dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity
39,647 Commits 514 Branches 136 Tags 601 MiB
Commit Graph

1271 Commits

Author SHA1 Message Date
Matthias Grob bbb04ab4b8 Remove relaying of maximum altitude through land detector 2022-01-05 14:54:59 +01:00
honglang b60e59d9be msg: new sensor_hygrometer msg 2021-12-27 12:13:09 -05:00
Beat Küng 4c80adfaf1 control_allocator: implement trim + slew rate limits configuration 2021-12-24 20:06:13 -05:00
Beat Küng 1901edf13c actuator_motors.msg: add reversible flags & implement in mixer_module 2021-12-24 20:06:13 -05:00
Matthias Grob f68ae39840 Commander: avoid RC actions during calibration 2021-12-22 09:08:23 -05:00
marcojob 2cfe08b3b1 small typo in vehicle_local_position msg 2021-12-17 15:45:07 +01:00
Michael Schaeuble 5ad8b84dec Fix PPS based UTC timestamp in camera trigger and capture messages 
The existing implementation has about 100ms difference to a reference clock. With the changes this error less than 25us.
- Use sensor_gps messages with hrt timestamps as RTC reference and not the system realtime clock. The PPS interrupt can then be aligned with the GPS clock system.
- Keep fallback based on system RTC when no PPS pulse was captured
 2021-12-17 07:56:08 +01:00
Michael Schaeuble ebb657bcf4 Fix camera trigger via MAVLink when camera capture feedback is enabled 
- camera_trigger module always publishes the camera_trigger msg (independent of the camera feedback)
- Use camera_trigger msg and set the feedback flag
- Subscribing modules determine if the message is relevant based on the feedback message
 2021-12-17 07:56:08 +01:00
Igor Mišić 72b1db4a63 pps_capture: implementation of pulse per second capture driver 2021-12-17 07:56:08 +01:00
Thomas Debrunner eb69f15d3a health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message 
Add SYS_STATUS flag for parachute
 2021-12-14 09:41:12 -05:00
Beat Küng f76086ffa1 microRTPS_agent_CMakeLists.txt.em: add install section 2021-12-10 09:03:08 -05:00
Matthias Grob ddc6b6bc9c battery: move MAVLink specific handling out of battery class 2021-12-07 21:06:51 +01:00
Daniel Agar 8fbf79527f magnetometer allow setting initial calibration from bias if available and stable 2021-12-01 20:24:56 -05:00
alexklimaj bfd5a90a5d UAVCAN Moving Baseline Working 
Set uavcan publisher priorities

Switch to ardupilot rtcm message and add heading accuracy
 2021-11-30 15:59:08 -05:00
Matthias Grob c522a8b15a Compute RTL time and react if lower than flight time 
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
 2021-11-24 14:10:24 +01:00
Beat Küng a0e43bca96 msg: remove unused vehicle_actuator_setpoint topic 2021-11-23 12:40:22 -05:00
Beat Küng 21699935e8 vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng 6fdcc43ea8 mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg 2021-11-23 12:40:22 -05:00
Matthias Grob 3193b554ca Add optional preflight check for healthy MAVLink parachute system 2021-11-19 17:15:04 +01:00
Matthias Grob 43c529f294 Add MAVLink parachute system heartbeat detection 2021-11-19 17:15:04 +01:00
bresch f751dd2242 FlightTask: set yaw_setpoint to NAN when yaw should not be controlled 2021-11-16 18:09:37 -05:00
Matthias Grob 91c48606ee battery_status: clearly define and handle zero remaining flight time 2021-11-15 15:44:02 +01:00
Matthias Grob 54f2e91775 battery_status: report remaining flight time in seconds 
This allows more accurate reporting and is compliant with the
MAVLink interface.
 2021-11-15 15:44:02 +01:00
Matthias Grob 7ec8dd9d23 vehicle_constraints: remove deprecated speed_xy constraint 2021-11-09 21:47:06 -05:00
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
Matthias Grob fabf865411 Use backwards compatible manual_control_setpoint instead of manual_control_input 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 af54ac7cdb ManualControl: remove unused variables and renaming 2021-11-09 16:05:25 +01:00
Matthias Grob a349dae760 Use action_request to command RC VTOL transitions 2021-11-09 16:05:25 +01:00
Matthias Grob 956997eb1e Replace arm_request and mode_request with combined action_request 
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
 2021-11-09 16:05:25 +01:00
Matthias Grob 052e29267d Use mode_request for RC mode switching 2021-11-09 16:05:25 +01:00
Matthias Grob f8e4846851 Use arm_request for manual killing 2021-11-09 16:05:25 +01:00
Matthias Grob af607e3040 Use separate arm_request instead of vehicle_command for RC arming 2021-11-09 16:05:25 +01:00
Matthias Grob 7a2ef4a917 Commander: don't publish RC_IN_MODE to vehicle_status 
This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
 2021-11-09 16:05:25 +01:00
Matthias Grob 93bed7f670 vehicle_command: shorten arming action/origin enum names 2021-11-09 16:05:25 +01:00
Julian Oes b3a5072de5 commander/manual_control: use msg enum for params 
Instead of using a private enum class we should define the enum in the
vehicle_command message and then use it consistently.
 2021-11-09 16:05:25 +01:00
Julian Oes 6a6b8d49fc msg: re-use manual_control_input in setpoint 
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
 2021-11-09 16:05:25 +01:00
Julian Oes baf81abbab msg: whitespace only 2021-11-09 16:05:25 +01:00
Julian Oes bd0c1014d9 manual_control: support arming button 
The arming button required some refactoring in order to support to
toggle arm/disarm using the vehicle_command. Otherwise manual_control
would have to subscribe to the arming topic and we would spread out the
logic again, and risk race conditions.
 2021-11-09 16:05:25 +01:00
Julian Oes e49b596edc commander: add desired main state 
This is an intermediate solution to carry forward the initial state of
the mode slot. Basically, it allows that we start up in Stabilized but
switch to POSCTL as soon we have the required GPS.
 2021-11-09 16:05:25 +01:00
Julian Oes cda6524421 manual_control: move override detection 
This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
 2021-11-09 16:05:25 +01:00
Julian Oes 723db8bf2a manual_control: add selector class [WIP] 
This adds a selector class with unit tests.
The idea is to have a valid flag in manual_control_septoint and set that
according to the selection and/or timeout of manual_control_inputs.
 2021-11-09 16:05:25 +01:00
Daniel Agar 2d816e0b3e [WIP] manual_control selector hacks 2021-11-09 16:05:25 +01:00
Daniel Agar e18cf3da3e sensors/vehicle_imu: use WelfordMean for online mean and variance 2021-11-09 15:19:35 +01:00
JaeyoungLim cda7c6ceaa
Enable offboard actuator setpoints 2021-11-07 15:38:42 -05:00
Daniel Agar 68026eadeb
save significant IMU bias changes learned by the EKF 
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-11-07 15:34:27 -05:00
bresch 1e94512719 FD: use flags union instead of bitmask 2021-11-05 09:45:52 -04:00
bresch 3f1025fb1e FD: add dedicated topic to log more internal states 
log imbalanced propeller check metric

add failure_detector_status message
 2021-11-05 09:45:52 -04:00
bresch 5dfb8e594a FD: add imbalanced propeller check 2021-11-05 09:45:52 -04:00
bresch bf2fb70d67 vehicleIMU: compute and log accel variance 2021-11-05 09:45:52 -04:00