2507f0a143
px4events: fix known_groups list
2022-08-25 22:02:15 -04:00
fcadc69e52
mavlink_receiver: set timestamp to gps_inject_data_topic
2022-08-25 22:02:15 -04:00
c95192d050
orb_print_message_internal: handle 64 bit bitsets
2022-08-25 22:02:15 -04:00
b7a6de05df
arming checks: add health topic
2022-08-25 22:02:15 -04:00
07afcf4586
commander preflight checks: new structure using events interface
...
- Reporter class that keeps track of results (list of events + whether
arming is possible + health).
And only reports when one or more checks change.
2022-08-25 22:02:15 -04:00
04f7df3848
SubscriptionMultiArray: use Subscription instead of SubscriptionInterval
...
Saves ~3KB RAM on fmu-v5.
2022-08-25 22:02:15 -04:00
9b0b0d1168
ekf2: update test change indication csv
2022-08-25 15:55:45 -04:00
f60f6d2425
Remove px4_work_queue from the kernel side LD command
...
The comment is right, it is not needed -> get rid of it
2022-08-25 13:30:11 -04:00
2786239ca6
Jenkinsfile: HIL remove delete airframe from test
2022-08-25 09:48:49 -04:00
02c9ec6085
Add thumbnails for x500.
2022-08-25 09:10:03 -04:00
0e8e38e698
Add x500 ignition (replaces x3)
2022-08-25 09:10:03 -04:00
4040e4cdf2
simulation organization and cleanup
...
- new modules/simulation directory to collect all simulators and related modules
- new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc
- simulation module renamed to simulator_mavlink
- sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator)
- ignition_simulator renamed to simulator_ignition_bridge
- large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules
- sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world)
- new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
2022-08-25 09:10:03 -04:00
6b2509cbba
px4_fmu-v6c Move I2C 4 to External
2022-08-25 08:46:51 -04:00
8b4df8ceb2
airframes: re-add Holybro X500v2 with dynamic control allocation
2022-08-25 07:52:18 +02:00
f8f1213841
board_adc: Small fix for printf formatter
...
Print sizeof type with %zu to be compatible with 64 bit targets, where it is unsigned long
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
2022-08-25 07:50:23 +02:00
0061ef8b89
[AUTO COMMIT] update change indication
2022-08-24 09:16:11 -04:00
090d03eea2
ekf2: publish GNSS, rng and EV height biases
2022-08-24 09:16:11 -04:00
a2a29ba0dd
ekf2: verify parameter configuration for height sources
2022-08-24 09:16:11 -04:00
8dd5d0d1a3
ekf2: don't reset height when in conditional range aiding
2022-08-24 09:16:11 -04:00
20cd599bb7
ekf2: fix param migration
2022-08-24 09:16:11 -04:00
2d39097f60
ekf2: move rng height to file
2022-08-24 09:16:11 -04:00
28b4cd0579
ekf2: move GNSS hgt control to file
2022-08-24 09:16:11 -04:00
b6f76b5eaa
ekf2: move ev control to file
2022-08-24 09:16:11 -04:00
f555281c94
ekf2: move height control-related function to file
2022-08-24 09:16:11 -04:00
d87feee5b0
ekf2: move baro control logic to file
2022-08-24 09:16:11 -04:00
12e25eba62
ekf2: add common height fusion timeout parameter
2022-08-24 09:16:11 -04:00
52f726c5b7
ekf2: in bias estimator, use psd instead of var for prediction
...
PSD is independent from the sampling time while variance isn't
2022-08-24 09:16:11 -04:00
b04d61c411
ekf2: param migration for rng aid, aid mask (gps) and hgt mode
2022-08-24 09:16:11 -04:00
3fb218600a
ekf2_test: add multi height source unit tests
2022-08-24 09:16:11 -04:00
aba2eac0df
ekf2: publish GNSS, rng and EV height biases
2022-08-24 09:16:11 -04:00
6833c7e311
ekf2: adjust ekf2 aid parameters in configs
2022-08-24 09:16:11 -04:00
8962cf2d25
ekf2: GPS, baro and range finder control parameters
...
Also remove the legacy "range aid" than can be achieved by setting the
height reference to range finder and the range finder control parameter
to "conditional".
Conditional range aiding cal also be set when the height reference isn't
the range finder. This prevents the ratchetting effect due to switching
between references.
2022-08-24 09:16:11 -04:00
578e1339ca
ekf2: re-implement range aid
...
range aid simply forces the range finder to be the height reference when
starting
2022-08-24 09:16:11 -04:00
88ac5ea210
ekf2_test: add test case for accel clipping handling
2022-08-24 09:16:11 -04:00
375753eba8
ekf2_test: add inertial nav falling detection tests
2022-08-24 09:16:11 -04:00
66ce1a002b
ekf2_test: rename VisionHeight -> ExternalVisionHeight
2022-08-24 09:16:11 -04:00
82ec7a495a
ekf2: refactor inertial nav falling check
2022-08-24 09:16:11 -04:00
f9188b2a14
ekf2: refactor vertical acceleration check for multiple height sources
2022-08-24 09:16:11 -04:00
8fd79688c0
ekf2: enable multiple height sources fusion
...
Instead of having a single height source fused into the EKF and the
other ones "waiting" for a failure or the primary sensor, fuse all
sources in EKF2 at the same time. To prevent the sources from fighting against each
other, the "primary" source is set as reference and the other ones are
running a bias estimator in order to make all the secondary height
sources converge to the primary one.
If the reference isn't available, another one is automatically selected
from a priority list. This secondary reference keeps its current bias
estimate but stops updating it in order to be the new reference as close
as possible to the primary one.
2022-08-24 09:16:11 -04:00
f5f31006a0
Ekf2: create HeightBiasEstimator class
...
Contains some logic common to all height bias estimators
2022-08-24 09:16:11 -04:00
57125a4c8f
cyphal: Fix FMUv5 config; throw error if no CAN driver exists
2022-08-23 21:24:24 -04:00
c81efd0174
Fix velocity smoothing functional test
2022-08-23 21:11:35 -04:00
7b810bb776
boards: update px4 io binary
2022-08-23 21:07:18 -04:00
b260df711c
Makefile: force serial build for px4io_update
2022-08-23 21:07:18 -04:00
bae275898b
rc/sbus: restart parser after sucessful decoding & increase time limit
...
Instead of directly passing the next packet to the parser after successful
parsing, switch the state to SBUS2_DECODE_STATE_SBUS_START and search for
the start byte again.
The timeout is increased as the IO main loop also takes a bit of time
(max ~0.7ms).
Tested on v5x with Futaba R7008SB (60Hz update rate) and FrSky X8R (111Hz
update rate).
Background:
When using the Futaba R7008SB, I noticed there's additional bytes added in
between packets. Often it's a null byte, but sometimes more. There's some
consistency but I did not find any documentation for it.
Sample data:
a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05 ec
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 c0 8b
00 0f 04 ec 1f a8 fb 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00
14 00 0f 04 ec 1f a8 fb 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80
00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10
80 00 34 00 0f 05 ec 1f 30 60 bf 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 34 00 0f 07 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 04 00 03 c0 31 00 0f 05 fc 1f a8 fb 07 16 5b 81 05 d4
a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 05 fc 1f a8 fb 07 16 5b 81 05
d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 04 ec 1f a8 fd 07 16 5b 81
05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 04 ec 1f a8 fd 07 16 5b
81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03 c4 00 00 0f 04 ec 1f
a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 04 ec
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 04
ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f
05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00
03 c0 31 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02
10 80 00 14 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00
02 10 80 00 24 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40
00 02 10 80 00 34 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80
00 04 00 03 c0 31 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00
01 08 40 00 02 10 80 00 34 00 0f 05 f4 1f a8 fb 07 16 5b 81 05 d4 a0 06 20
00 01 08 40 00 02 10 80 00 04 00 03 c4 00 00 b0 60 7f 1c bd 07 16 5b 81 05
d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81
05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b
81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05 ec 1f a8 fb 07 16
5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03 c0 31 00 b0 60 bf
1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 14 00 0f 04 f4
1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 24 00 30 70
7f 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 34 00 0f 05
f4 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10 80 00 04 00 03
c4 00 00 0f 05 fc 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01 08 40 00 02 10
80 00 14 00 0f 05 ec 1f b0 60 bf 1c bd 07 16 5b 81 05 d4 a0 06 20 00 01 08
40 00 02 10 80 00 14 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00 01
08 40 00 02 10 80 00 24 00 0f 05 ec 1f a8 fd 07 16 5b 81 05 d4 a0 06 20 00
This was causing the parser to skip entire packets resulting in an update
rate of ~31Hz on the FMU side.
With this patch the update rate increases to 42-48Hz.
The investigation was triggered by an RC glitch with a packet containing
random channel data. It's likely, although not completely verified that
the frequent desync randomly happend to pass the CRC check with garbage
data.
2022-08-23 21:07:18 -04:00
b58f70726f
ekf2: scale delta angle and delta velocity bias to particular IMU sample
2022-08-23 21:06:13 -04:00
213d5dac2a
platforms/nuttx: Fix hard coded path for karch library
...
Use CONFIG_ARCH instead of arm
2022-08-23 21:05:41 -04:00
4f6d523c95
mixer_module: Fix linking of mixer_module
...
The module has a hard dependency on mixer library, so link them together
2022-08-23 21:04:58 -04:00
f89044cfbe
ekf2: fix replay EKF2 start when CONSTRAINED_FLASH
2022-08-23 11:14:15 -04:00
40149ecabc
boards: modalai_fc-v2 configure SPI6, disable unused SPI3/4 ( #20093 )
2022-08-22 20:58:44 -04:00
Beat Küng
Daniel Agar
Ville Juven
Benjamin Perseghetti
David Sidrane
FARHANG
Jukka Laitinen
bresch
bresch
JacobCrabill
huiyulhy
modaltb