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2144 Commits

Author SHA1 Message Date
Anton Babushkin 282e0bb670 mc_att_control: separate gains for roll and pitch 2014-01-31 11:35:11 +01:00
Anton Babushkin 88d3f875ff attitude_estimator_ekf: enable acceleration compensation by default 2014-01-31 08:48:00 +01:00
Anton Babushkin af3b24dc00 mc_pos_control: removed unused parameter reading RC_SCALE_YAW 2014-01-31 00:47:31 +01:00
Anton Babushkin 498155cf67 mc_att_control: yaw dead zone fixed, added MC_YAW_FF (yaw feed-forward) parameter 2014-01-31 00:46:28 +01:00
Lorenz Meier 83df116c7a Hotfix: Move mixer variables in test routine into function 2014-01-30 23:11:37 +01:00
Anton Babushkin 7274c0ce30 Merge branch 'master' into beta 2014-01-30 23:07:28 +01:00
Lorenz Meier 8d79d91950 Revert "Merge pull request #620 from pigeonhunter/stack_sizes" 
This reverts commit 3b31a6b1b9, reversing
changes made to 70afb3ca3b.
 2014-01-30 21:54:29 +01:00
Lorenz Meier 5316741ed4 Revert "mavlink: revert stack size 2048 to fix suspending in HIL mode" 
This reverts commit eb177def14.
 2014-01-30 21:53:27 +01:00
Anton Babushkin eb177def14 mavlink: revert stack size 2048 to fix suspending in HIL mode 2014-01-30 20:50:47 +01:00
Lorenz Meier 71e35d7ed1 Merge branch 'master' of github.com:PX4/Firmware 2014-01-30 19:44:38 +01:00
Anton Babushkin 9cbc31b588 mavlink: revert stack size 2048 to fix suspending in HIL mode 2014-01-30 19:44:06 +01:00
Anton Babushkin f64872b9b3 Merge branch 'master' into beta 2014-01-30 17:23:10 +01:00
Anton Babushkin 13a5b5b4a3 mc_att_control: major cleanup and code reorganization 2014-01-30 16:02:17 +01:00
Lorenz Meier 1458bdfbcb Pure code style fix of cpuload, no funcationality changes 2014-01-30 13:07:17 +01:00
Lorenz Meier ff753b9e24 Merged master into lockdown_disable 2014-01-30 10:00:01 +01:00
Lorenz Meier 3b31a6b1b9 Merge pull request #620 from pigeonhunter/stack_sizes 
Stack sizes
 2014-01-30 00:54:55 -08:00
Lorenz Meier 70afb3ca3b Merge pull request #609 from PX4/rc_status 
RC status metadata cleanup and extension
 2014-01-30 00:53:01 -08:00
Anton Babushkin 655192a7f1 Merge branch 'master' into beta 2014-01-29 22:13:22 +01:00
Anton Babushkin 7d2f2523f8 navigator: reset mission item timer on state and mission item changes 2014-01-29 22:11:38 +01:00
Anton Babushkin 6f559b279e mc_att_control: yaw deadzone increased 2014-01-29 17:59:02 +01:00
Anton Babushkin da77ae8ffd Merge branch 'beta1' into beta 2014-01-29 16:26:10 +01:00
Anton Babushkin b81520cf30 Use NAV_STATE_LAND instead RTL_STATE_LAND 2014-01-29 16:05:09 +01:00
Anton Babushkin 591b355981 setpoint type IDLE added (for AUTO_READY state), LAND mode fixed 2014-01-29 14:39:36 +01:00
Anton Babushkin 48cec50dd3 navigator: handle regaining global position lock while LANDing 2014-01-29 13:12:57 +01:00
Darryl Taylor 44cb4d9617 Merge remote-tracking branch 'origin/master' into memory_tests 2014-01-29 18:00:08 +08:00
Darryl Taylor 1d70a65f40 Stack size reduced to 1280. Max stack size reported as 1020 with UBX GPS with 3d lock. MTK not tested. 2014-01-29 17:52:22 +08:00
Darryl Taylor 0cc311b872 Reduced stack size to 2568. Max stack usage reported as 2052 with MARG + GPS with 3d lock - no px4flow, but should be more than enough buffer to accomodate its addition. 2014-01-29 17:39:35 +08:00
Darryl Taylor 70b1037c2e Stack size reduced to 2408. Max stack usage reported by top in EASY mode at 1924. 2014-01-29 17:35:34 +08:00
Darryl Taylor b0f65bb708 Stack size reduced to 1648. Max stack usage reported top at 1316. 2014-01-29 17:12:16 +08:00
Darryl Taylor 58a1f19d79 Stack size reduced to 1816. Max stack reported by top was 1448 under HIL. 2014-01-29 17:09:05 +08:00
Darryl Taylor 338b753a3c Reduced stack size to 1200. Max stack space used was 956. 2014-01-29 17:00:07 +08:00
Anton Babushkin 23a87f5a52 navigator: add home position check for RTL state 2014-01-28 21:44:46 +01:00
Anton Babushkin 6a1a29f77e global_position topic: added baro_alt, mc_pos_control: SEATBELT mode fixed, use baro/AMSL alt 2014-01-28 20:40:05 +01:00
Anton Babushkin 48f1b7e1c7 mc_pos_control: fill nav_state = NONE when publishing position setpoint triplet 2014-01-28 18:39:55 +01:00
Anton Babushkin 5ffa28b0e9 dlog2: GPSP message fixed 2014-01-28 18:21:37 +01:00
Anton Babushkin 3601b80747 mc_pos_control: avoid global to local projections, work in global frame 2014-01-28 16:57:31 +01:00
Anton Babushkin 33daf84c00 lib/geo: bugs fixed, added function add_vector_to_global_position() 2014-01-28 16:56:53 +01:00
Julian Oes 547080f188 Revert "Navigator: make state names generic so that they can be used by the FSM visualisation tool later" 
This reverts commit 984a815b94.
 2014-01-28 12:29:30 +01:00
Lorenz Meier c801446088 Merge branch 'master' of github.com:PX4/Firmware 2014-01-28 11:13:43 +01:00
Lorenz Meier 19c3525f58 Hotfix: Fixed telemetry transmission of RC channels - we always sent one set too much - by lieron 2014-01-28 11:13:37 +01:00
Julian Oes 6002819f8f Navigator: FSM bugfix and missing break 2014-01-28 10:21:48 +01:00
Julian Oes 984a815b94 Navigator: make state names generic so that they can be used by the FSM visualisation tool later 2014-01-28 10:08:23 +01:00
Darryl Taylor 0488d5b41c Reduced commander main task stack size to 2088. The high-water-mark measured at 1668 after calibration and flight. 25% safety margin, but commander is fairly complex. There are surely untested code paths here, but each is relatively shallow. 2014-01-28 10:43:33 +08:00
Darryl Taylor d1fb765187 Reduced low priority thread stack size to 1728. Top indicates the high-water-mark is at 1380 during accelerometer calibration. Safety margin ~25% 2014-01-28 10:30:16 +08:00
Darryl Taylor dfaa5a0c7c Reduced stack from 2048 to 1024. Top reports stack usage at 812 under flight conditions. 2014-01-28 09:57:47 +08:00
Anton Babushkin f9b5709e9b sdlog2: NavState moved to GPSP message 2014-01-28 00:23:23 +01:00
Anton Babushkin 3fdb082cb8 mavlink: AUTO states indication fixed 2014-01-28 00:03:29 +01:00
Thomas Gubler fff97da360 Merge remote-tracking branch 'upstream/beta' into beta 2014-01-27 23:46:57 +01:00
Thomas Gubler 3f79057dd1 fw att pos estimator: fix output lat/lon conversion (introduced by changes in 58792c5ca6) 2014-01-27 23:46:02 +01:00
Lorenz Meier 428a90f4ae Merge branch 'master' into beta 2014-01-27 22:12:52 +01:00
Anton Babushkin 7d334ed54f navigator: RTL fix, more informative log message 2014-01-27 21:52:23 +01:00
Anton Babushkin d1508a7813 vehicle_control_mode publication moved to commander, WIP 2014-01-27 20:49:17 +01:00
Anton Babushkin 20108ed95d commander: minor refactoring current_status -> status 2014-01-27 13:18:54 +01:00
Anton Babushkin ad51e0a08a navigator: minor mavlink messages and comments fixes 2014-01-27 12:09:23 +01:00
Anton Babushkin 1e63e8d932 navigator: wait before landing in RTL 2014-01-27 12:07:27 +01:00
Anton Babushkin 4cfff5d8e5 Merge branch 'beta' of https://github.com/PX4/Firmware into beta 2014-01-26 20:13:42 +01:00
Lorenz Meier 1b2273a88b Merge branch 'master' of github.com:PX4/Firmware into beta 2014-01-26 19:58:57 +01:00
Lorenz Meier 0393b2aa12 Build fix for IO control input parsing. 2014-01-26 16:01:39 +01:00
Lorenz Meier 00a3270dc6 Differentiate between failsafe having kicked in (which stops the normal output mixing based on RC outputs and prevents unwanted control commands due to failsafe) and a true loss of the receiver, where we stop outputting RC channel readings downstream on FMU. 2014-01-26 15:52:51 +01:00
Lorenz Meier 2a30c574ce IO status printing improvements / fixes 2014-01-26 15:50:19 +01:00
Anton Babushkin 9e9105048a commander, navigator: failsafe fixes, mavlink messages cleanup 2014-01-26 15:46:14 +01:00
Lorenz Meier d1c934233f Fix S.BUS decoder to return value even if its just failsafe 2014-01-26 15:30:16 +01:00
Lorenz Meier cc68d11353 Add flag to indicate proper RC mapping 2014-01-26 15:26:19 +01:00
Lorenz Meier ac32116f00 Fix docs header 2014-01-26 15:17:01 +01:00
Lorenz Meier b67f7b2c7c Fix printing of IO status 2014-01-26 15:16:43 +01:00
Lorenz Meier ba4cd9604a Merge branch 'master' into rc_status 2014-01-26 15:00:20 +01:00
Lorenz Meier fdc7aa3be2 Merge branch 'master' of github.com:PX4/Firmware 2014-01-26 14:58:34 +01:00
Lorenz Meier 2dc3cf5e43 Remove unneeded header and commented out dead code from MEAS airspeed driver 2014-01-26 14:58:21 +01:00
Lorenz Meier 9cdbbab855 Differentiate between publication and signal receive timestamp, correctly set the rc_lost flag in the frame. Ready for prime-time testing. 2014-01-26 14:52:46 +01:00
Lorenz Meier 731ab465b3 Add support in the IO driver to control the S.Bus / RSSI port. 2014-01-26 14:22:54 +01:00
Lorenz Meier 16eb68f2e9 Allow the setup flags to control the S.BUS / RSSI port instead of doing some wild, likely incorrect, guesses. 2014-01-26 14:13:57 +01:00
Anton Babushkin c841929e3f commander: «home position set» condition fixed, failsafe fixes, navigator: state indication bugfix, control_mode fixes 2014-01-26 14:12:27 +01:00
Lorenz Meier a737a2a406 RSSI and SBUS out config now handled as setup feature flags. 2014-01-26 13:22:26 +01:00
Anton Babushkin b7c69262a7 state_machine_helper: added missed transition to FAILSAFE_STATE_LAND, transition conditions fixed 2014-01-26 11:58:50 +01:00
Anton Babushkin 7d2efe9367 commander, navigator: minor cleanup (refactoring), code style fixed 2014-01-26 11:52:33 +01:00
Anton Babushkin c7f0553938 cammander: state machine can now deny current state (e.g. when position lock lost during EASY mode), added FAILSAFE_STATE_LAND 2014-01-26 11:50:34 +01:00
Lorenz Meier 57d38bc8ce Clean up RC related metadata, put everything into the RC data page. This ensures atomic reads, makes the reads more efficient and allows for some headroom for more RC flags. The IO driver side is updated as well, however, these flags are not published yet. 2014-01-26 00:17:26 +01:00
Lorenz Meier eee2508644 Add additional flags to RC topic, not used yet. 2014-01-26 00:14:19 +01:00
Anton Babushkin 062b64a1e2 navigator: RTL on failsafe bug fixed 2014-01-25 23:49:33 +01:00
Anton Babushkin 92ddf7903b commander: more user-friendly states indication 2014-01-25 23:37:26 +01:00
Anton Babushkin ebc7cb03b7 «flighttermination state» replaced by more general «failsafe state» 2014-01-25 23:24:12 +01:00
Lorenz Meier b06d199129 Fixed year in controls.c comment. 2014-01-25 23:10:48 +01:00
Lorenz Meier aff11d6d86 IO firmware: Use right base reg value - since the wrong one had the same value this hasn’t been an issue, but it would have become one once one of them changed. 2014-01-25 23:06:53 +01:00
Lorenz Meier bafcbd99a6 Stop setting RSSI by cross-reading servo status. 2014-01-25 23:04:16 +01:00
Lorenz Meier f2f94f0f17 IO driver: Variable name and comment cleanup, no binary / functionality changes. 2014-01-25 23:03:21 +01:00
Lorenz Meier 8149bf95fc Merge pull request #603 from PX4/rc_config_cleanup 
RC config params set to more useful default values - needs more testing
 2014-01-25 13:46:55 -08:00
Lorenz Meier e07d91613b Remove unused field 2014-01-24 18:24:54 +01:00
Lorenz Meier 06227331ea Checking out registers page state from master, as this is clearly a symptom of a bad merge 2014-01-24 18:21:28 +01:00
Lorenz Meier b26c23c5f4 Merge branch 'cleanup' 2014-01-24 18:14:15 +01:00
Lorenz Meier a81cf70460 Merge branch 'cleanup' into beta 2014-01-24 18:11:52 +01:00
Lorenz Meier 29d90a2f84 Merge branch 'sbus2' into beta 2014-01-24 18:11:44 +01:00
Lorenz Meier 8f67307aed Merge pull request #606 from PX4/sbus2 
Sbus2
 2014-01-24 08:56:26 -08:00
Lorenz Meier 880342b9c1 Missing header for mixer status change. 2014-01-24 17:37:34 +01:00
Lorenz Meier bd15653b17 Use the proper status registers for locking out from mixer updates and return the value of the mixer change. 2014-01-24 17:37:01 +01:00
Lorenz Meier 33688fec9c Make the sensors app less verbose 2014-01-24 17:36:13 +01:00
Lorenz Meier 15f8e5acf1 Make in the comments explicit that we don’t do anything here under normal circumstances to make it less tempting to comment out the helpful debug tools in this section. 2014-01-24 17:35:29 +01:00
Lorenz Meier c5cb3cfd21 Make the IO mixer upload report not only a global success / fail flag, but on transfer basis. Also use a crude lock to avoid updating the mixer while it runs (we have no proper mutexes on IO, and this is a pure read/write locking case with two locks, which should make the execution even with this crude approach thread-safe). 2014-01-24 17:34:42 +01:00
Lorenz Meier 92a6c7d734 Set timeouts back to short, now that we have multiple tries in the uploader. This ensures we try often enough in the 200 ms IO bootloader wait phase to hit it. 2014-01-24 17:33:04 +01:00
Lorenz Meier 73a483c265 Finally fix the timing race between the IO driver, IO uploader and the on-IO firmware by making the uploader tolerant of timing offsets. 2014-01-24 17:30:40 +01:00
Lorenz Meier 1960f7d6c5 Initialize null pointers correctly, always set the pointer to null after deletes. Remove some verbosity from startup and do not try to initialise IO when we just want to reboot it into the bootloader. 2014-01-24 17:29:27 +01:00