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38094 Commits

Author SHA1 Message Date
Jukka Laitinen 40063bd54b Add libtomcrypt and libtommath submodules 
These provide e.g. rsa_oaep, which can be used for sw crypto

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen be4f7cabf9 Add compilation of nuttx_crypto 
NuttX has lots of usable functionality for crypto, such as rng with entropy pool

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen d36a91ceaf Add generic px4 interface for crypto features 
Add common functions, implemented for nuttx, and link to architecture specific libraries

Make a separate library to wrap nuttx random number generator as "os_random".

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen aa61bc4942 Add functions for initializing empty crypto backend handles 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Julian Oes 9290ea974e commander: allow force disarming 
Allows to do commander disarm -f to disarm no matter what.
 2021-09-27 09:58:03 -04:00
Daniel Agar 333f539900 mavlink: add simple incoming message stats to status 2021-09-27 09:48:00 -04:00
PX4 BuildBot feff564882 Update submodule jMAVSim to latest Mon Sep 27 00:38:51 UTC 2021 
- jMAVSim in PX4/Firmware (592885480e): 0a5375a706
    - jMAVSim current upstream: 0a5a8c6d9d
    - Changes: 0a5375a706...0a5a8c6d9d

    0a5a8c6 2021-09-02 Julian Oes - Merge pull request #130 from PX4/pr-udp-connection
2590b24 2021-09-01 Julian Oes - UDPMavLinkPort: add debug output around wait
7255b28 2021-08-31 Julian Oes - src: enable UDP connection in client and host mode
 2021-09-27 08:05:48 +02:00
Daniel Agar 592885480e boards: ark_can-gps_debug disable perf to save flash 2021-09-26 12:29:11 -04:00
Daniel Agar 9a3fa6199b uorb top report total publication rate 2021-09-26 12:29:11 -04:00
Julian Oes e81214a22f mavlink: avoid double trigger using sequence 
By adding the sequence number we can avoid double triggering due to
command retransmissions. This is according to the mavlink spec for
MAV_CMD_IMAGE_START_CAPTURE.
 2021-09-25 20:18:07 -04:00
bresch 76615f8df3 VTOL: set HTE horizontal speed sensitivity threshold low 2021-09-25 20:07:28 -04:00
bresch 904ed57aba HTE: decrease sensitivity with speed 
VTOL planes are getting lift from the wing when flying in MC mode at
high speed. They (and some other drones) also get extra drag when
climbing and descending at high speed, corrupting the hover thrust
estimate.

To avoid this, two speed thresholds (vertical and horizontal) are defined
above which the sensitivity of the estimator is decreased by linearly
increasing the observation noise.
 2021-09-25 20:07:28 -04:00
achim c67d943158
boards: mro_ctrl-zero-h7-oem board.h fix SPI5 (#18294) 
- fix spi pin missmatch PF9=GPIO_SPI5_MOSI_2
 2021-09-25 20:05:18 -04:00
Daniel Agar e4b0fa25a2 systemcmds/tests: remove px4io conv test 2021-09-25 19:15:05 -04:00
Beat Küng 1b0bfd6381 dataman: remove nonexisting SYS_RESTART_TYPE param 2021-09-25 19:15:05 -04:00
Daniel Agar 089c962d92 px4io: moving mixing to FMU side 
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-09-25 19:15:05 -04:00
PX4 BuildBot f772b0f45d Update submodule sitl_gazebo to latest Sat Sep 25 12:38:57 UTC 2021 
- sitl_gazebo in PX4/Firmware (e800e7c27663ae0a08ae1e377cbccd2272657ad0): 53d606b32f
    - sitl_gazebo current upstream: d8366bf238
    - Changes: 53d606b32f...d8366bf238

    d8366bf 2021-09-19 Mohamed ElDewany - Fix gazebo plugin for laser sensor
37a3a64 2021-09-16 Julian Oes - camera: fix stream URI
2561ff0 2021-09-01 Julian Oes - mavlink_interface: enable HITL over UDP
9216dab 2021-09-01 Julian Oes - mavlink_interface: remove poll before writing
8e9eb3f 2021-09-01 Julian Oes - mavlink_interface: clean up switch case
a009174 2021-09-01 Julian Oes - mavlink_interface: use flag from mavlink_interface
6f1243a 2021-09-01 Julian Oes - mavlink_interface: remove redundant inline keyword
 2021-09-25 11:56:50 -04:00
David Sidrane f01cab3be1 px4io:Ensure proper lifecycle of registration of cdev 2021-09-24 19:01:54 -04:00
Igor Mišić 9ad0e5b357 mavlink_receiver: updated sens flow parameters to be dynamically handle 2021-09-23 09:23:22 +02:00
Beat Küng e73172b537 hrt: remove hrt_elapsed_time_atomic 
There's no protection on posix
 2021-09-23 09:23:08 +02:00
Beat Küng 6f902e54f9 mavlink: correctly lock radio status 
- hrt_elapsed_time_atomic is not atomic on posix
- other fields like _radio_status_mult need protection as well
 2021-09-23 09:23:08 +02:00
Beat Küng 0bfb1a983b px4iofirmware: avoid using hrt_elapsed_time_atomic 
It's only ever read and written in controls_tick() after startup
 2021-09-23 09:23:08 +02:00
Beat Küng eec94965f2 serial: add pixhawk payload bus option 2021-09-23 09:23:08 +02:00
Igor Mišić 682db4b8ac dshot: timeout if commands are not processed 2021-09-23 09:22:49 +02:00
bresch e53d2907d7 AutoSmoothVel: adjust controller constraints in emergency braking 
When engaging auto mode at high vertical speed, we don't want to cut the velocity
trajectory setpoint in order to create a smooth deceleration.
 2021-09-23 09:22:32 +02:00
bresch 316e0dfeb5 AutoLineSmoothVel: add emergency braking mode 
Currently only for the Z axis. If the current downward velocity is more
than twice the maximum allowed value, the emergency braking mode is
activated. In this mode, a higher vertical acceleration and jerk is used
until the vehicle stops moving.
 2021-09-23 09:22:32 +02:00
Igor Mišić 92696b589f sdp3x: stop continuous measurement while reconfig 2021-09-23 09:22:09 +02:00
Igor Mišić 3a148bc777 camera_trigger: remove camera trigger secondary 
camera_trigger: publish trigger when capture feedback is not enabled
 2021-09-23 09:21:56 +02:00
Hamish Willee f41e5985e8 vehicle_local_position: clarify origin of system 2021-09-22 10:14:23 +02:00
Thomas Debrunner 43ece74fa0 ina238: Do not expose raw adc config to user, make specific to ina238 2021-09-22 10:02:17 +02:00
Thomas Debrunner b8d0bb44c4 ina23X: Support for ina23X power monitors 2021-09-22 10:02:17 +02:00
Daniel Agar cf5da66e9f Jenkins: hardware disable gyro auto cal and FFT before running tests 2021-09-21 19:13:30 -04:00
Daniel Agar 87db18c1a0 Jenkins: hardware don't allow board cleanup commands to fail build 2021-09-21 19:13:30 -04:00
Daniel Agar a92e44c90e Tools/HIL/run_nsh_cmd.py: echo success cmd twice to avoid missing dropouts 2021-09-21 19:13:30 -04:00
Julian Oes faca2b17d0 camera_trigger: only get param if available 2021-09-17 12:23:30 +02:00
Daniel Agar 7af5a33ff3 commander: don't play failsafe tune if disarmed 2021-09-16 09:17:00 -04:00
Matthias Grob ecb1264832 vscode: do not disable autocomplete on enter 2021-09-16 09:11:52 -04:00
Julian Oes c779946e05 setup: Use available Java version for Ubuntu 20.04 
14 was not available for me, 16 would have been.
 2021-09-16 13:59:27 +02:00
Julian Oes addb978364 setup: Let's not ignore errors 
Otherwise the script finishes and you don't know if it worked.
 2021-09-16 13:59:27 +02:00
Daniel Agar 3d56836850
boards: nxp_fmurt1062-v1 disable extra barometers to save flash 2021-09-15 12:59:36 -04:00
Thomas Stauber 2b80a6958a
fix disable airspeed check with negative ASPD_FS_INTEG (#18186) 
* fix disable airspeed check with negative ASPD_FS_INTEG

* improve logic when nav velocity data is not good

* simplify logic. Reset integrator state when the check is not run.
 2021-09-14 12:13:56 +02:00
Matthias Grob e7a90bf367 PositionControl: correct horizontal margin calculation 
It was using the already reduced vertical thrust to do
the horizontal limitation resulting in no margin.
 2021-09-14 10:57:38 +02:00
Matthias Grob d1f1e02afb Refactor mode button changes 2021-09-14 09:52:32 +02:00
Claudio Micheli 05d40f40d4 Handle rc toggle mode buttons to initialize flight modes 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-14 09:52:32 +02:00
Claudio Micheli c50daae4a3 rc_update: introduce support for toggle buttons via RC channels 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-14 09:52:32 +02:00
Daniel Agar ca2d8f6de2
Update submodule simulation-ignition to latest Tue Sep 14 00:39:01 UTC 2021 2021-09-13 21:09:50 -04:00
Daniel Agar e6552370ab imu/invensense: adjust scheduling dynamically if not using data ready interrupt 2021-09-12 17:34:35 -04:00
Claudio Micheli fa4fc5f347 esc_report: change esc_temperature field to allow negative values 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-11 15:14:49 -04:00
David Jablonski 7d7200cf2f Added yaw to CMD_DO_SET_HOME 2021-09-11 15:14:01 -04:00
Hamish Willee ce206d992b
RC_FAILS_THR and RC_MAP_FAILSAFE improve parameter description 2021-09-11 15:12:54 -04:00