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39208 Commits

Author SHA1 Message Date
kevindsp 17ad7071c3 fix the quaternion normalization issue 
Be course of the numerical computing error . The normalization of the quaternion can't always equal to 1 precisely. It could occasionally trigger the error"attitude estimate no longer valid". So enlarge the threshold to 1e-6f. That keeps it silence.
 2021-11-12 16:31:40 +01:00
Daniel Agar 6a60fba96d boards: holybro_kakutef7_default remove systemcmds/ver to save flash 2021-11-11 11:17:15 -05:00
Daniel Agar 0ec3f0d2cb mathlib: LowPassFilter2p update cutoff freq min to match NotchFilter 
- numerically the cutoff frequency not being smaller than 1% of the
sample frequency is probably a better choice, but we're mostly filtering
16 bit data now stored in 32 bit float
 2021-11-11 11:17:15 -05:00
Daniel Agar 0d171384b3 update IMU_GYRO_DNF_BW default 8->15 Hz 
- dshot telemetry feedback can be quite slow (~2 Hz), so I think a
larger default value here makes sense
 2021-11-11 11:17:15 -05:00
Daniel Agar 452f15e985 IMU_GYRO_DNF_EN remove from developer category 2021-11-11 11:17:15 -05:00
Daniel Agar 0e2ecdc59a sensors/vehicle_angular_velocity: perf counter naming consistentcy 2021-11-11 11:17:15 -05:00
Daniel Agar c60a9e2981 sensors/vehicle_angular_velocity: avoid unnecessary ESC notch filter resets 2021-11-11 11:17:15 -05:00
Daniel Agar 78436e706c mathlib: NotchFilter add optimized parameter update if only notch frequency changes 2021-11-11 11:17:15 -05:00
Daniel Agar edce30c6de sensors/vehicle_angular_velocity: fix ESC RPM notch filter update 2021-11-11 11:17:15 -05:00
Daniel Agar 376b72fb2f sensors/vehicle_angular_velocity: add new parameter for ESC RPM notch filter BW 2021-11-11 11:17:15 -05:00
Viktor Vladic 02709fcfab
Fixes for MPU6000 and MatekH743-slim board 
- MPU6000: Added 10us delay for R/W of slow registers
 - Board: Fixed DRDY pin from PB1 to PB2
 2021-11-11 08:40:41 -05:00
Beat Küng fdf8461452 ver: print PX4_BOARD_LABEL for 'ver all' 2021-11-11 08:38:42 -05:00
Matthias Grob dbacdedad1 Remove FlightTaskAutoMapper, merged into AutoLineSmoothVel 2021-11-11 09:14:49 +01:00
Matthias Grob a94c61b896 FlightTaskAutoMapper: move parameters into FlightTaskAutoLineSmooth 2021-11-11 09:14:49 +01:00
Matthias Grob 59a395f6a0 FlightTaskAutoMapper: move remaining members into FlightTaskAutoLineSmooth 2021-11-11 09:14:49 +01:00
Matthias Grob f5183348a6 FlightTaskAutoMapper: move remaining methods into FlightTaskAutoLineSmooth 2021-11-11 09:14:49 +01:00
Matthias Grob 0211ef3ba1 FlightTaskAutoMapper: move update() into FlightTaskAutoLineSmooth 2021-11-11 09:14:49 +01:00
Matthias Grob 1cef2ad196 FlightTaskAutoMapper: merge activate() into FlightTaskAutoLineSmooth 2021-11-11 09:14:49 +01:00
wsolichin e9d50b853a Adding MAVLink message stream of GPS_RTCM_DATA 2021-11-10 21:15:01 -05:00
David Lechner d61f5d3d7b mavlink: fix forwarding to target id >= 128 
The _MAV_PAYLOAD macro casts the value to a char*. Some compilers treat
char as signed, so we were getting negative system and component ids
if the id was >= 128. This caused later comparisons to fail which
resulted in messages not being forwarded.
 2021-11-10 21:14:21 -05:00
Daniel Agar 374d44f38f mavlink: tests add git_mavlink_v2 dependency to avoid build race 2021-11-10 14:06:40 -05:00
PX4 BuildBot e0a9ceb2cb Update submodule mavlink to latest Wed Nov 10 12:39:06 UTC 2021 
- mavlink in PX4/Firmware (74a33bad350857b6a7dcfe2a6745e8283baa2ce4): 3718ee300b
    - mavlink current upstream: 0a728aa8dc
    - Changes: 3718ee300b...0a728aa8dc

    0a728aa8 2021-11-10 Julian Oes - common: request multiple CAMERA_IMAGE_CAPTURED (#1735)
 2021-11-10 14:00:28 -05:00
Daniel Agar 5e3701a365 Tools/check_submodules.sh: perform submodule sync again after first update to reach nested submodules 2021-11-10 13:52:51 -05:00
Jukka Laitinen be1023f5e9 smbus_sbs: Define linker language for a header-only library 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-10 09:27:21 -05:00
Jukka Laitinen d02a10b20f Remove src/lib/drivers/accelerometer and gyroscope linking to drivers__device 
These are pure uORB publishers, they don't link to drivers__device.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-10 09:26:36 -05:00
Matthias Grob dd05cb3496 FlightTaskManualPosition: simplify optical flow limiting logic 2021-11-09 21:47:06 -05:00
Claudio Micheli 10e329ce9e mc_pos_control: correct MPC_XY_CRUISE description 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-11-09 21:47:06 -05:00
Matthias Grob 7ec8dd9d23 vehicle_constraints: remove deprecated speed_xy constraint 2021-11-09 21:47:06 -05:00
Jukka Laitinen 356de6ccf1 Factor cdc_acm_init away from px4_init 
In protected build, this needs to go to user-space initialization as it
calls apps (sercon) and launches mavlink.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-09 21:28:28 -05:00
Jukka Laitinen 39c0c68167 print_load: Remove reference to CONFIG_MAX_TASKS 
This is already removed from nuttx, and in posix the size of s->last_times
can be just checked with sizeof()

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-09 21:25:10 -05:00
Jukka Laitinen 9299a5c3f6 hrt: Add interface functions for latency counters 
Add interface functions for fetching latency buckets and counters and use
those in perf_counter.cpp. This cleans up the usage of perf counters, when variables defined in hrt_drv are not referenced directly from perf.

This also enables implementing kernel-userspace interface for those for
nuttx protected/kernel build.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-09 21:24:25 -05:00
Jukka Laitinen da51177382 Don't link sensors module to drivers__device 
sensors module only works on uORB, it doesn't link to drivers__device

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-09 12:18:49 -05:00
Matthias Grob ab9b9b1eac boards: Add manual_control module to newly added boards 2021-11-09 16:36:42 +01:00
bresch d47f9f155a MC mixer: replace multirotor_motor_limits by control_allocator_status 
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix

MCRateControl: use control_allocator_status to get saturation info
 2021-11-09 10:35:10 -05:00
Jaeyoung-Lim dd83ef1813 Fix fw position controller takeoff 
This was introduced by a rebase
 2021-11-09 10:30:28 -05:00
Matthias Grob 00905973c7 boards/kakutef7: remove dmesg to save flash 2021-11-09 16:05:25 +01:00
Matthias Grob 4aa0756d08 ManualControlSelector: correct parameter for any source according to documentation 2021-11-09 16:05:25 +01:00
Matthias Grob fabf865411 Use backwards compatible manual_control_setpoint instead of manual_control_input 2021-11-09 16:05:25 +01:00
Matthias Grob 423aadcc4f ManualControl: fix RC override 2021-11-09 16:05:25 +01:00
Matthias Grob 7e4a079e09 Commander: report when RC selected mode is not available 2021-11-09 16:05:25 +01:00
Matthias Grob a593a51f05 Commander: fix mode initialization with RC 2021-11-09 16:05:25 +01:00
Matthias Grob 9f17f3b0f3 ManualControl: correct source for RC mode switches without mode slot 2021-11-09 16:05:25 +01:00
Matthias Grob 21739c6937 MulticopterRateControl: Add event for landing gear retraction when landed 2021-11-09 16:05:25 +01:00
Matthias Grob 2b29df06fd ManualControl: avoid scheduling based on unchosen input 2021-11-09 16:05:25 +01:00
Matthias Grob 48869ed03e ManualControl: Simplify check if switches updated 2021-11-09 16:05:25 +01:00
Matthias Grob 38ab7e6ab9 Commander: separate function for action request execution 2021-11-09 16:05:25 +01:00
Matthias Grob 820ba07d4b Fix landing gear processing 2021-11-09 16:05:25 +01:00
Matthias Grob 0a02d8e774 Commander: handle denying disarm when not landed centrally 2021-11-09 16:05:25 +01:00
Matthias Grob af54ac7cdb ManualControl: remove unused variables and renaming 2021-11-09 16:05:25 +01:00
Matthias Grob e73e6a490d ManualControl: separate function for stick arming 2021-11-09 16:05:25 +01:00