This change was motivated by a Clang warning about shadowing of the
enum const TRANSITION_TO_FW which was declared twice, once in
vtol_type.h and once in standard.h.
This change only removes the shadowing but presumably these enums could
be cleaned up and consolidated further.
2019-05-29 23:51:10 -04:00
4b3f68f90c
cmake and Tools/setup.sh default to python3
2019-05-29 20:48:22 -04:00
f593e3de9c
AK09916 move to new WQ, PX4Magnetometer, and cleanup
2019-05-29 13:59:08 -04:00
a523e18c13
ST L3GD20 move to PX4Gyroscope helper
2019-05-29 13:56:18 -04:00
119ccc4256
ObstacleAvoidance: fix comment
2019-05-29 15:16:33 +02:00
61f69ed139
ObstacleAvoidance: use convention for paramter name
2019-05-29 15:16:33 +02:00
1e8582974c
do not update desired setpoints and waypoints if the oa is disabled
2019-05-29 15:16:33 +02:00
0963dc9af1
ObstacleAvoidance: fix bug in requesting update of the mission item.
...
During takeoff you're always in the condition within xy acceptance radius
and more than altitude radius away from the takeoff waypoint
2019-05-29 15:16:33 +02:00
9e8575b71b
do not overwrite with obstacle avoidance yaw setpoints if external yaw
...
handling is enabled
2019-05-29 15:16:33 +02:00
44b8b4f79f
send velocity setpoint to enable proper takeoff/land
2019-05-29 15:16:33 +02:00
b135503447
wqueue: check before dereferencing
...
This was found by coverity.
2019-05-29 08:57:46 -04:00
29915cbc6d
BlockingQueue: default initialize _data
...
This was reported by coverity.
2019-05-29 08:57:46 -04:00
4d7a1afd92
Revert "Revert "simulator: remove hack for diff_pressure noise""
...
This reverts commit 2142459027
2019-05-29 08:56:33 -04:00
ed9d25a75a
logger: add arming/disarming via AUX1 RC channel logging mode
2019-05-29 11:41:22 +02:00
721f9f901f
log_writer_file: fix race condition for fast consecutive stop & start calls
2019-05-29 11:41:22 +02:00
03332aaa20
PX4Accelerometer,PX4Gyroscope: set_sample_rate requires a filter update
2019-05-29 09:15:52 +02:00
6da78c956e
SYS_COMPANION: remove this parameter
...
It was already deprecated.
2019-05-29 09:15:52 +02:00
6e2b70cbcd
posix: restore original SEGV signal handler upon first entry of our handler
...
The current SEGV handling on posix is not useful: as soon as our handler
is left, it's triggered again, infinitely.
This patch changes to restore the original handler, so the OS can create
a core dump, etc.
2019-05-29 08:30:52 +02:00
b334b75886
Move optical flow drivers to own subdirectory
2019-05-28 23:23:38 -04:00
6627c60e5b
load_mon move from NuttX LPWORK to PX4 work queue lp_default
2019-05-28 09:40:36 -04:00
5d6cc7d033
ekf2: reduce GPS initialization time for SITL from 10s to 0.5s
...
Speeds up SITL startup.
2019-05-28 10:45:38 +02:00
f7ff82c754
Bosch BMI055 IMU cleanup
...
- move to PX4Accelerometer and PX4Gyroscope helpers
2019-05-27 18:03:32 -04:00
03924704d5
Jenkins SITL tests temporarily disable tiltrotor
2019-05-27 15:23:08 +02:00
bd87bee632
px4_posix.h: add px4_exit()
2019-05-27 15:22:37 +02:00
8a84472795
Hysteresis: switch unit test file name to convention
2019-05-27 09:57:50 +02:00
b29e5e3adb
hysteresis: remove dependency/side effect on time
2019-05-27 09:57:50 +02:00
7b9562e3b1
hysteresis: move out of systemlib, move to gtest
...
This moves the hysteresis test out of the systemlib and makes it its own
small library. Since it still depends on hrt_absolute_time this does not
link yet. My attempt to get all link dependencies together failed.
2019-05-27 09:57:50 +02:00
b849991494
Update submodule mavlink v2.0 to latest Mon May 27 00:38:40 UTC 2019
...
- mavlink v2.0 in PX4/Firmware (61367199aca6aa135462db93c8c8063946876ad4): https://github.com/mavlink/c_library_v2/commit/57000134021fb8d5c2c6281e3783ce29bb35bc17
- mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/4b80386684d6823d43a87c53b28dc62570bfd42b
- Changes: https://github.com/mavlink/c_library_v2/compare/57000134021fb8d5c2c6281e3783ce29bb35bc17...4b80386684d6823d43a87c53b28dc62570bfd42b
2019-05-27 00:13:12 -04:00
b3505bfbf4
Update submodule sitl_gazebo to latest Mon May 27 00:38:33 UTC 2019
...
- sitl_gazebo in PX4/Firmware (88127380e7https://github.com/PX4/sitl_gazebo/commit/3062d287c322fabf1b41b8e33518eb449d4ac6ed
- sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/a0b0eb8df12b11e8f63d3cc766dee97cefa32ab7
- Changes: https://github.com/PX4/sitl_gazebo/compare/3062d287c322fabf1b41b8e33518eb449d4ac6ed...a0b0eb8df12b11e8f63d3cc766dee97cefa32ab7
- a0b0eb8 2019-05-10 bazooka joe - Calculate iris inertia from the body colision parameters assuming that the body is homogenic cube. that fixes impossible inertia matrix
- 113605b 2019-03-27 Elia Tarasov - fix gimbal_controller timestep sign
2019-05-26 23:57:26 -04:00
88127380e7
vscode add linker script extension to recommended
2019-05-25 14:21:45 -04:00
d83a35a503
Update README.md
...
Co-Authored-By: LorenzMeier <lorenz@px4.io >
2019-05-25 20:08:36 +02:00
782d2033c0
Update README.md
...
Fix link for Roman
Co-Authored-By: LorenzMeier <lorenz@px4.io >
2019-05-25 20:08:36 +02:00
c3a58c31d3
Update the README to clarify component ownership
...
This represents more closely the actual maintenance model.
2019-05-25 20:08:36 +02:00
800266741b
Merge pull request #12063 from PX4/fix_custom_tune
...
fix tunes: make sure a custom tune gets played
2019-05-25 17:58:44 +02:00
9ab9a29a01
astyle don't enforce style in build output
2019-05-25 17:58:19 +02:00
a18f3e5d45
reset the position lock only if current triplet latitude and longitude
...
are valid
2019-05-24 21:40:42 +02:00
c4c3bbbfb0
uORB simplify handling of subscriptions with configured intervals
2019-05-24 14:57:46 -04:00
8e6708bdcb
qmc5883 move to px4 work queue
2019-05-24 12:58:55 -04:00
5e427b4e46
adis16497 move to px4 work queue
2019-05-24 12:58:55 -04:00
5ebb0d5d96
rpi_rc_in move to px4 work queue
2019-05-24 12:58:55 -04:00
da6210151c
tone_alarm move to px4 work queue
2019-05-24 12:58:55 -04:00
8c3821c806
bst move to px4 work queue
2019-05-24 12:58:55 -04:00
525fdc87c7
pmw3901 move to px4 work queue
2019-05-24 12:58:55 -04:00
104b1010bf
pca9685 move to px4 work queue
2019-05-24 12:58:55 -04:00
8f1b4f693b
rm3100 move to px4 work queue
2019-05-24 12:58:55 -04:00
8176fe1b6e
lsm303agr move to px4 work queue
2019-05-24 12:58:55 -04:00
dffaf544ab
lis3mdl move to px4 work queue
2019-05-24 12:58:55 -04:00
537c139134
bmm150 move to px4 work queue
2019-05-24 12:58:55 -04:00
78d35f2677
linux_sbus move to px4 work queue
2019-05-24 12:58:55 -04:00
4dd017cd59
rgbled_pwm move to px4 work queue
2019-05-24 12:58:55 -04:00
23f7a662c6
rgbled_ncp5623c move to px4 work queue
2019-05-24 12:58:55 -04:00
6ec7730bf1
rgbled move to px4 work queue
2019-05-24 12:58:55 -04:00
4ac48f154d
pca8574 move to px4 work queue
2019-05-24 12:58:55 -04:00
e7f539f29a
oreoled move to px4 work queue
2019-05-24 12:58:55 -04:00
d8dd592d20
blinkm move to px4 work queue
2019-05-24 12:58:55 -04:00
cdb207804d
irlock move to px4 work queue
2019-05-24 12:58:55 -04:00
835a38f6dc
vl53lxx move to px4 work queue
2019-05-24 12:58:55 -04:00
593aaa48ca
tfmini move to px4 work queue
2019-05-24 12:58:55 -04:00
eb8fbaf93d
teraranger move to px4 work queue
2019-05-24 12:58:55 -04:00
a1f3f2112b
srf02 move to px4 work queue
2019-05-24 12:58:55 -04:00
592037851a
sf1xx move to px4 work queue
2019-05-24 12:58:55 -04:00
a6bbf0b945
sf0x move to px4 work queue
2019-05-24 12:58:55 -04:00
ce3b5103fc
mb12xx move to px4 work queue
2019-05-24 12:58:55 -04:00
22b89034d9
ll40ls move to px4 work queue
2019-05-24 12:58:55 -04:00
4d41dcaee2
leddar_one move to px4 work queue
2019-05-24 12:58:55 -04:00
9a0f145fc0
hc_sr04 move to px4 work queue
2019-05-24 12:58:55 -04:00
6ef42e2c52
cm8jl65 move to px4 work queue
2019-05-24 12:58:55 -04:00
e73dd73ea7
mpl3115a2 move to px4 work queue
2019-05-24 12:58:55 -04:00
b8befe36b9
lps25h move to px4 work queue
2019-05-24 12:58:55 -04:00
9003aeb216
lps22hb move to px4 work queue
2019-05-24 12:58:55 -04:00
1e7c6be839
bmp280 move to px4 work queue
2019-05-24 12:58:55 -04:00
e1bc975065
drivers/differential_pressure move all to px4 work queue
2019-05-24 12:58:55 -04:00
83d3ead821
ist8310 move to px4 work queue
2019-05-24 12:58:55 -04:00
ec0d1d6f62
lsm303d move to px4 work queue
2019-05-24 12:58:55 -04:00
8b4ecc6947
icm20948 move to px4 work queue
2019-05-24 12:58:55 -04:00
fc7f1ca598
fxos8701cq move to px4 work queue
2019-05-24 12:58:55 -04:00
d4ece2c7bb
fxas21002c move to px4 work queue
2019-05-24 12:58:55 -04:00
9fa865d490
bmi160 move to px4 work queue
2019-05-24 12:58:55 -04:00
370f0f73ce
bma180 move to px4 work queue
2019-05-24 12:58:55 -04:00
e27a8e1010
bmi055 move to px4 work queue
2019-05-24 12:58:55 -04:00
be3653f761
l3gd20 move to px4 work queue
2019-05-24 12:58:55 -04:00
427c49ac43
adis16477 move to px4 work queue
2019-05-24 12:58:55 -04:00
6113caaa33
adis16448 move to px4 work queue
2019-05-24 12:58:55 -04:00
16b26c1927
mpu6000 move to px4 work queue
2019-05-24 12:58:55 -04:00
70947920b8
hmc5883 move to px4 work queue
2019-05-24 12:58:55 -04:00
56024cda79
ms5611 move to px4 work queue
2019-05-24 12:58:55 -04:00
ea734f634d
mpu9250 move to px4 work queue
2019-05-24 12:58:55 -04:00
e9ca5d5aba
PX4 general work queue
2019-05-24 12:58:55 -04:00
f58079bc5d
pxh.cpp: fix invalid reference if words is empty
...
This can happen for example if 'line' is a space.
2019-05-24 11:06:41 -04:00
6eb29fca9d
vscode: remove matter of taste tabs customization
2019-05-24 10:06:06 -04:00
Daniel Agar