Commit Graph

28679 Commits

Author SHA1 Message Date
Claudio Micheli 700fd5652d Added parsing function. Everything works OK.
TODO:
- Clean up the code
- Add uORB publishing messages

Signed-off-by: Claudio Micheli <claudio@auterion.com>
2019-01-15 09:17:24 +01:00
Claudio Micheli 591e8fde5d Initial commit. Integrated new distance sensor hardware.
TODO: Parsing the data

Signed-off-by: Claudio Micheli <claudio@auterion.com>
2019-01-15 09:17:24 +01:00
Daniel Agar 63097bd8a1 mavlink sort message defaults and float literal consistency 2019-01-14 14:46:13 -05:00
Matthias Grob 1e14b10dee simulator_mavlink: take care of battery percentage rounding errors
In 5bb9babc20 I made MAVLink send a
rounded up integer instead of rounded down. This makes sense in practice
because the low battery reactions happen exactly when the reported number
switches in the UI. But here we want to provoke an exact 50% in the UI so
we stop counting at 49.9%, it get's rounded up and we see the expected
result.
2019-01-14 19:30:36 +01:00
Matthias Grob a89e550f3c simulator_mavlink: switch battery max and min to fix simultion
In 3e6e1f5c2b the simulated battery
percentage was reversed. I'm assuming because of the possibly
missleading variable name. Now I'm fixing it by switching the
maximum and minimum voltage such that the name is not misleading anymore
but it still works as expected.
2019-01-14 19:30:36 +01:00
bresch 766f911005 beta75 - Reduce MC_YAWRATE_P to avoid oscillations when battery is fully charged 2019-01-14 18:38:31 +01:00
bresch 118848d261 beta75 - Adjust PWM_MIN and set number of cells 2019-01-14 18:38:31 +01:00
Jacob Dahl 29f034c53e mpu9250 fix hardfaults if attempting to start an already running driver (#11190)
* removed bus options that were essentially duplicates, causing hardfaults if attempting to start an already running driver. Changed NULL to nullptr. Removed bus options that were unused
* removed condition from if statement that was unnecessary
* fixed style
2019-01-14 09:59:36 -05:00
Beat Küng 4bc59092f4 lockstep_scheduler cmake: spaces -> tabs 2019-01-14 11:08:48 +01:00
Beat Küng 2a47715385 refactor lockstep_scheduler: fix class member naming convention 2019-01-14 11:08:48 +01:00
Beat Küng 828e31d3a9 lockstep_scheduler: optimize performance
- use a linked-list instead of std::vector. Insertion and removal are now
  O(1)
- avoid malloc and use a thread_local instance of TimedWait.
  It gets destroyed when the thread exits, so we have to add protection
  in case a thread exits too quickly. This in turn requires a fix to the
  unit-tests.
2019-01-14 11:08:48 +01:00
Beat Küng b6ba7b655a sitl_run.sh: fix for debugger & valgrind invocation: use eval
Because $sitl_command contains quotes
2019-01-14 11:08:48 +01:00
Beat Küng beac53d775 cdev_platform: remove unused code (sim_delay) 2019-01-14 11:08:48 +01:00
Beat Küng ecbe2a3e0b drv_hrt posix: improve performance for hrt_absolute_time()
Previously hrt_absolute_time() was at around 5% of the total CPU usage, now
it's around 0.35%.
2019-01-14 11:08:48 +01:00
Beat Küng ccefc640ac drv_hrt posix: remove unused code and remove locking from hrt_absolute_time 2019-01-14 11:08:48 +01:00
Beat Küng 5f0e6d70c5 lockstep_scheduler: use a static lock in usleep_until
less function calls
2019-01-14 11:08:48 +01:00
Beat Küng e8cbc49f7a lockstep_scheduler: remove timed_waits_iterator_invalidated_
Not required, since the lock is held during the whole loop iteration.
2019-01-14 11:08:48 +01:00
Beat Küng 8cdb65eed9 lockstep_scheduler: simplify LockstepScheduler::cond_timedwait & reduce locking
- the loop is not needed
- we optimize for the fast case and lock only if really needed
2019-01-14 11:08:48 +01:00
Beat Küng 318499f56e lockstep_scheduler: inline get_absolute_time()
This is a small method that is used a lot.
2019-01-14 11:08:48 +01:00
Daniel Agar 29a0950753
Update submodule mavlink v2.0 to latest Sat Jan 12 07:37:26 EST 2019
- mavlink v2.0 in PX4/Firmware (4787cabae6fcf55ef0f8bf19b0009de593c844db): 90d9b285e0
    - mavlink v2.0 current upstream: 339abb5f4c
    - Changes: 90d9b285e0...339abb5f4c
2019-01-12 10:20:02 -05:00
Daniel Agar 45d7165eb3 fw_pos_control_l1 skip wind > max airspeed logic if airspeed invalid
- cleanup airspeed validity check logic
2019-01-12 14:19:53 +01:00
Julian Oes 2e3fa30c83 sitl_gazebo: update to revision that doesn't abort on timeout (#11196)
* this should fix the CI failures where we intermittently saw SIGABRT. (fixes #11144)
2019-01-11 10:23:16 -05:00
Jacob Dahl f6175605cd px4_fmu-v4 init: Do not start mavlink stream on ttyS0 for the TealOne airframe
* We have RAM problems and can't afford 4 mavlink instances. This only adds logic the rc.board for the fmu-v4 that only has an effect for SYS_AUTOSTART = 4250 (TealOne airframe).
2019-01-11 10:21:51 -05:00
Daniel Agar 92ca26b111 mpu9250 fix code style 2019-01-09 10:27:19 -05:00
Florian Olbrich fb386580b8 Fixed failure notices on mpu9250 startup by adding back device probing on I2C interface init. 2019-01-09 09:54:45 -05:00
Florian Olbrich 280a60c86f Fixed unreliable ICM20948 detection.
Fixed ICM20948 magnetometer only option.
Specified bus for internal mpu9250 on Pixhawk 2.1 to avoid premature detection of
other device.
2019-01-09 09:54:45 -05:00
Beat Küng c2f82b5996 logger: disable mission log by default (SDLOG_MISSION=0)
- I enabled it by default mostly for testing purposes
- Disabling it reduces resource usage as most setups don't need it
2019-01-09 08:59:29 -05:00
Kevin Lopez Alvarez 490eeeb9d9 RM3100: enable I2C (#11038) 2019-01-09 08:57:19 -05:00
Jake Dahl 1699c577c3 Fixed an issue with a local variable that should have been a member variable. Increased the P term to reduce rise time. Removed feedforward as it was not neccessary. Removed some custom commands that didn't serve much of a purpose. 2019-01-08 22:36:09 +01:00
AnnaDaiZH 3b3752b753 pmw3901 increase publish rate and max_ground_distance (#11066)
* increase pmw3901 publish rate and max_ground_distance
* set work queue to high priority
2019-01-08 14:25:39 -05:00
David Sidrane 5e53f73ad8 fmu-v5:Add Alias CUAV V5 REV:5, VER:1 2019-01-08 07:34:22 -08:00
Daniel Agar ea3a694ffe
Update submodule mavlink v2.0 to latest Tue Jan 8 12:41:26 UTC 2019
- mavlink v2.0 in PX4/Firmware (613a5f5e172de071ebd96b4cb5313316a10f8023): 175ab6725c
    - mavlink v2.0 current upstream: 90d9b285e0
    - Changes: 175ab6725c...90d9b285e0
2019-01-08 10:16:51 -05:00
Julian Oes b0dd55e80b jMAVSim: update submodule
This should fix:
- HITL regression (Init MAVLink forever).
- Starting using default arguments.
2019-01-08 09:49:47 -05:00
Dennis Mannhart 5887a2393c PositionControl: skip controller only if adjusted thrust setpoint are not finite
PositionControl: update comment about the order of thrust and position

mc_pos_control: reset setpoints to NAN if required

MulticopterLandDetector: consider to be landed if vehicle is not armed

mc_pos_control: initialize landing struct with landed

mc-pos-ctrl: adjust thrust-setpoint and yaw during ground-contact/maybe-landed without capturing
that information within vehicle-local-position-setpoint topic because that information
does not belong to user intention

PositionControl: set local position/velocity setpoint to NAN if not used in the control pipeline

mc-pos-ctrl: Fill vehicle_local_position_setpoint_s structure as follow:
The message contains setpoints where each type of setpoint is either the input to the PositionController
or was generated by the PositionController and therefore corresponds to the PositioControl internal states (states that were generated by P-PID).
Example:
If the desired setpoint is position-setpoint, _local_pos_sp will contain
position-, velocity- and thrust-setpoint where the velocity- and thrust-setpoint were generated by the PositionControlller.
If the desired setpoint has a velocity-setpoint only, then _local_pos_sp will contain valid velocity- and thrust-setpoint, but the position-setpoint
will remain NAN. Given that the PositionController cannot generate a position-setpoint, this type of setpoint is always equal to the input to the
PositionController.

mc_pos_control: switch to designated initializer for landed

It's less error prone because it produces an error on every discrepancy.
2019-01-08 15:36:30 +01:00
Hamish Willee 541b962654 CameraTrigger: Feedback fixes 2019-01-08 08:18:24 +01:00
Hamish Willee 68148c5fb4 Add camera trigger pwm params
Fix math::constrain usage

Fix second constraint
2019-01-08 08:18:24 +01:00
Daniel Agar e77c2cdfab Jenkins hardware test compare-sections properly 2019-01-07 15:12:30 -05:00
Daniel Agar 2a56eca910 Jenkins use px4_sitl_test build to run unit tests
- these only run if code coverage is enabled
2019-01-07 10:39:40 -05:00
TSC21 a78c9c4370 uorb_rtps_message_ids: for now, remove vehicle_global_position send 2019-01-07 12:46:36 +01:00
Beat Küng eda45b4df2 sbus: add time-based hardening (only for IO and NuttX)
Since SBUS does not have CRC, we can use timing information to improve
parsing reliability and reject unexpected bytes.
2019-01-07 10:17:37 +01:00
Beat Küng 4cd8fe0a30 sbus: simplify logic 2019-01-07 10:17:37 +01:00
Beat Küng 9ebd052ac7 sbus: remove unused variables & improve some comments 2019-01-07 10:17:37 +01:00
Daniel Agar 2251150875 uavcan include cstdint for fixed width integer types 2019-01-06 19:20:57 -05:00
Daniel Agar 60f2a92e3d replace <cfloat> with <float.h>
- <cfloat> isn't available in the NuttX c++ library
2019-01-06 19:20:57 -05:00
Daniel Agar c0b464e9e2 replace <cinttypes> with <inttypes.h>
- <cinttypes> isn't available in the NuttX c++ library
2019-01-06 19:20:57 -05:00
Daniel Agar 195dbf4ab6 NuttX platform remove system (toolchain) stdc++ include path 2019-01-06 19:20:57 -05:00
Daniel Agar 542cd7f216
Jenkins move hardware testing to JLink debugger setup 2019-01-05 20:33:38 -05:00
Nuno Marques 8ae3f50095 CI: update container tags to '2019-01-01' (#11128) 2019-01-04 16:34:02 -05:00
Alessandro Simovic aa74aa2b80 CollisionPrevention: curly brace inits 2019-01-04 15:39:40 +01:00
Alessandro Simovic e1dcc46578 CollisionPrevention: consistent var init 2019-01-04 15:39:40 +01:00