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28953 Commits

Author SHA1 Message Date
Daniel Agar 1083af21e8 mc_pos_control limit to 50 Hz 2019-03-15 00:24:59 -04:00
Daniel Agar f3533d31f8 mavlink update to latest and enable address-of-packed-member warning 2019-03-14 09:56:09 +01:00
Paul Riseborough f8ae8ba502 ekf2: Use ecl library with recent bug fixes and enhancements. 
Bug Fixes:

https://github.com/PX4/ecl/pull/586 - EKF: fix covariance and output filter buffer initialization
https://github.com/PX4/ecl/pull/590 - EKF: Fix innovation in fuseDeclination()

Enhancements:

https://github.com/PX4/ecl/pull/543 - ekf_helper: add more useful methods to interface with the covariances
https://github.com/PX4/ecl/pull/588 - Add unit tests for DataValidator

Note:

https://github.com/PX4/ecl/pull/543  has required a change to how the state variances are accessed .
 2019-03-14 19:25:36 +11:00
Daniel Agar edad4c40c3 containers add IntrusiveQueue and testing 2019-03-14 09:22:19 +01:00
Daniel Agar 23189329a4 Jenkins hardware testing add nxp_fmuk66-v3 2019-03-13 23:50:57 -04:00
mcsauder 2ae2331c15 Delete extra newline character in qmc5883/CMakeLists.txt to quiet git hook. 2019-03-12 14:59:08 -04:00
Beat Küng 509189ea95 uorb top: add 'uorb top -1' to run only once 2019-03-12 12:33:23 -04:00
Beat Küng 6672284871 commander: fix status init & some status update changes 2019-03-12 11:24:33 +01:00
Claudio Micheli 697566177c Commander: Properly initialized another boolean variable. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 908cdaa574 Onboard controller loss parameter cleanup. 
Since Timeout from onboard controller is something that does not require a lot of modifications there is no sense to having it parametrized.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli cd47cefb03 Some more code cleanup. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 59cf9a1dd4 telemetry_status: Changed "type" comment. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli fb990d7de3 Removed subscribtion to multiple _telemetry_status instances. 
Since commander handles all telemetry_status the same there is no need to subscribe to multiple instances.


Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli a53594135b Commander: changed "datalink regain" logic. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli ca53217175 removed stm discovery board. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 13f3ee4c82 state_machine_helper: (Critical) Prevent datalink failsafe triggering if not enabled. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 788e28fbb1 Commander: datalink heartbeat variables refactoring. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 32e4baf6a0 Commander: some more cleanup. 2019-03-12 11:24:33 +01:00
Claudio Micheli a84a1e1b5a Commander: mavlink messages cleanup. header variables refactoring. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli b85cceebe9 mavlink_receiver: Ignore heartbeats coming from other vehicles. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 14415b29c1 Removed hardcoded onboard controller timeouts thresholds. 
Added COM_ONB_LOSS_T and COM_ONB_REG_T parameters to specify thresholds that triggers "onboard link lost" and "onboard link regained".


Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 156317e546 Fixes for ONBOARD Controller lost & regain. 2019-03-12 11:24:33 +01:00
Claudio Micheli f44c690b33 Modified COM_DL_REG_T parameter description. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 1fc055a51f Fixed some issues for datalink loss & regain (GCS HEARTBEAT). 
Major changes:
- Prevent  "HIGH LATENCY DATA LINK LOST" message to appear if iridium telemetry is not used.
- Prevent "DATA LINK LOSS" mavlink messages flooding when QGC is open and then closed.
- Changed "DATA LINK REGAINED" condition (use _datalink_last_heartbeat_gcs insthead of _datalink_lost)



Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
baumanta d8bdc1b367 output a message if a previously lost connection is regained 2019-03-12 11:24:33 +01:00
baumanta d42b9205f9 Rename parameter MPC_OBS_AVOID to COM_OBS_AVOID and change the location to commander. 2019-03-12 11:24:33 +01:00
baumanta f42b378b9b Also activate navigator for 32f4discovery board 2019-03-12 11:24:33 +01:00
baumanta b0024a1555 activate mc_pos_ctrl module to be able to access MPC_OBS_AVOID parameter 2019-03-12 11:24:33 +01:00
baumanta a98f5d2ab2 suggestion for treating obstacle avoidance heartbeats 2019-03-12 11:24:33 +01:00
Daniel Agar 6dec451bab HEARTBEAT and commander failsafe handling cleanup 2019-03-12 11:24:33 +01:00
Matthias Grob f794ee0c8a FlightTaskManualAltitude: add slow upwards start 
when still close to ground
 2019-03-11 20:09:45 +01:00
Matthias Grob 63a6ab34f7 FlightTaskManualAltitude: slow down when landing manually 2019-03-11 20:09:45 +01:00
Vasily Evseenko f8c50f442f Fix RSSI in on FMUv4 (pixracer) 2019-03-11 10:55:57 -07:00
mcsauder 2773fe6a54 Deprecate _hil_frames and _old_timestamp member vars and dead logic from MavlinkReceiver class. 2019-03-11 08:03:37 +01:00
BazookaJoe1900 8947cb5841 FlightTaskAuto: removed non used _getMaxCruiseSpeed 2019-03-10 11:17:21 -04:00
Anthony Lamping a9fc04b2f9 CI: SITL test run: select ROS version based on env variable 2019-03-09 16:26:37 -05:00
Daniel Agar d085afdf3a Jenkins re-enable Catkin and Colcon builds 2019-03-09 15:38:15 -05:00
mcsauder 1f65887982 Migrate a few more var initializations from the Mavlink class constructor list to the respective declarations. 2019-03-09 14:53:24 -05:00
mcsauder 7b3482adf0 Whitespace formatting in mavlink_main.cpp/h and begin work of some variable initialization at declaration in mavlink_main.h. 2019-03-09 13:32:26 -05:00
Daniel Agar a8808cc5cd Jenkins update SITL tests coverage to correct base container 2019-03-09 13:08:34 -05:00
Anthony Lamping 84c52439e9 jenkins: update all image tags to 2019-03-08 2019-03-08 23:17:06 -05:00
mcsauder cb49ed55fe Delete unnecessary #includes from mavlink_main.cpp and relocate a few #defines to mavlink_main.h for future variable initialization work. 2019-03-08 22:10:11 -05:00
dlwalter 77ab9b617e QMC5883 Magnetometer Driver (#11140) 2019-03-08 22:04:43 -05:00
Beat Küng 505b1aca2c lockstep_scheduler: work around a potential dead-lock for canceled threads 2019-03-08 12:22:45 -05:00
Beat Küng e999075ac7 lockstep_scheduler: fix system_sleep -> system_usleep 
The effect was that threads that tried to exit were unnecessarily kept
running.
This did not cause problems except for increased resource usage.
 2019-03-08 12:22:45 -05:00
Beat Küng 08298ab3d0 drv_hrt: make lockstep_scheduler a pointer 
This solves a potential dead-lock when trying to shutdown: a call to exit()
stops all threads and calls all destructors for static objects.
The destructor of LockstepScheduler takes a lock. However this is not
safe, as the lock could already be taken (by any thread).
 2019-03-08 12:22:45 -05:00
Daniel Agar 27ad3178f8 Jenkins add SITL tests AddressSanitizer 2019-03-07 22:38:24 -05:00
mcsauder d12cec81ba Add const specifier to remaining methods utilizing mavlink_message_t and similar message pointer types. 2019-03-07 08:22:44 +01:00
mcsauder 278fddb585 Cut case MAVLINK_MSG_ID_ODOMETRY content and paste into handle_message_odometry() method. 2019-03-07 08:22:44 +01:00
mcsauder 3918d0ce0a Cut case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE content and paste into handle_message_vision_position_estimate() method. Add const specifier to publish_odometry_topic() method. 2019-03-07 08:22:44 +01:00