* msg: Add EKF-GSF yaw estimator logging data
* ecl: update to version with EKF-GSF yaw estimator
* ekf2: Add param control and logging for EKF-GSF yaw estimator
* logger: Add logging for EKF-GSF yaw esimtator
The implementation before this change had two timeouts, a hard-coded
timeout of 0.5 seconds as well as a by param configurable timeout with
certain failsafe actions set.
This change aims to fix two problems:
1. The hard-coded offboard timeout can be triggered easily with sped up
lockstep simulation. Since i t is hard-coded it can't be adapted to
the speed factor.
2. The offboard signal can time out but no action will be taken just
yet. This means we end up in an in-between stage where no warning or
failsafe action has happened yet, even though certain flags are set
to a timeout state.
This patch aims to fix this by unifying the two timeouts to the existing
configurable param. The convoluted double timeout logic is replaced by a
simple hysteresis.
For anyone that has previously not changed the default timeout param (0),
the param will now be changed to 0.5 seconds which reflects the
previously hardcoded time. For anyone with a specific timeout
configured, the behaviour should remain the same.
Also, going forward, timeouts lower than 0.5 seconds should be possible.
- checked register mechanism and simple watchdog
- driver checks for errors gradually and can reconfigure itself
- respect IMU_GYRO_RATEMAX at the driver level
- fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing)
- increased sensor_gyro_fifo max size (enables running the driver much slower, but still transferring all raw data)
- PX4Accelerometer/PX4Gyroscope remove unnecessary memsets
The problem with printing the exception was that starting with
Python 3.6 the ImportError is yet another (sub) exception called
ModuleNotFoundError which can't be printed as a string and then triggers
another exception:
```
Traceback (most recent call last):
File "/home/julianoes/src/Firmware/Tools/serial/generate_config.py", line 11, in <module>
import jinja2
ModuleNotFoundError: No module named 'jinja2'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/julianoes/src/Firmware/Tools/serial/generate_config.py", line 13, in <module>
print("Failed to import jinja2: " + e)
TypeError: must be str, not ModuleNotFoundError
```
As per @bkueng's suggestion the easiest is to cast the exception to str
and that way prevent the second exception.
with measurement noise auto-tuning
The purpose of this estimator is to improve land detection and vertical
velocity feedforward
Recovery strategy:
This is required when the setpoint suddenly changes in air or that the
EKF is diverging. A lowpassed test ratio is used as a trigger for the recovery logic
Also, a lowpassed residual is used to estimate the steady-state value
and remove it when estimating the accel noise to avoid increasing the
accel noise when the redisual is caused by an offset.
* Add param for software flow ctl on 3DR radios
* Dont reset telemetry type on radio timeout
* Treat 3DR radio as generic link type
* Rename 3DR to SiK radio
I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the `vehicle_acceleration` to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc.
Later this mechanism will be used in a few areas
- rate limit `vehicle_angular_velocity` and `vehicle_acceleration` without missing any raw data
- move IMU integration to `vehicle_imu` and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated
- integrate raw gyro synchronized with optical flow measurements
- introduces parameter IMU_DGYRO_CUTOFF to configure the angular acceleration low pass filter
- the angular acceleration is computed by differentiating angular velocity after the notch filter (IMU_GYRO_NF_FREQ & IMU_GYRO_NF_BW) is applied
Co-authored-by: Julien Lecoeur <jlecoeur@users.noreply.github.com>
- gyro filtering (low-pass and notch) only performed on primary gyro in `sensors/vehicle_angular_velocity` instead of every gyro in `PX4Gyroscope`
- sample rate is calculated from actual updates (the fixed value was slightly wrong in many cases, and very wrong in a few)
- In the FIFO case the array is now averaged and published in `sensor_gyro` for filtering downstream. I'll update this in the future to use the full FIFO array (if available), but right now it should be fine.
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
- by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
- publish sensor_gyro at full rate and remove sensor_gyro_control
- limit sensor status publications to 10 Hz
- remove unused accel/gyro raw ADC fields
- add device IDs to sensor_bias and sensor_correction
- vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
- this provides some extra space when the FIFO transfers don't align perfectly
- I've also made an effort to keep the different drivers (icm20602, icm20608g, ism330ldc) in sync so we can factor out the common portions later once we've confident in the pattern.
* Treat UAVS diffrently from manned aviation
* Added fake_traffic testing functionality,
* Added NAV_TRAFF_AVOID Hold and Landmode
* Added Behavior: HOLD Position to collision avoidance mode and implemented Landmode to collision avoidance.
Boards where no Hardware GUID is defined will send 0 as GUID.
Right now collision avoidance for more than one FMU without Hardware GUID is not possible.
We should consider adding a randomly generated HW GUID as a placeholder for legacy Boards
We now check individually for empy and genmsg.
Also, my recommendation is to use pip3 as a user to install the
dependencies as this is least intrusive and should work on all
platforms.
* parameter and logic to commander for triggering failsafe from external automatic trigger system.
* logic to startup script for enabling ATS. Added uORB publishing to pwm_input module.
* Refactored out CDev usage from pwm_input and ll40ls. Refactored out ll40ls specifics from pwm_input and cleaned up dead code.
- rename of flag in position sp: from allow_weather_vane to disable_weather_vane
- flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission
- flag is set before front transition to align with wp, and unset after alignment is over
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- uses the FIFO and SPI DMA to transfer full raw data (8 kHz gyro, 4 kHz accel)
- new sensor messages for better visibility
- sensor_{accel, gyro}_fifo: full raw data for optional logging and analysis
- sensor_{accel, gyro}_status: metadata, clipping, etc
- currently not enabled by default
- gencpp in PX4/Firmware (d5fb89ee02): 7e446a9976
- gencpp current upstream: ff6c9f3e8e
- Changes: 7e446a9976...ff6c9f3e8e
ff6c9f3 2019-11-11 Jochen Sprickerhof - Two patches to make the generated headers reproducible (#42)
e12443e 2019-03-18 Dirk Thomas - 0.6.2
d227d17 2019-03-18 Dirk Thomas - update changelog
e233144 2019-03-15 Martin Pecka - Added plugins the ability to also generate free functions. (#40)
40559af 2019-03-04 Dirk Thomas - 0.6.1
96ec7f1 2019-03-04 Dirk Thomas - update changelog
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
esc_setpoint in UAVCAN was just wrong, this is what it really is:
uint7 power_rating_pct # Instant demand factor in percent
(percent of maximum power); range 0% to 127%.
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
* ekf2: Add FirstOrderLpf and InnovationLpf classes for innovation lowpass filtering
* ekf2: use InnovLpf filter class in preflight checks
* ekf2: move selection of yaw test limit for pre-flight check in function
* ekf2: Move pre-flight checks into separate function
* ekf2: use static constexpr insetead of inline for sq (square) function
* ekf2: Split pre-flight checks in separate functions
Also use the same check for all the innovations:
innov_lpf < test and innov < 2xtest
* ekf2: Add optical flow pre-flight check
* ekf2: Combine FirstOrderLpf and InnovationLpf in single class
* ekf2: check vel_pos_innov when ev_pos is active as well
* ekf2: transform InnovationLpf into a header only library and pass the
spike limit during the update call to avoid storing it here
* ekf2: Static and const cleanup
- set spike_lim constants as static constexpr, set innovation
- set checker helper functions as static
- rename the mix of heading and yaw as heading to avoid confusion
* ekf2: use ternary operator in selectHeadingTestLimit instead of if-else
* ekf2: store intermediate redults in const bool flags. Those will be used for logging
* ekf2: set variable const whenever possible
* ekf2: create PreFlightChecker class that handle all the innovation
pre-flight checks.
Add simple unit testing
Use bitmask instead of general flag to have more granularity
* PreFlightChecker: use setter for the innovations to check instead of sending booleans in the update function
This makes it more scalable as more checks will be added
* ekf: Use booleans instead of bitmask for ekf preflt checks
Rename "down" to "vert"
* bump container tags to 2019-10-04
* docker_run: update container name and tag
* generate_microRTPS_bridge.py: force FastRTPSGen to version 1.0 if the result of 'fastrtpsgen -version' command is not a number
* CI: temporarly disable avoidance and safe landing tests
* CI: try to revive tiltrotor test
This new airspeed module does:
-runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale
-selects another airspeed sensor if for the current one a failure is detected
-estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present
-outputs airspeed_validated topic
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* This fix is necessary because usually uORB structs get initialized with
all zeros and then get filled with the fields that are actually in use.
* The number 0 for the mode slot was already commanding to switch to the
mode in slot one even though for example the joystick input via mavlink
does not use this mechanism at all.
This commit adds Roll Pitch Yawrate Thrust (RPYrT) setpoint control to the
PX4 stack, enabling the UAV to follow specific yawrates sent from
offboard. It also introduces individual body_rate flags, along the
lines of mavros.
Tested on a MoCap enabled flight arena in KTH Royal Institute of
Technology, Stockholm. The MAV receives RPYrT setpoints from an
external PID controller to stabilize around position setpoints.
The UAV is also externally disturbed to assess the stability to
external unmodeled events.
Fixed Kabir comments.
Removed deprecated ignore_bodyrate.
Fixed integration test.
The initial idea of the flight task architecture was that
a task can freely set it's setpoints and doesn't have to
worry about takeoff and landing. It would just takeoff
when it's landed and there's a setpoint to go up and
land when it puts a setpoint that pushes into the ground.
With the takeoff logic there are some significant interface
problems depending on the way a task is implemented:
From the setpoint is not high enough to trigger to
an unexpected takeoff because of some estimator
fluctuation affecting the setpoint. It's easiest to solve this
by allowing the task to determine when a takeoff is triggered.
If no condition is implemented by default a task is not
allowing a takeoff and cannot be used to get the vehicle
off the ground.
SalimTerryLi
Lorenz Meier
Paul Riseborough
Daniel Agar
TSC21
Julian Kent
Julian Oes
Martina Rivizzigno
Matthias Grob
stmoon
bresch
CarlOlsson
Nico van Duijn
Roman Dvořák
Silvan Fuhrer
Beat Küng
Tal Zaitsev
Low Orbit Ion Cannon
kamilritz
Jacob Dahl
Christian Clauss
Timothy Scott
PX4 BuildBot
JaeyoungLim
Peter van der Perk
Julien Lecoeur
Jaeyoung-Lim
Nick
Tanja Baumann
Claudio Micheli
Andrei Korigodski
Alexis Paques
pedro-roque