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37,624 Commits 514 Branches 136 Tags 601 MiB
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37624 Commits

Author SHA1 Message Date
Paul Riseborough 3beb5bcbe0 EKF: Fix momentum drag density altitude scaling and update comments 2021-06-22 18:50:56 +10:00
Paul Riseborough 97b5ae1e96 EKF: Fix derivation comments for drag fusion 2021-06-22 18:50:56 +10:00
Paul Riseborough 58d376e2be EKF: prevent /0 and use pre-computed inverses 2021-06-22 18:50:56 +10:00
Paul Riseborough de8625d255 EKF: fix sign error in bluff body drag fusion 2021-06-22 18:50:56 +10:00
Paul Riseborough 73d1e514d0 EKF: Extend drag fusion to include propeller momnetum drag 2021-06-22 18:50:56 +10:00
Matthias Grob 0dee7af81f ekf2_params: enable baro ground effect compensation by default 2021-06-22 10:32:54 +02:00
BazookaJoe1900 91808f7c9e Update EKF/common.h 
Set non-zero default value for airspeed threshold to enable it by default

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2021-06-22 18:30:47 +10:00
Bazooka Joe 9c0a52d52a delay time: potentially reduce delay time if baro/aux velocity/airspeed is not used 2021-06-22 18:30:47 +10:00
bresch 611ace0ed6 EV_yaw: reset ev_to_ekf to identity when yaw is reset to EV 
Otherwise, the old rotation matrix is used and not updated anymore
because the EKF is fusing EV yaw data.
 2021-06-22 10:25:55 +02:00
bresch 804c3563fb heading_fusion: fix yaw gyro bias oscillation on ground 
When the mag is pulled away before takeoff, the EKF can end up learning
a bad yaw gyro bias. This bad gyro bias makes the estimated heading spin
and even if the bias continues to be learned, it can end up being stuck
in limit cycle due to the innovation changing its sign every time the
heading estimate overshoots the measurement.
To prevent this, the Z gyro bias variance is reset when the mag heading
fusion test ratio fails on ground.
 2021-06-22 16:45:26 +10:00
Thomas a264541861 explicitly set param2 to 0 in existing *DO_VTOL_TRANSITION commands. add a guard against NaNs. 2021-06-21 22:39:54 +02:00
TSC21 0c5f2d3b8c microRTPS: add missing header for PRIu32 and PRIu16 macros 
Co-authored-by: squizz617 <seulbae@gatech.edu>
 2021-06-21 16:36:44 +02:00
TSC21 9fb53d4276 microRTPS: add option to build the microRTPS agent after its generation 2021-06-21 16:36:44 +02:00
TSC21 084a992572 microRTPS: agent: only allow to whitelist the localhost when using FastDDS as the rmw 2021-06-21 16:36:44 +02:00
TSC21 79f7986715 apply ROS2 default memory management and publish mode QoS policies; make sure that SharedMemory is only used with FastDDS as the rmw 2021-06-21 16:36:44 +02:00
Igor Mišić 39909128ec micrortps_client: increased stack size by 250B 
Co-authored-by: Nuno Marques <n.marques21@hotmail.com>
 2021-06-21 16:36:44 +02:00
TSC21 d3a23cee40 microRTPS: agent: fix double free memory problem on SIGINT 
It fixes also some minor issues when exiting the agent, including the printed stats
 2021-06-21 16:36:44 +02:00
TSC21 6d5f12d2a2 microRTPS: client: add TX rate limiter 2021-06-21 16:36:44 +02:00
TSC21 ac2b38603c microRTPS: client: add missing "-p" option for the UART poll timeout and use microsecs for the send/rcv thread sleeps 2021-06-21 16:36:44 +02:00
TSC21 0cc79f3e48 microRTPS: client: show diagnostic of current bandwidth usage on the 'status' option 2021-06-21 16:36:44 +02:00
TSC21 d6ee15596d microRTPS: client: show diagnostic of average bandwidth usage on the 'status' option 2021-06-21 16:36:44 +02:00
TSC21 40462bfc1f microRTPS: client: reduce name set by pthread_setname_np since Linux requires names (with NUL) to fit in 16 chars, otherwise returns ERANGE (34) 2021-06-21 16:36:44 +02:00
TSC21 145e7387fb posix: start the microRTPS client in sim every time the module is available 2021-06-21 16:36:44 +02:00
TSC21 773d81f208 microRTPS: client: fix send per allocated topic 2021-06-21 16:36:44 +02:00
TSC21 f2fad6d966 microRTPS: by default, when FastDDS >= 2.0, enable Shared Memory transport for the agent participants when the localhost network is enabled 2021-06-21 16:36:44 +02:00
TSC21 320b414511 microRTPS: client: match the code style from the PX4 Firmware 2021-06-21 16:36:44 +02:00
TSC21 63571b3e3f microRTPS: agent: match the code style from the PX4 Firmware 2021-06-21 16:36:44 +02:00
TSC21 323ce797f8 microRTPS: allow communications only in the localhost network when ROS_LOCALHOST_ONLY env variable is set 2021-06-21 16:36:44 +02:00
TSC21 578e426e9e microRTPS: set trajectory_waypoint to be sent only, as this is outgoing data with vehicle_trajectory_waypoint_desired 2021-06-21 16:36:44 +02:00
Pieter-Jan Dewitte 155d3c7d36 FW pos control: fix airspeed input constaining 2021-06-21 10:55:21 +02:00
Claudio Micheli b1829e5766
Predict and use braking distance when Pausing auto modes (for multicopters) (#17269) 2021-06-18 10:45:03 +02:00
Daniel Agar 76a8617529
sensors: fix IMU init race condition 
- IMU init requires valid published data (device ids, etc)
 - orb_group_count will include advertised instances before data is published, so this can't be used to throttle IMU init attempts
 2021-06-17 10:38:33 -04:00
Peter van der Perk b2742658b7 UAVCANv1 port unset fixes and deinitialization 2021-06-17 10:02:17 -04:00
Beat Küng 1c3f30be01 protocol_splitter: tcflush() uart before closing it 2021-06-17 09:40:57 -04:00
Beat Küng 14ec7a0d93 mavlink: tcflush() uart before closing it 
On NuttX with flow control, if no one was reading from the uart, the
close() call would block indefinitely waiting for data to be sent.
 2021-06-17 09:40:57 -04:00
honglang 074ed24d02 nora:fixed syntax error 2021-06-17 09:37:04 -04:00
Daniel Agar 500c45e798 uORB: Subscription check if uORB::Manager instance is valid 
- this is necessary if uORB::Subscription is used with static storage
duration
 2021-06-17 08:07:24 +02:00
David Sidrane a728431e43 spracing_h7extreme:Track NuttX assert changes 2021-06-16 17:07:47 +02:00
David Sidrane b399b8d5ea protocol_splitter:Track NuttX assert changes 2021-06-16 17:07:47 +02:00
David Sidrane 61f80c087a px4io:Fix Type 2021-06-16 17:07:47 +02:00
David Sidrane 18960f0b82 RoboClaw:Fix Types 2021-06-16 17:07:47 +02:00
David Sidrane 9377b02c58 Track NuttX Timer changes 2021-06-16 17:07:47 +02:00
David Sidrane 05bdef867d Track NuttX syslog change 2021-06-16 17:07:47 +02:00
David Sidrane 028ae9561d logger:watchdog Track NuttX file reorg 2021-06-16 17:07:47 +02:00
David Sidrane eea1477e80 FakeImu:Use inttypes 2021-06-16 17:07:47 +02:00
David Sidrane 37d93320eb uavcan_v1:Uavcan: Use inttypes 2021-06-16 17:07:47 +02:00
David Sidrane 026d36dee8 microRTPS:Use inttypes 2021-06-16 17:07:47 +02:00
David Sidrane fd68fd2933 tests:Use inttypes 2021-06-16 17:07:47 +02:00
David Sidrane f3624c172c kinetis pinirq:Use inttypes 2021-06-16 17:07:47 +02:00
David Sidrane 93c37e4e0c syslink:Use inttypes 2021-06-16 17:07:47 +02:00