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40040 Commits

Author SHA1 Message Date
PX4 BuildBot 33ce1b9b64 Update submodule mavlink to latest Wed Feb 9 00:39:13 UTC 2022 
- mavlink in PX4/Firmware (ed8c1dca2e792e95d9ab1ba72a22bc9658f10b79): 51abf3c82b
    - mavlink current upstream: 311eee010b
    - Changes: 51abf3c82b...311eee010b

    311eee01 2022-02-04 Peter Barker - common.xml: deprecate SET_HOME_POSITION message (#1791)
63d62522 2022-02-02 Julian Oes - minimal: add MAV_TYPE_WINCH (#1789)
 2022-02-08 21:50:55 -05:00
PX4 BuildBot 421ca2fc48 Update submodule sitl_gazebo to latest Wed Feb 9 00:39:03 UTC 2022 
- sitl_gazebo in PX4/Firmware (a088277fe866860272f1ef21773f5be1b6832b11): 2750fe233c
    - sitl_gazebo current upstream: 25138e803e
    - Changes: 2750fe233c...25138e803e

    25138e8 2021-07-16 Julian Oes - gimbal_controller: fix attitude status
 2022-02-08 20:52:12 -05:00
Daniel Agar b24aa071b6 Jenkins: hardware always dump pyserial debug (silently) 2022-02-08 17:22:57 -05:00
Daniel Agar 6686736cff
drv_pwm_output.h fix dshot cmd typo 2022-02-08 17:11:49 -05:00
Daniel Agar 86f81680fb sensors: check uORB::SubscriptionData validity before use 2022-02-08 13:19:01 -05:00
Oleg Kalachev 21b78f9d05 Enable mpu9250’s magnetometer on fmu-v4 2022-02-08 13:18:39 -05:00
Steve Nogar dce067df83 add configurable rtps rate parameter 2022-02-08 19:03:20 +01:00
Daniel Agar 133fe0cfb1 local_position_estimator: move to INS0 work queue (for significantly more stack) 2022-02-08 11:16:49 -05:00
Daniel Agar be3da5089c uORB: uORBDeviceNode use px4_cache_aligned_alloc 2022-02-08 10:20:50 -05:00
Viktor Vladic f4d02a2937
MatekH743 board_id, usb vid/pid changes, and MPU6000 delay before transfer - not after (#18733) 
* Make board_id compatible with ardupilot
 * Initialize outputs for CAM1/CAM2 and Vsw pad
 * Correct board type 1013 in bootloader to match AP
 * Change usb vendor string to "Matek"
 * Change cdcacm pid to 1013
 * Comment out FLASH_BASED_PARAMS because of #15331
 2022-02-07 19:55:49 -05:00
Julian Oes 490a0c473b Rename vmount to gimbal 2022-02-07 19:21:15 -05:00
Julian Oes 853047c643 Mantis: use gimbal auto input 
This allows RC and mavlink gimbal v2 input.
 2022-02-07 19:21:15 -05:00
Julian Oes 39f0e97245 vmount: refactor for v2 auto input, test command 
This is a bigger refactor of vmount to clean it up and plug some holes
in functionality.

The changes include:
- Fixing/simplifying the test command.
- Changing the dependencies of the input and output classes to just the
  parameter list.
- Adding a separate topic to publish gimbal v1 commands to avoid
  polluting the vehicle_command topic.
- Removing outdated comments and author lists.
- Extracting the gimbal v2 "in control" notion outside into control_data
  rather than only the v2 input.
 2022-02-07 19:21:15 -05:00
Julian Oes f2216dff55 mavlink: don't send gimbal_device_attitude_status 
If we receive gimbal_device_attitude_status by mavlink we should not
re-send it as we are already supposed to be forwarding mavlink traffic
from the gimbal to the ground station.
 2022-02-07 19:21:15 -05:00
Julian Oes 7e7a99b542 mavlink: handle for GIMBAL_DEVICE_ATTITUDE_STATUS 
That way we can log it later.
 2022-02-07 19:21:15 -05:00
Daniel Agar 5b07398b3e Tools/HIL/test_airframes.sh: only attempt setting first 3 MAV_x_CONFIG 
- MAV_3_CONFIG doesn't exist
 2022-02-07 16:31:27 -05:00
Daniel Agar f9d87fd97a sensors/vehicle_angular_velocity: improve error handling (especially during initial selection) 2022-02-07 12:47:02 -05:00
Daniel Agar 3a37fd92e6
Jenkins: HIL temporarily tolerate ERRORs during 'uorb top' (long running command) 
- on older boards if the sensor auto cal completes while this is
running it causes a brief sensor timeout
 2022-02-07 10:26:48 -05:00
Daniel Agar 052adfbfd9
borads: holybro_kakutef7 disable modules/events to save flash 2022-02-06 16:53:13 -05:00
Daniel Agar 3a741cb9c9
boards: bitcrazy_crazyflie disable gyro_fft to save flash 2022-02-06 16:53:13 -05:00
Thomas Debrunner b4087ebd2b mc_pos_control: increase the default crawl speed for three-stage-landing approach for a more robust landing detection 2022-02-04 21:56:20 -05:00
Matthias Grob 4ef8cead3d mc_pos_control_params: correct crawl speed reference 2022-02-04 21:56:20 -05:00
Matthias Grob 1df9d6fca6 MulticopterLandDetector: fix crawl speed parameter fetching 2022-02-04 21:56:20 -05:00
Thomas Debrunner fb8b9b647a land-detector: switch to crawl speed for intent detection 2022-02-04 21:56:20 -05:00
Thomas Debrunner 2a6d9bc1dd fligh-mode-manager: First implementation of a three-stage-landing for multirotos, in case LIDAR is available 2022-02-04 21:56:20 -05:00
Daniel Agar 893cdf8f38 ekf2: test external vision adjustments after lowering fake position fusion variance 2022-02-04 21:48:32 -05:00
Daniel Agar 6b1750d8be ekf2: lower fake position observation variance when at rest 2022-02-04 21:48:32 -05:00
Daniel Agar c028b964e2 bmm150: minor changes to match reference driver 2022-02-04 19:57:24 -05:00
Beat Küng 8b2016b4ed fix protocol_splitter: increment i properly in scan_for_packets 
This also guarantees that i is increased in every loop iteration.
Before it was possible to enter a busy loop.
 2022-02-04 09:42:52 -05:00
Daniel Agar cf3db0d313 mavlink: don't send_mission_current if mission invalid 2022-02-04 09:40:25 -05:00
Silvan Fuhrer 26dba1407b
Commander: VTOL quadchuate also triggers a RTL in Loiter and VTOL_Takeoff modes, not just in Mission (#19123) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-03 14:18:28 +01:00
JaeyoungLim f82c722653
Publish correct orbit status with goto (#19102) 
For fixedwings, the orbit status was publishing zero radius when a goto waypoint was being passed.

This commit corrects this by passing the default loiter radius as the guidance logic was using
 2022-02-03 10:16:39 +01:00
bresch 917910f3e2 ekf: pass a float by copy instead of a constant ref 2022-02-02 17:43:25 -05:00
bresch 3077f27821 ekf: use float instead of Vector2f for innov gate in pos/vel fusion 
We always use the same innovation gate for X and Y anyway
 2022-02-02 17:43:25 -05:00
Daniel Agar 5fb0084524 ekf2: remove unused shared fields for last velocity observation and variance 2022-02-02 17:43:25 -05:00
Daniel Agar 8a0581516c ekf2: don't store _auxvel_sample_delayed 2022-02-02 17:43:25 -05:00
Daniel Agar 452b5e94b4 ekf2: don't store _drag_sample_delayed 2022-02-02 17:43:25 -05:00
Daniel Agar 138ff7a316 sensors: ensure that best accel/gyro is in bounds 2022-02-02 17:14:46 -05:00
Daniel Agar 07c273fc31 sensors/vehicle_angular_velocity: print full sensor_selection if device id not found 2022-02-02 17:14:46 -05:00
Daniel Agar 94604ff21a
Jenkins: hardware pyserial cat shouldn't fail the build 2022-02-02 14:17:02 -05:00
Peter van der Perk 9f97793491 Generate C/C++ header to expose px4board kconfig symbols to the preprocessor 2022-02-02 13:23:21 -05:00
Jaeyoung Lim 2fc95bb369 Rebase fix 
Use getnavspeed_2d for groundspeed
 2022-02-02 17:16:19 +01:00
Jaeyoung Lim 3dd5c1fbaf Enable NPFG by default on the believer 2022-02-02 17:16:19 +01:00
Jaeyoung Lim 3a9c5c3178 Use acceleration to pass path curvature 2022-02-02 17:16:19 +01:00
Jaeyoung Lim e2741f988a Add interface for passing path tangent and closest point directly 
This commit adds an interface to pass the path tangent and closest point directly to NPFG using the offboard interface
 2022-02-02 17:16:19 +01:00
David Sidrane f460611098 Fix serial_test stack warning 2022-02-02 11:12:53 -05:00
Peter van der Perk efd3bc1794 Serial_test move g_cl and g_mod from heap to stack to save memory by not preallocating them 2022-02-02 07:21:43 -08:00
Daniel Agar 88ffc177f7 ekf2: utils add getEulerYaw() that uses the best rotation sequence 2022-02-02 08:54:03 -05:00
Daniel Agar c3e0b93fc8 ekf2: remove unnecessary inlines 2022-02-02 08:50:49 -05:00
Hamish Willee 26d5ac4f58 GPS_YAW_OFFSET param docs: use rover and moving base terminology 2022-02-02 07:39:01 +01:00