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41946 Commits

Author SHA1 Message Date
Christian Rauch 2f21c590b0 remove some vscode settings 2023-02-06 17:25:36 -05:00
JaeyoungLim 01c5b3934e
Tune GZ plane (rc_cessna) to fly nicely (#21077) 
* Increase control surface joint controller gains

* Enable prearm mode and disable airpspeed checks for gz plane
 2023-02-06 16:24:01 -05:00
Daniel Agar 661eb2adb4 lib/sensor_calibration: BiasCorrectedSensorOffset() don't incorporate thermal offsets 
- the thermal offsets are an optional correction applied to the raw data, so when updating an existing calibration offset with new learned bias we don't want this incorporated
 2023-02-06 15:09:07 -05:00
Silvan Fuhrer e153d1defc ROMFS: fix PY asymmetry (motor 1 was wrongly placed twice as far from the CG as 0) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-04 16:08:40 +01:00
Daniel Agar 04d3e549f5 ekf2: resetQuatStateYaw() set _time_last_heading_fuse 2023-02-03 10:03:09 -05:00
Daniel Agar 66ad7fd06c
ekf2: include 0 timestamp checks in helpers (isTimedOut(), isRecent(), etc) 
- EKF isTimedOut(), isRecent(), and isNewestSampleRecent() need to handle the case where the timestamp has never been set
 - reset() more thoroughly reset fields (mainly impacts unit tests)
 2023-02-03 10:00:51 -05:00
Daniel Agar 264a99fb77
ekf2: new EKF2_IMU_CTRL parameter and gyro bias inhibit mechanism 
- EKF2_AID_MASK accel bias inhibit moves to EKF2_IMU_CTRL
 2023-02-03 09:52:24 -05:00
Daniel Agar f668ea5aa6 ekf2: RingBuffer add reset method 2023-02-03 08:49:44 -05:00
Daniel Agar e3d73cd837 ekf2: mag control reset mag_lpf on first sample 2023-02-02 16:12:09 -05:00
Michał Barciś c2f13dbccf setup/ubuntu.sh modified to correctly install all required dependencies for gazebo 
Signed-off-by: Michał Barciś <michal.barcis@tii.ae>
 2023-02-02 10:02:47 -05:00
ShiauweiZhao 35080504f7
drivers/drv_sensor.h fix device type duplicate definition 2023-02-02 09:54:47 -05:00
Vincent Poon a90bae9e50 ci: build and deploy kakuteh7v2 & Kakuteh7mini 
Adds Holybro kakuteh7v2 & Kakuteh7mini to Travis CI for building and deployment to S3 for QGC
 2023-02-02 09:51:53 -05:00
Hamish Willee 2938db1c60 Apply suggestions from code review 2023-02-02 15:20:34 +01:00
Hamish Willee 7cea384404 Update src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c 2023-02-02 15:20:34 +01:00
Hamish Willee d65e5969e1 FW_AT_MAN_AUX - define what an Aux input is 2023-02-02 15:20:34 +01:00
Silvan Fuhrer ba1d02ee75 MPC: improve description of MPC_LAND_RC_HELP 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-02 14:31:22 +01:00
小光 849fbabc47
px4_mtd: the address of 'instances' will never be NULL (#21039) 
Signed-off-by: AuroraRAS <chplee@gmail.com>
 2023-02-02 08:06:00 +01:00
Silvan Fuhrer d9a4d1d5c4 Commander: use FW_AIRSPD_MAX as threshold for airspeed preflight checks 
Check fails if airspeed reading is above FW_AIRSPD_MAX.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 20:43:38 -05:00
Robbie Drage cb4235887f vscode: change cubeorange build target 
- Fixes typo in Cube Orange build target config

Fixes issue #17745
 2023-02-01 18:17:45 -05:00
Silvan Fuhrer 32cab66c44 Commander: hide hint to param in low position accuracy event for end users 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer 9b3a28dff5 Commander: add local_position_accuracy_low flag, incl. warning and RTL 
Set this flag to true if local position is valid but accuracy low, such that
the operator can be warned before system switches to position-failure failsafe.
Additionally, switch to RTL if currently in Mission or Loiter to try to reach home
or fly out of GNSS-denied area.

Set low accuracy threshold to 50m by default for FW and VTOL.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer 3ca126cc46 Commander: improve description of COM_FS EPH, EPV, VEL_EVH params and increase FW and VTOL defaults 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer cbc4c35bcf Commander params: improve meta data for max flight time and wind 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 08:48:09 +01:00
Silvan Fuhrer 6d84da5cf1 Commander: add max flight time warning (starting at 90%) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 08:48:09 +01:00
Beat Küng b1709743f7 commander: add wind or flight time limit exceeded mode requirement 
This prevents switching into any of these modes once the condition is set.
 2023-02-01 08:48:09 +01:00
Beat Küng a8628c9d9c fix commander: clear takeoff_time only on disarm 
Otherwise the flight time restriction flag gets cleared too early, before
disarming (which puts the vehicle into the previous mode and it might
take off again).
 2023-02-01 08:48:09 +01:00
Beat Küng 8e4c5884ec fix commander: need to check for valid mode change even if already the same 
Fixes the following case:
- user intention set to X
- failsafe triggers, mode = Y
- can_run for X becomes false
- user tries to switch to X
  -> need to re-evaluate can_run
 2023-02-01 08:48:09 +01:00
Beat Küng 7988491e37 failsafe simulator: improve spacing for multi-line checkboxes 
Reduces line-height to 100% in that case.
 2023-02-01 08:48:09 +01:00
ShiauweiZhao 931f602995
drivers/imu/invensense: new IAM-20680HP IMU driver (#21025) 2023-01-31 09:33:26 -05:00
Daniel Agar 2be701f902 platforms/nuttx: cmake debug pass GDB path and set RTOS plugin file extension 2023-01-30 20:19:38 -05:00
Eric Katzfey a4aa76f0ac
VOXL2 board updates and new Kconfig option for ROOTFSDIR 
- also includes a couple of miscellaneous changes to VOXL2 support to show Qurt messages on px4 console and put logs in the proper spot
 2023-01-30 12:03:40 -05:00
Julian Oes b1fc0ca0d0 mavlink: always forward messages to/from USB 
Previously, it was not possible to enable forwarding of messages to/from
teh USB instance because it does not have a param for it, like the
serial instances have.

With this commit, we change the default to always set forwarding on for
the USB instance as that is likely desired.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-30 10:46:14 -05:00
Julian Oes 0446292c75 mavlink: always use public method 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-30 10:46:14 -05:00
Julian Oes 7b8cf4913e mavlink: show forwarding status 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-30 10:46:14 -05:00
Daniel Agar 47215bb625 lib/wind_estimator: symforce codegen remove reserved identifier naming 
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
 2023-01-30 09:24:32 -05:00
Daniel Agar efe1d43550 ekf2: symforce codegen remove reserved identifier naming 
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
 2023-01-30 09:24:32 -05:00
Beat Küng 0687fd2689 lockstep_scheduler: avoid pthread_cond_destroy on at_exit 
The static object is destroyed on at_exit while threads might still be
inside a CS. This can lead to a hanging process.
Cleaner would be to gracefully stop the threads.

According to https://linux.die.net/man/3/pthread_cond_destroy:
Attempting to destroy a condition variable upon which other threads are
currently blocked results in undefined behavior.
 2023-01-30 11:45:02 +01:00
Hamish Willee f25abbc80a Fix magnetometer typo 2023-01-30 10:24:16 +01:00
Daniel Agar 8da993c30e
Update world_magnetic_model to latest Sat Jan 28 11:14:05 UTC 2023 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-01-28 11:41:03 -05:00
PX4 BuildBot 88038717dc update all px4board kconfig 2023-01-28 11:39:51 -05:00
Roman Bapst 4646762f9d Use multiplication instead of division 2023-01-28 10:31:17 -05:00
Silvan Fuhrer 0c735dea2e AirspeedSelector: use scientific notation for small param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer d32f400851 WindEstimator: use isAllFinite() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer a6d14796e4 WindEstimator: add consts, fix float comparison to 0 and use consistently floats in division 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer 15335b194a WindEstimator: use state indexing enum consistently 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
PX4 BuildBot 21ddb04856 Update submodule mavlink to latest Sat Jan 28 00:39:00 UTC 2023 
- mavlink in PX4/Firmware (fa65292bb7542cb1f2a4cdaac10738fa17777a6d): 74dee05f0c
    - mavlink current upstream: e3b8756e37
    - Changes: 74dee05f0c...e3b8756e37

    e3b8756e 2023-01-25 olliw42 - update storm32.xml (#1941)
 2023-01-27 21:14:07 -05:00
Silvan Fuhrer 48f2b42e12 FWPositionController: remove factor of 2 for switching to LOITER if altitude is not reached 
Instead check if system has previously switched into LOITER to acheive the current
WP of type POSITION, and in that case stay in LOITER until altitude is reached.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-27 16:51:30 +03:00
Eric Katzfey e862fde084
ver: use PX4_INFO_RAW and add vendor version (#21008) 2023-01-27 07:13:37 +01:00
Silvan Fuhrer d53d200aa5 Update msg/TecsStatus.msg 
Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
 2023-01-26 17:04:43 +01:00
Silvan Fuhrer 88ec117e59 TECS: rename tecs_status.altitude_filtered to altitude_sp_ref 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-26 17:04:43 +01:00