dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity
42,252 Commits 514 Branches 136 Tags 234 MiB
Commit Graph

42252 Commits

Author SHA1 Message Date
Daniel Agar a867bb7d88 ekf2: let controlAirDataFusion() update yaw estimator TAS 2023-02-22 09:08:33 -05:00
Daniel Agar 60856ebe62 ekf2: move range buffer pop to controlRangeHeightFusion() 2023-02-22 09:08:33 -05:00
Daniel Agar 08f111f694 ekf2: consolidate airspeed fusion logic and helpers 
- pass new airspeed sample around when available
 - can't completely eliminate _airspeed_sample_delayed until resetWind()
called from sideslip fusion is updated
 2023-02-22 09:08:33 -05:00
Daniel Agar 241cee2bb7 ekf2: move airspeed buffer pop to controlAirDataFusion 2023-02-22 09:08:33 -05:00
Daniel Agar 0711a34d0e ekf2: move flow buffer pop to controlOpticalFlowFusion 2023-02-22 09:08:33 -05:00
Daniel Agar ed8cef6cf0 ekf2: move controlAuxVelFusion control.cpp -> auxvel_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar b4e845d7c0 ekf2: move controlDragFusion control.cpp -> drag_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar c08a387c5a ekf2: move controlBetaFusion control.cpp -> sideslip_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar d61b8c21b2 ekf2: move controlAirDataFusion() control.cpp -> airspeed_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar d840f7f39f ekf2: move controlGpsYawFusion() control.cpp -> gps_control.cpp 2023-02-22 09:08:33 -05:00
Hamish Willee b66e15c4b9 generate_msg_docs.py - fix path to messages 2023-02-22 09:32:05 +01:00
Matthias Grob f887ad6ebf mc_att_control: allow commanding a yaw rate with zero throttle 
Still avoiding to build up absolute yaw error in that case.
 2023-02-21 19:33:28 +01:00
Matthias Grob 2b0f7879bc mc_att_control_main: separate yaw rate setpoint generation from absolute yaw reset 2023-02-21 19:33:28 +01:00
Matthias Grob ce5cff55b7 mac_att_control: heading lock in stabilized only after ekf final yaw alignment 2023-02-21 19:33:28 +01:00
Silvan Fuhrer f0571de731 MCAttitudeController: remove reset of yaw_sp when landed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-21 19:33:28 +01:00
Beat Küng fe3c1d0a92 logger: do not try to wait for mavlink ack when writing watchdog data 
As it might block for 2.5s (if mavlink is blocked) and therefore would not
write to file before restoring the priorities.
 2023-02-21 11:32:30 -05:00
Beat Küng 66b0f6eb35 log_writer_file: call fsync after reliable transfer 
ensures watchdog data is flushed immediately
 2023-02-21 11:32:30 -05:00
Beat Küng e4cef9f303 logger: update watchdog 
- reduce boost priority to PX4_WQ_HP_BASE - 6
- add cli command 'trigger_watchdog' to manually trigger watchdog
- add perf counters when triggering watchdog
- reduce top measurement to 300ms
- restore priorities after 1.5s

There are precautions in case the SD card code itself has a busy-loop.
 2023-02-21 11:32:30 -05:00
Beat Küng 015ba62727 log_writer_file: do not call close() with mutex held 
Generally not an issue, but if close() takes long, or even busy-loops due
to an underlying bug in the OS, it will block the main thread too.
 2023-02-21 11:32:30 -05:00
Jaeyoung Lim 5676cc32bc Optionally enable sensor simulations 2023-02-21 11:16:25 -05:00
Leonardo Garcia 3bdb42b6a7
mro/pixracerpro: add missing px4_platform_configure() call (#21158) 2023-02-21 09:30:39 +01:00
MAD-CRAZY-MAN 3ab34fe5b1 ci: build thepeach FCC-K1 & FCC-R1 2023-02-20 21:56:08 -05:00
Silvan Fuhrer 94be17af8f FWPositionControllre: only check acceptance radius to swich to loiter to reach WP alt 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 21:55:27 -05:00
Julian Oes 9ec6a4b1d7 icm42688p: fix comment about gyro and accel bits 
This really confused me.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-02-20 21:47:11 -05:00
Silvan Fuhrer 2008a447c3 FW PositionController: circular landing: publish orbit status 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer 485785d81d FW PositionController: circular landing: enable automatic landing aborts 
Enable automatic landing abort on timed out distance sensor reading also for
the circular landing. Do not enable the no-terrain timeout check, as, opposed
to the straight landing, we here don't know when to expect the distance sensor
to get valid.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer 37b6dccda9 Land: use MIS_LND_ABRT_ALT also in non-mission Land 
As we don't know the landing point altitude in non-mission landings, assume
the worst case (abort right before touchdown) and thus always climb
MIS_LND_ABRT_ALT on triggering an abort.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer c47210fc77 FWPositionController: add support for circular landings 
Add method for circular landing, that is used instead of the straight fixed-wing
landings in case the landing is not part of a mission landing.
Use straight landing if previous WP is valid, and the ciruclar otherwise.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer 50d75c537e FWPositionController: auto_landing(): move non-position handling to top 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer b94ed34406 FW Position Control: initializeAutoLanding(): pass only alt value of pos_sp_curr 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer 805de8a6d9 Navigator: set position setpoint to current location instead of to NAN 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer eaa4180920 Navigator: remove ununsed argument from set_land_item() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
David Sidrane 1fb6b003fc NuttX with backport ioexpander/gpio:Add gpio_pin_register_byname 2023-02-20 04:14:01 -08:00
Silvan Fuhrer 167e58abba AirspeedSelector: remove unused variable 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 11:35:24 +01:00
Silvan Fuhrer 1acb07c600 Navigator: set _land_start_index to first item with a position after the marker 
_land_start_index is used to to start the mission from this item index, and to
avoid to publish a triplet.current.type=IDLE, we need to fill it with the actual
position setpoint that the vehicle should go to at the start of a mission landing.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 06:50:53 +01:00
bresch fafcdbf4ed tests: empty parentheses were disambiguated as a function declaration 2023-02-17 21:10:44 -05:00
bresch 8ebf47edb1 ekf2: stop mag fusion when there is no data anymore 2023-02-17 08:51:55 -05:00
Silvan Fuhrer deabe9a38d Navigator: accept yaw immedietaly if the flag heading_good_for_control is not set 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-17 13:34:30 +01:00
David Sidrane d291207b9f NuttX with mmcsd backports to prevent system hang on error 2023-02-17 10:16:15 +01:00
RomanBapst b00efcd966 cleanup 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 7ef2bff0a2 FeasibilityChecker: Fixed bug and added unit test for it 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 2e50277695 improved function naming 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 8ecb550331 cleanup 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 00b1968a5c more clang tidy stuff 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst b8d0a8821a fixed clang tidy 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst c09263d53c use correct type 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 11fd3ef71a use legacy parameter system and cleaned up vehicle type 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 741fbb931d fixed land requirement for VTOL 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 6e07af959f fixed bug in Matrix library 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
RomanBapst 925ad97ff3 added unit tests 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00