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38,148 Commits 514 Branches 136 Tags 234 MiB
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38148 Commits

Author SHA1 Message Date
Daniel Agar 6d78054f50
mavlink USB auto start/stop on boards with VBUS 
- no longer start sercon or mavlink usb by default
 - on USB connection (VBUS) monitor serial USB at low rate and start Mavlink if there's a HEARTBEAT or nshterm on 3 consecutive carriage returns
 - the mavlink USB instance is automatically stopped and serdis executed if USB is disconnected
 - skipping Mavlink USB (and sercon) saves a considerable amount of memory on older boards
 2021-10-03 15:32:54 -04:00
bresch 07e307b074 FieldSensorBiasEst: fix bias learning equation 
Also compensate the tuned learning gains for the new equation to keep
the same tuning
 2021-10-02 21:25:21 -04:00
bresch e0bcc17f5b mbe: integrate pre-takeoff mag bias estimate in VehicleMagnetometer 2021-10-02 21:25:21 -04:00
bresch 1443f773da mbe: add module to targets 2021-10-02 21:25:21 -04:00
bresch ec178c8745 create new mag_bias_estimator module 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-10-02 21:25:21 -04:00
bresch d858835fd0 mbe: initialize estimator with current measurement 2021-10-02 21:25:21 -04:00
bresch 9067d9cae9 mbe: improve algorithm and fix unit test 2021-10-02 21:25:21 -04:00
Matthias Grob 24dc627e8a Add MagnetometerBiasEstimator for online magnetometer calibration 2021-10-02 21:25:21 -04:00
bresch 5874b1f87c mc atune: add module to all targets 
- adjust flash constrianed targets to fit
 2021-10-02 18:12:05 -04:00
bresch b99dbcc6a7 ModuleDocumentation: add autotune categorie 2021-10-02 18:12:05 -04:00
bresch 61dabca4c8 mavlink_receiver: Add mavlink handler with progress report 2021-10-02 18:12:05 -04:00
bresch d463dfe2d8 mavlink_receiver: handle auto-tuning command 2021-10-02 18:12:05 -04:00
bresch cd61065aea sitl: start MC autotune module 2021-10-02 18:12:05 -04:00
bresch 9681f819a8 mc_att: inject identification signal in att control output 2021-10-02 18:12:05 -04:00
bresch 0498ee92d0 mc atune: add multicopter attitude auto-tuner module 2021-10-02 18:12:05 -04:00
bresch d3cb806627 pid_design: add model-based PID tuning law based on GMVC 2021-10-02 18:12:05 -04:00
bresch 404145c655 sysID: add system identification library 2021-10-02 18:12:05 -04:00
bresch d504b49695 mc_rate: compute control energy and publish to status msg 2021-10-02 18:12:05 -04:00
Alex Klimaj 0a662ef22c
Add uavcannode RTCM subscriber 2021-10-01 20:43:49 -04:00
alexklimaj 05ee31072a Add ARK RTK GPS 2021-10-01 20:34:32 -04:00
Daniel Agar c1c86bc349 Jenkins: hardware clear ccache stats before compiling 2021-10-01 20:31:29 -04:00
Daniel Agar a53946649a sensors/vehicle_magnetometer: only check if sensor enabled after parameters loaded 2021-10-01 20:30:46 -04:00
Daniel Agar 3c8f1f2a50 Jenkins: reduce build agent cpu share 2021-10-01 18:18:51 -04:00
SungTae Moon 2adf3f959b Update Tools/gazebo_sitl_multiple_run.sh 
Co-authored-by: JaeyoungLim <jalim@ethz.ch>
 2021-10-01 16:09:32 +02:00
stmoon bc5d55c4a4 fix the problem related to sitl multiple vehicle environment 2021-10-01 16:09:32 +02:00
marcojob 68a13326f0
mavlink: remove unused strncpy (#18300) 2021-10-01 10:58:25 +02:00
David Sidrane 7c9903f610 stm32h7:px4io_serial use TRBUFF 
- includes NuttX with TRBUFF backports
 2021-09-29 23:55:00 -04:00
David Sidrane 25a27d26e0 logger:log_writer_file Do not try to store ulog name on systems without hardfault logging 2021-09-29 23:51:25 -04:00
David Sidrane f56701e72f micro_hal:Remove px4_savepanic on arch without hardfault logging 2021-09-29 23:51:25 -04:00
David Sidrane cb47203a9e NuttX with deglitched GPIO backports 2021-09-29 23:50:11 -04:00
Daniel Agar f3a904c109
Jenkins: HIL increase timeout 
- occasionally we have a considerable backlog
 2021-09-29 20:37:07 -04:00
David Sidrane 63e29b821c holybro_can-gps-v1:Ensure sensors are powered 2021-09-29 14:37:17 -04:00
David Sidrane 2abbf791b3 NuttX with deglitched GPIO backports 2021-09-29 14:37:17 -04:00
David Sidrane 70eca23468 ark_can-gps_debug:Fit in Flash w/o loosing tools 2021-09-29 14:37:17 -04:00
David Sidrane 20c1f763d2 px4_fmu-v4:CAN build needs .app_descriptor 2021-09-29 14:34:42 -04:00
David Sidrane 797bd9592b mxp_ucans32k146:using padding of 8 2021-09-29 14:34:42 -04:00
David Sidrane f4e9672fde make_can_boot_descriptor:Add padding argument 2021-09-29 14:34:42 -04:00
Peter van der Perk 360c3781f3 UCANS32K146-01 Add CAN tranceiver self test 2021-09-29 09:36:14 -07:00
Daniel Agar c39a21aa54 ekf2: selector remove special timeout condition 
- this mainly produces false positives when disarmed and bench testing
 2021-09-29 09:59:08 -04:00
Paul Riseborough ed7c5991eb ekf2: Fix dimensional error in gyro and accel bias variance conversions 2021-09-29 09:58:41 -04:00
Hyungsub 5677ab042b
tap_esc: fix resource leak (#18296) 2021-09-29 14:51:31 +02:00
Daniel Agar 03bd5e0f48 lib/led: move drivers/lights/rgbled LED_RGB_MAXBRT -> SYS_RGB_MAXBRT 2021-09-28 10:09:55 -04:00
Nicolas Martin b24e5fc0af clean remaining offboard_control_signal_found_once 
offboard_control_signal_found_once is not used any more
 2021-09-28 09:25:04 -04:00
Nicolas Martin 417a50b2cc fix typo in comment 2021-09-28 09:24:47 -04:00
Jukka Laitinen 6cae4c92e7 Add a header to logfile encryption key exchange file 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen 9a4ef709ca Add parameters for configuring the logfile encryption 
SDLOG_ALGORITHM for selecting the crypto algorithm
SDLOG_KEY for selecting the key in keystore to use with the algorithm.
  for symmetric algorithms which are currently supported, this is just a free
  slot to be used, the key is generated at logging start
SDLOG_EXCH_KEY for selecting an RSA2048 key for encrypting the SDLOG_KEY

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen 1687cab56c FMUv5: Add a build target for crypto interface testing, px4_fmu-v5_cryptotest 
To avoid messing with existing targets, and to automatically set the test keys
for the keystore.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen ce76380051 Add a simple script to decrypt ulog files 
This now only decrypts xchacha20 encrypted logs, where keys are
exchanged with rsa_oaep_sha256 and nonce appended to the end of the
key

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen 9472f79307 Take crypto interfaces into use in logger, to encrypt ulog data 
- Generate a symmetric encryption key and a nonce value
- Use a public key in keystore to encrypt the symmteric key
- Write the encrypted key and the nonce value to disk into .ulgk, name matching with the encrypted log file
- use quick stream encryption to crypt the .ulg file contents

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen 6b22fe99b7 Globally define -DPX4_CRYPTO when the board defines some crypto backend 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00