Commit Graph

461 Commits

Author SHA1 Message Date
Daniel Agar 7aa7f0ed95 switch remaining boards to new InvenSense IMU drivers 2020-04-07 09:59:12 -04:00
Beat Küng 7626be0485 refactor mpu9250: use driver base class 2020-03-24 09:46:20 -04:00
SalimTerryLi dc8e775d8f
ADC: replace ioctl with uorb message (#14087) 2020-03-20 11:23:32 +01:00
Beat Küng 8ebde51648 refactor hmc5883: use driver base class
Removes the calibration on startup, as these values were overwritten by
the system calibration values anyway.
So the only difference is that if all calibration scales were equal to 1,
the driver startup would have failed.
2020-03-17 23:31:17 -04:00
Beat Küng ec2de33547 lights: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 3b7b2dc871 differential_pressure sensors: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng aeadf54a74 refactor bmp280: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng dbb53044ce refactor ms5611: use driver base class
Also: remove device type auto-detection as it will not work with
together with the new SPI board config (which specifies a specific
device type)
2020-03-17 23:31:17 -04:00
Beat Küng 3e71914fae refactor lsm9ds1+lsm9ds1_mag: use driver base class 2020-03-17 23:31:17 -04:00
Daniel Agar f9794e99f8
move hover_thrust_estimator to new module (mc_hover_thrust_estimator)
* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.

* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground

Co-authored-by: bresch <brescianimathieu@gmail.com>
2020-03-11 21:20:54 -04:00
SalimTerryLi 9612e40464
purge drivers/linux_sbus
- rc_input now provides reliable parsing for SBUS on Linux platform. linux_sbus can be fully removed.
2020-02-03 08:40:27 -05:00
Daniel Agar de4f594937 DriverFramework purge
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.

 - DriverFramework (src/lib/DriverFramework submodule) completely removed
 - added dspal submodule in qurt platform (was brought in via DriverFramework)
 - all df wrapper drivers removed
 - all boards using df wrapper drivers updated to use in tree equivalents
 - unused empty arch/board.h on posix and qurt removed
 - unused IOCTLs removed (pub block, priv, etc)
 - Integrator delete methods only used from df wrapper drivers
 - commander: sensor calibration use "NuttX version" everywhere for now
 - sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
 - battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
 - cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
 - load_mon and top remove from linux boards (unused)
 - delete unused PX4_MAIN_FUNCTION
 - delete unused getreg32 macro
 - delete unused SIOCDEVPRIVATE define
 - named each platform tasks consistently
 - posix list_devices and list_topics removed (list_files now shows all virtual files)
2020-01-13 14:07:03 -05:00
Daniel Agar e3de7e62ea drivers/rc_input: port to linux for testing 2020-01-09 16:16:23 -05:00
Daniel Agar d32a80df3a
simulator: replace gpssim with simple orb publication
- this is one of the last pieces of the system that still depend on DriverFramework
 - add new SIM_GPS_NOISE_X parameter for optionally increasing the GPS noise multiplier (was previously a gpssim command line option)
 - add SIM_x_BLOCK parameters to block sensor publication
   - SIM_GPS_BLOCK
   - SIM_ACCEL_BLOCK
   - SIM_GYRO_BLOCK
   - SIM_MAG_BLOCK
   - SIM_BARO_BLOCK
   - SIM_DPRES_BLOCK
2020-01-09 10:30:20 -05:00
Daniel Agar 298d6d8703 ST LSM9DS1 9DOF IMU driver
- this is a replacement for df_lsm9ds1_wrapper on the Emlid Navio2 once DriverFramework is removed
2020-01-07 21:58:31 -05:00
Daniel Agar d19f18d40b linux boards (ocpoc, bbblue, navio2) replace custom adc drivers with simple px4_arch implementation 2020-01-07 14:04:13 -05:00
Daniel Agar 44f9de5e37
delete parrot bebop board support
This target was never fully supported and is heavily dependent on a number of DriverFramework drivers that have no in tree equivalents (bebop bus, flow, rangefinder, etc). Deleting this will make it easier to fully drop DriverFramework shortly.
2020-01-05 19:46:51 -05:00
Daniel Agar ce1e9762b0 deprecate df_hmc5883_wrapper and replace with in tree hmc5883
- deprecate DriverFramework hmc5883 driver (df_hmc5883_wrapper)
 - update aerotenna ocpoc and snapdragon flight eagle boards to use in tree hmc5883
2020-01-05 15:17:26 -05:00
Daniel Agar aaf5670e7d
deprecate df_bmp280_wrapper and replace with in tree bmp280
- deprecate DriverFramework bmp280 driver (df_bmp280_wrapper)
 - update beaglebone blue and snapdragon flight eagle boards to use in tree bmp280
 - update posix (really just linux) and qurt I2C wrappers
 - tested on beaglebone blue
2020-01-05 13:33:12 -05:00
Daniel Agar 213c6a1923 deprecate df_ms5611_wrapper and df_ms5607_wrapper (replaced with in tree ms5611 driver) 2019-12-31 10:37:29 -05:00
Daniel Agar 0cc250194d
VTOL: explicitly start all FW & MC controllers in VTOL mode 2019-11-30 12:58:36 -05:00
Beat Küng 5ff83ef740 gyro calibration: remove unused scale parameters 2019-11-29 11:28:17 -05:00
Daniel Agar bc182e94e6
sensors split rc_update into new standalone module 2019-11-24 13:25:11 -05:00
Daniel Agar 84fe64b1c2
create new multicopter rate controller module (mc_rate_control) split out of mc_att_control 2019-11-19 17:03:11 -05:00
Daniel Agar 26364d44c9
px4_work_queue: command line status output and shutdown empty queues
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
 * WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
2019-10-02 12:23:17 -04:00
Daniel Agar 3c0f4f9ace
Jenkins hardware snapdragon build with CCACHE_BASEDIR and dump logs 2019-08-22 16:20:39 -04:00
Daniel Agar 331b533b3d
Jenkins hardware linux add CCACHE_BASEDIR for rpi build 2019-08-22 15:46:39 -04:00
Daniel Agar b45f459ef1
Jenkins add linux (raspberry pi) build and test 2019-08-22 15:09:04 -04:00
Silvan Fuhrer cedf14e2ba Airspeed Selector: repurpose wind estimator into an airspeed (selection, validation) module.
This new airspeed module does:
  -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale
  -selects another airspeed sensor if for the current one a failure is detected
  -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present
  -outputs airspeed_validated topic

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2019-08-09 10:55:05 +02:00
Daniel Agar 43e3fc707d
simulator move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer, PX4Barometer helpers (#12081) 2019-05-30 21:07:26 -04:00
Bart Slinger ebf8bc898a fix bebop upload script 2019-05-11 14:39:42 +01:00
Daniel Agar f032d0d9fc
SYS_MC_EST_GROUP mark LPE unsupported and update airframes (#11925) 2019-04-29 11:50:36 -04:00
Daniel Agar 739a02022b position_estimator_inav: move to examples (start deprecation) 2019-01-27 22:15:39 +01:00
Daniel Agar 48df19c8df move dyn_hello to examples and restore testing 2018-11-26 14:40:14 -08:00
Mara Bos 3c660acca8 Add unit test for dynamically loading modules on posix. 2018-11-24 01:58:09 +01:00
Daniel Agar 26bac9594f add simple SITL shutdown test 2018-11-16 16:43:19 -05:00
Bart Slinger f913de3957 bebop 2 improved gains, disable rangefinder 2018-10-03 15:35:25 -04:00
Beat Küng 719bfd1073 posix-configs: use '.' instead of 'source'
'source' is not POSIX
2018-09-27 23:39:20 +02:00
TSC21 8325724079 general fixes on VIO data access 2018-09-18 09:52:33 +02:00
TSC21 22b8fa0414 posix_configs: add LPE iris_vision config 2018-09-18 09:52:33 +02:00
Daniel Agar 8ddb99971f tests template skip mavlink except for mavlink test 2018-08-30 11:13:24 -04:00
Daniel Agar 72792cef43
posix-configs shell scripts use /bin/sh to maximize compatibility (#10292)
- fix ocpoc line endings
2018-08-25 11:02:37 -04:00
mcsauder 3a22ee48db Correct trailing whitespaces. 2018-08-18 15:15:41 -04:00
Beat Küng 273988c124 SITL: move all models to unified rcS startup and remove old scripts 2018-08-13 21:50:14 -04:00
Beat Küng e6b9806ee1 SITL: add multi-vehicle support to rcS
This also removes the HIGHRES_IMU mavlink stream to the GCS. I don't see
why it's needed and it adds noticeable CPU load.
2018-08-13 21:50:14 -04:00
Beat Küng 1318e614ad SITL: handle 'make posix_sitl_shell' via unified rcS
The command is now: 'make posix none_shell'
which means: don't start a simulator and run a minimal shell only.
2018-08-13 21:50:14 -04:00
Beat Küng ab7f68f2ad ekf2 replay: refactor to use unified rcS scripts 2018-08-13 21:50:14 -04:00
Daniel Agar c2142a3067 posix SITL tests don't manually stop dataman 2018-08-12 11:23:21 -04:00
Beat Küng 5363aff879 fixes for integration and unit tests
Move ros logs dir so that .ulg files are not in the same directory
(mission_test.py:: get_last_log() fails otherwise)
2018-08-08 21:09:39 +02:00
Beat Küng efb202106f bbblue: required changes for posix shell 2018-08-08 21:09:39 +02:00