Commit Graph

509 Commits

Author SHA1 Message Date
Thomas Stastny 82fd2987c9
fw pos control: revert name until we delineate this module a bit more (#21442) 2023-04-13 17:00:04 +02:00
Konrad 6bdeb43e0d fw_path_navigation: Remove explicit L1 mentioning. 2023-02-09 17:51:55 +01:00
Daniel Agar b400b7fcc4
vehicle_angular_velocity: ESC RPM notch filters minimize filter resets (#20449)
- vehicle_angular_velocity: ESC RPM notch filters minimize filter resets
 - only allow one filter init per axis per cycle
 - "park" ESC notch filters at min frequency instead of full disable
 - relax timeout before a notch filter is disabled
 - add new parameter IMU_GYRO_DNF_MIN for configuring the minimum notch filter frequency
2022-10-20 09:05:23 -04:00
Daniel Agar 55be169e18 delete remaining PWM_MAIN/PWM_AUX/PWM_EXTRA parameters 2022-09-09 09:14:09 -04:00
Daniel Agar d3312f955f delete systemcmds/pwm 2022-09-09 09:14:09 -04:00
Daniel Agar cac9c51ac8 ROMFS: purge old mixing system
- SYS_USE_IO is now off by default (enabled by default per board)
2022-09-09 09:14:09 -04:00
Daniel Agar 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
Daniel Agar f390f52058 drivers/differential_pressure: remove lib/drivers/airspeed dependency and cleanup
- split ms4525_airspeed into separate ms4515 and ms4525 drivers
2022-04-26 08:39:19 -04:00
Daniel Agar 475bd42ab8 sensors: add 2nd static notch and migrate existing parameters
- new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW
 - existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become
IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW
2022-03-19 14:38:04 -04:00
Daniel Agar afeab9587e gyro_fft: peak detection exclude side FFT buckets
- when estimating the peak frequency the magnitude of side buckets will
be factored in, so it doesn't make sense to potentially treat them as
separatey detected peaks
2022-03-19 14:37:36 -04:00
Daniel Agar daa925137c boards: move default battery calibration defines to parameter defaults 2022-01-10 09:49:36 -05:00
Daniel Agar 64e00c41d4 posix-configs: fix bbblue and rpi param import 2021-12-23 15:57:11 -05:00
Daniel Agar 1f6acd0171 parameters: add simple backup and restore mechanism 2021-12-06 09:37:08 -05:00
Daniel Agar 376b72fb2f sensors/vehicle_angular_velocity: add new parameter for ESC RPM notch filter BW 2021-11-11 11:17:15 -05:00
Daniel Agar cb34ff1292 posix-configs/SITL/init/test/test_imu_filtering enable gyro dynamic notch filtering by default 2021-11-08 19:14:32 -05:00
Daniel Agar cc4152e10d gyro_fft: require higher SNR for initially tracking a peak
- initial frequency peak tracking SNR increased from 10->15 db
 - after initial detection the threshold decreases to SNR 5db
 - gyro_fft large method refactored into smaller pieces
 - sensors/vehicle_angular_velocity: dynamic notch FFT make sample rate
check a percentage and relax lower bound safety threshold
2021-10-04 10:17:16 -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
Daniel Agar 65745a3676 purge broken qurt support and atlflight boards 2021-07-16 08:53:36 -04:00
Daniel Agar c5b1fe86ca delete deprecated BAT_* parameters 2021-07-08 22:19:12 -04:00
Daniel Agar 1b5e65df04
gyro_fft: change default length 1024 -> 512 to decrease latency
- change default FFT length (1024 -> 512)
      - this doubles the update rate because half the number of samples are required for each
 - decrease number of peaks (4 -> 3)
      - so far 3 seems to be sufficient on most vehicles
 - increase median filter window (3 -> 5)
 - decrease SNR requirement (likely needs to be configurable)
2021-07-06 21:54:18 -04:00
Daniel Agar 2a792ca201 gyro_fft: add simple SNR requirement and reduce number of peaks 2021-05-31 10:26:45 -04:00
Daniel Agar c3884b5bc1
fake_imu (formally fake_gyro) updates for testing gyro filtering
- fake_imu now publishes sine sweeps over 10 seconds
 - accel is also published so that fake IMU can be selected when the only option
2021-05-17 20:26:25 -04:00
Daniel Agar a260ddd8ff
posix-configs: rpi multi-EKF defaults
- the ekf2 frontend typically runs in the background for up to 30 seconds waiting for all instances to appear, but this isn't supported by the legacy posix launcher
2021-03-26 14:24:34 -04:00
Daniel Agar ea902e7f38 systemcmds/tests: split out individual module test commands 2021-03-23 11:39:14 -04:00
Daniel Agar c9a2d0ed34 IMU_GYRO_RATEMAX set system default to 400 Hz
- MC default is still 800 Hz
2021-03-02 10:08:49 -05:00
garfieldG 3cd9b3c2cf Added support in Mavlink Ethernet channel parameters
Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
2021-02-25 08:52:38 -08:00
Beat Küng 0e8c73f4af drivers: remove snapdragon_pwm_out
- it would need to be refactored to use mixer_module
- rather than having a separate driver it should use linux_pwm_out
2021-02-25 09:28:37 -05:00
Beat Küng f0cc8a344b linux_pwm_out: refactor to run on a work queue and use mixer_module 2021-02-25 09:28:37 -05:00
Beat Küng 439fb00aed linux_pwm_out: move protocols to board-specific directories
This also removes the pca9685 output, which was unused, and there's also
pca9685_pwm_out.
2021-02-25 09:28:37 -05:00
Daniel Agar ab0d0fd0be
uORB move to PX4 platform layer 2021-02-17 11:25:56 -05:00
Daniel Agar d1a3590aac PWM: transition PWM_{MIN,MAX,DISARMED,RATE} -> PWM_MAIN 2021-02-01 08:53:33 +01:00
Daniel Agar 3abe2e82d1 mpu9250: create dedicated i2c version and delete legacy driver
- update crazyflie and bbblue usage
 - eventually this should be merged with the SPI version after interface
changes are made
2021-01-17 16:11:19 -05:00
Daniel Agar 4d7b875ee2 flight_mode_manager: merge with flight_tasks 2021-01-17 15:46:30 +01:00
SalimTerryLi 1ee98417f8
scumaker pilotpi updates
* replace default mag with qmc5883l
* fix rotation and quiet startup
* fixedwing script & Multi-EKF cfg
* set default params only when initial startup
2021-01-14 09:16:13 -05:00
Daniel Agar 763c3b8fda boards: start enabling multi-EKF by default on F7/H7 2021-01-10 17:56:34 +01:00
Matthias Grob 7545249215 Add flight_mode_manager to all targets with mc_pos_control 2020-12-30 10:25:08 -05:00
SalimTerryLi 6728a3a05a
boards: rename AirPi2 to PilotPi, add arm64 support, add to CI
* rename all
* add arm64 support
* change internal ist8310 onto I2C-1
2020-11-10 11:04:47 -05:00
Beat Küng 5f27407acd tests: don't run battery_simulator
The battery migration interferes with the tests.
2020-10-20 09:18:47 +02:00
blazczak 57da61dc17
posix-configs/rpi: Fix mavlink over UART (/dev/ttyAMA0)
UART is the primary interface for telemetry radio: https://docs.emlid.com/navio2/ardupilot/hardware-setup/#uart-radio

Check first if /dev/ttyUSB0 exists (https://docs.emlid.com/navio2/ardupilot/hardware-setup/#usb-radio); if not, fall back to configuring over UART (/dev/ttyAMA0).

Use stricter check for character special file (-c) rather than just file (-f).

'console=serial0,115200' needs to be removed from /cmdline.txt as additional configuration step. This should be documented in the Navio2 section of docs.px4.io. Presumably, this is already performed as part of the Raspberry Pi OS prebuilt image Emlid spins.
2020-10-03 10:51:27 -04:00
SalimTerryLi 25eca31e3a
New board Scumaker AirPi HAT for Raspberry Pi B series 2020-10-01 11:22:47 -04:00
Beat Küng 055fa768d8 posix: enable ROMFSROOT
This will copy the ROMFS into the build directory under etc/, and thus
needs a change of the PX4 startup parameters and mixer paths.
2020-09-15 09:30:16 +02:00
SalimTerryLi c037dbef21
Rename and move src/drivers/adc to src/drivers/adc/board_adc 2020-09-07 23:09:20 -04:00
Daniel Agar 26bac78eaf mixers: Multirotor remove text roll, pitch, yaw scaling and idle speed 2020-08-17 16:37:08 -04:00
SalimTerryLi 49e83b6ae4
load_mon: add linux support 2020-08-11 18:33:44 -04:00
Daniel Agar 55808ed2f9
simulator: break out standalone battery simulator module
- this is a small step towards unifying SITL & HITL
2020-06-24 10:39:21 -04:00
Daniel Agar 34864cc704 github actions build and run emlid navio2 on hardware 2020-06-20 19:03:15 -04:00
Daniel Agar 04113b4d57 commander: changes when USB connected
- skip avionics rail voltage check when USB connected
 - skip forced reboot on USB disconnect if circuit breaker set
 - avionics voltage preflight check don't silently fail if system_power unavailble
     - explicitly set supply check circuit breaker (CBRK_SUPPLY_CHK)
2020-05-06 13:53:54 -04:00
Daniel Agar 746a8f5cf9 commander: reboot/shutdown usability fixes
- always check with state machine before reboot/shutdown
 - respect BOARD_HAS_POWER_CONTROL (shutdown from command, low battery, power button)
 - px4_shutdown_request add optional delay and always execute from HPWORK
 - px4_shutdown_request split out px4_reboot_request
2020-05-06 13:53:54 -04:00
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