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29602 Commits

Author SHA1 Message Date
Anthony Lamping 49966f4c46 launch: multiple sdf models (#12306) 2019-06-26 15:20:49 -04:00
David Sidrane 6fcc4cc6a2 WIP Digital PM Support 2019-06-26 14:34:02 -04:00
David Sidrane 1cf4a2d953 Added Suport for ICM 20602 on PX4_SPI_BUS_SENSORS1 2019-06-26 14:34:02 -04:00
David Sidrane e5b6adc7f3 fmu-v5X VER REV Combined 2019-06-26 14:34:02 -04:00
David Sidrane 31dfaee76a fmuv5x board support 2019-06-26 14:34:02 -04:00
mcsauder 6e9f706b12 Standardize remaining class member variable naming convention in the MulticopterLandDetector class. 2019-06-26 14:06:56 -04:00
mcsauder df662245a2 Standardize class member variable naming convention in the LandDetector class. 2019-06-26 14:06:56 -04:00
mcsauder 6b6d82447e Standardize class member variable naming convention in the MulticopterLandDetector class. 2019-06-26 14:06:56 -04:00
mcsauder 3f0159d784 Standardize class member variable naming convention in the VtolLandDetector class. 2019-06-26 14:06:56 -04:00
mcsauder 2b9ad179a2 Standardize class member variable naming convention in the FixedWingLandDetector class. 2019-06-26 14:06:56 -04:00
Lorenz Meier 7ba658d573 MAVLink module: Add additional IMUs as default outputs 
This simplifies setup and verification of systems, as all three sensors can be looked at in a graph view.
 2019-06-26 10:24:16 -04:00
mcsauder d7cfebe0a3 Add check_params(true) call to the LandDetector start() method. Break out _update_total_flight_time() method in the LandDetector class. 2019-06-26 09:23:02 +02:00
mcsauder f783982edb Revert changes to the check_params(const bool force) declaration/definition to match current PX4:master. 2019-06-26 09:23:02 +02:00
mcsauder 0ec7efcfc4 Delete _measure_interval and redundant parentheses in LandDetector.h. 2019-06-26 09:23:02 +02:00
mcsauder faa3c3dc6f Refactor the LandDetector class to 
- Reduce duplicate code in LandDetector _check_params() method.
 - Standardize naming cases.
 - Implement DEFINE_PARAMETERS() macro.
 2019-06-26 09:23:02 +02:00
Angel 46662072d1 Missed conversion to radians in AutoMapper and AutoMapper2 2019-06-25 14:01:35 +02:00
Daniel Agar 6d9bf18ca6 Revert "VTOL: add parameter to prevent flight if roll direction was not checked" 
This reverts commit 5f06c6a1aa.
 2019-06-25 09:26:20 +02:00
Matthias Grob 5002b13bda mc_att_control: Increase default rate integral gain 
@bkueang and me realized that on every frame we tune the integral gain for
the roll and pitch rate controller is much too low. Usually it needs to be
increased to 0.3 or even 0.4 to have better "locked in" flight performance
and 0.2 seems like a good compromise for a safe default.
 2019-06-24 18:26:27 +02:00
Matthias Grob 443381327e Airframes: rename normal S500 to generic and remove PX4 defaults 2019-06-24 18:26:27 +02:00
Matthias Grob c22825ee45 Airframes: add Holybro S500 Kit which was tested at dev summit 2019-06-24 18:26:27 +02:00
Daniel Agar d96c97ed48
Update submodule jMAVSim to latest Sat Jun 22 12:37:52 UTC 2019 (#12316) 
- jMAVSim in PX4/Firmware (fb8630c267): 883413f8b9
    - jMAVSim current upstream: def7501bc0
    - Changes: 883413f8b9...def7501bc0

    def7501 2019-06-18 romain-chiap - SIH support: add display-only mode for simulation-in-hardware (#101)
 2019-06-22 15:42:08 +02:00
Ildar Sadykov fb8630c267 Adding VTOL Octoplane airframe type (#12303) 
* Srcparser updated, default script for VTOL octoplane added.
 2019-06-22 14:13:29 +02:00
Beat Küng 64ac8c18d2 mc airframes: increase I gains a bit 
Previous commit allows to increase them again.
Partially reverts commit 6c3e79f361.
 2019-06-22 13:23:19 +02:00
Beat Küng ea31f34d09 mc rate controller: add I term reduction factor 
Reduce the I gain for high rate errors to reduce bounce-back effects after
flips. Up to 200 degrees the gain is almost not reduced (<25%), so this
will only take noticeable effects for large errors (setpoint changes),
where we actually want to have an effect.

This allows to increase the MC_*RATE_I parameters w/o negative effects
when doing flips (i.e. bounce-back after flips).

The 400 degrees limit and the x^2 are empirical.

The better the rate tracking in general (high P gain), the less this is
required (because of the lower tracking error). At the same time it also
does not harm, as the i_factor will always be close to 1.
 2019-06-22 13:23:19 +02:00
JaeyoungLim 4c4bcc5fdb Mavlink: Fill in thrust field correctly for offboard rates setpoints on fixed wing (#12311) 
* Fill in thrust field for rates sp
 2019-06-20 17:17:32 +02:00
PX4 Build Bot 4831a4b0cf Update submodule ecl to latest Tue Jun 18 20:37:33 EDT 2019 
- ecl in PX4/Firmware (4673dd0a0c9b90fcab84a26e75812a5c7172d1af): 0f49eb34a0
    - ecl current upstream: a036cf82cc
    - Changes: 0f49eb34a0...a036cf82cc

    a036cf8 2019-06-14 Paul Riseborough - EKF: Remove use of of quaternion self product operator and fix delta rotation sign
0e946f2 2019-06-14 Paul Riseborough - EKF: Remove use of quaternion self product operator and fix delta rotation sign error
ad7f7af 2019-05-21 CarlOlsson - ekf: correct quaternion multiplication order
d6351bd 2019-05-21 CarlOlsson - EKF: update comment
7612fa4 2019-05-30 Paul Riseborough - EKF: Don't start using GPS for height until all validity checks have passed
cef2ba5 2019-05-08 Roman - implemented Kahan summation algorithm for adding process noise to delta angle- and delta velocity bias variance
 2019-06-19 11:38:49 +10:00
SalimTerryLi e0f3fc8d00 Mavlink receiver SET_ATTITUDE_TARGET fill the correct throttle field by checking its frametype in offboard mode (#12149) 2019-06-18 02:06:41 +02:00
Julian Oes 46c00ca6a4 vscode: add PX4_SIM_SPEED_FACTOR 
This env variable can be changed to adapt the simulation speed.
 2019-06-18 01:56:49 +02:00
Julian Oes 1cee945a22 vscode: use lockstep 
This changes the VSCode debugging to use lockstep. For lockstep, the
rate needs to be 250 Hz.
 2019-06-18 01:56:49 +02:00
Julian Oes e1671571c8 jMAVSim: use PX4_SIM_SPEED_FACTOR, not cli arg 
In order to be consistent between Gazebo and jMAVSim we should be using
the env variable PX4_SIM_SPEED_FACTOR in the same way. This enables
vscode to set the speed using the env variable.
 2019-06-18 01:56:49 +02:00
Julian Oes fea284f728 vscode: start gzclient GUI for Gazebo simulation 2019-06-18 01:55:21 +02:00
alessandro 2deab6c607 commander: refactored state-machine strings 
- Follow-up changes to https://github.com/PX4/Firmware/pull/11796
 2019-06-17 20:09:05 +02:00
Daniel Agar 136962d125
uORB Subscription callbacks with WorkItem scheduling on publication (#12207) 2019-06-17 16:26:06 +02:00
Beat Küng beaba44e5b mc mixer: prioritize roll/pitch over yaw for full airmode 
Improves roll/pitch tracking in situations of large yaw demands.
 2019-06-17 13:17:18 +02:00
mcsauder 8811c8315c Modify the update_params() comment to better reflect what is taking place in mavlink_receiver.h. 2019-06-17 09:41:30 +02:00
mcsauder 742c22d099 Rename _param_sub to _param_update_sub and initialize. Re-define and re-implement the update_params() method and only call if parameters have been updated. 2019-06-17 09:41:30 +02:00
mcsauder c92b8b03cd Move variable initialization from constructor to declarations in MavlinkReceiver class, alphabetize var lists. Added update_params() method to ensure that parameters subscribed to are updated routinely. 2019-06-17 09:41:30 +02:00
Patrick Brünn b402c9697d hardfault_log: fix NULL terminator truncation 
building "make omnibus_f4sd_default" with gcc 8.2.1 failes with:
hardfault_log.c:315:7: error: 'strncat' specified bound 30 equals destination size

gcc8 introduced -Wstringop-truncation, which will warn about NULL terminator
truncation.

This patch fixes two similar issues:
- strncpy() makes no sense if we want to copy without NULL terminator
- strncat() needs space to append the NULL terminator

fixes #12283
 2019-06-17 08:15:34 +02:00
Daniel Agar 7c4bf6ddae
Mavlink ODOMETRY (331) support MAV_FRAME_BODY_FLU 2019-06-16 13:23:57 -04:00
Daniel Agar 09e09863b5
Update submodule mavlink v2.0 to latest Sun Jun 16 00:37:57 UTC 2019 
- mavlink v2.0 in PX4/Firmware (067eb41d23252cbc5725f98e63ea56a2951da317): 70c1b4ef2d
    - mavlink v2.0 current upstream: 18cf6ff2fc
    - Changes: 70c1b4ef2d...18cf6ff2fc
 2019-06-15 23:22:45 -04:00
Daniel Agar 115b8f83ef
Update submodule sitl_gazebo to latest Sun Jun 16 00:37:52 UTC 2019 
- sitl_gazebo in PX4/Firmware (648e7de249): f2593dbcc2
    - sitl_gazebo current upstream: 95adbb11f8
    - Changes: f2593dbcc2...95adbb11f8

    95adbb1 2019-06-08 David Jablonski - fix gstreamer package finding for ubuntu
 2019-06-15 23:21:12 -04:00
Mark Sauder f1c66749e3 vl53lxx: migrate variable initialization from constructor list to declaration uniform initialization (#11896) 
* Format whitespace
 * Alphabetize/group/order variables and methods.
 * Deprecate IOCTL usage and simplify a few methods.
 2019-06-15 23:18:46 -04:00
David Sidrane f96c47ae1b stm32f7 bootloader update support (#11394) 
* micro_hal: F7 add flash
* micro_hal: F7 non up_progmem functions
* bl_update: Add F7 Support
 2019-06-15 21:46:46 -04:00
JaeyoungLim d7d0bd2764 Mavlink: Enable gimbal control using SET_ACTUATOR_CONTROL_TARGET while controlling the vehicle offboard (#12146) 
* Stop ignoring setpoints when actuator setpoints are for the gimbal
 2019-06-15 21:35:41 -04:00
Daniel Agar 106ee280c5
land_detector initiate cycle immediately 
- fixes #12190
 2019-06-15 21:30:09 -04:00
Kabir Mohammed ce784d1ef0 Sensordots Mappydot+ driver (#12147) 
* Add MappyDot+ driver capable of utilizing multiple sensors on a single i2c bus.
 2019-06-15 21:13:51 -04:00
Mark Sauder eaa3d4a24f tfmini: migrate driver class member variable initialization to declarations (#11893) 
* format whitespace
 * alphabetize/group/order var/method declarations 
 * added a default port to start the tfmini driver without requiring arguments.
 2019-06-15 21:01:36 -04:00
Daniel Agar 4e360064d9
commander refactor and cleanup offboard control mode 2019-06-15 20:45:26 -04:00
Daniel Agar 648e7de249 drivers/px4io move to uORB::Subscription 2019-06-15 20:14:10 -04:00
Daniel Agar 1657b5030a wind_estimator always copy attitude and local position data 2019-06-15 19:42:48 -04:00