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40404 Commits

Author SHA1 Message Date
Daniel Agar 90e2cab3fa
boards: px4_fmu-v5/v5x run default & rtps boards through kconfiglib to cleanup 2022-04-18 09:58:36 -04:00
Daniel Agar 3cdeeb8d64
px4iofirmware: convert most files to c++ 2022-04-17 20:44:30 -04:00
Daniel Agar 3211d0ff19
boards: px4_fmu-v2_multicopter disable lightware_laser_serial to save flash 2022-04-17 18:59:56 -04:00
Daniel Agar d06032d7f3
boards: px4_fmu-v5_uacanv0periph disable systecmds/sd_bench to save flash 2022-04-17 16:04:01 -04:00
stmoon e7562df13a boards: px4_fmu_v5x_rtps disable several modules to save flash 2022-04-17 13:36:24 -04:00
Daniel Agar cbc37f9fcd
boards: px4_fmu-v6x_default disable systemcmds/sd_bench to save flash 2022-04-14 20:07:28 -04:00
alexklimaj 6e0ac66c3c drivers/optical_flow: new PixArt PAA3905 optical flow driver 2022-04-14 16:47:53 -04:00
Beat Küng 9a9aad98a1 mavlink: add COMPONENT_METADATA message 
And still support the previous message COMPONENT_INFORMATION for now.
 2022-04-14 09:55:06 -04:00
Igor Misic cdfa65d792 commander/safety: set early safety_button_available 2022-04-14 08:03:37 +02:00
Thomas Debrunner f6bdc42977 param-reset: Add option to reset all configurable params, but not the ones that store vehicle information 2022-04-14 07:57:48 +02:00
Daniel Agar 3f13c70cae
px4io cleanup LED and heater handling 
- most px4_io-v2 boards have a blue LED that breathes for status
 - the pixhawk 2.1 (hex) re-used this blue LED for as an IMU heater (active low), but kept the same board id (so we have to detect at runtime)
 - the new cubepilot boards (yellow, orange) inverted the polarity of this heater pin
 - untangle the mess slightly so that things we know statically (eg cubepilot cubeorange LEDs and heater polarity) are handled at build time.
 2022-04-13 18:43:59 -04:00
Alessandro Simovic 510ad00024 dronecan beeper: remove unneded var 2022-04-13 18:06:58 -04:00
chris1seto 912962f109
lib/rc: Fix DSM2/DSMX guessing routine and DSM range checking (#18270) 
* Add Orangerx test case

Co-authored-by: Chris Seto <chris.seto@bossanova.com>
 2022-04-13 17:29:08 -04:00
PX4 BuildBot 93268a285d Update submodule mavlink to latest Wed Apr 13 12:39:05 UTC 2022 
- mavlink in PX4/Firmware (16fd85d9b9133f21a79a5c1bccbf4756f4b3c781): 56a5110d38
    - mavlink current upstream: 3b52eac09c
    - Changes: 56a5110d38...3b52eac09c

    3b52eac0 2022-04-13 Beat Küng - add COMPONENT_METADATA, deprecate COMPONENT_INFORMATION (#1823)
 2022-04-13 14:09:03 -04:00
Daniel Agar 9c381a60b5 Tools/ecl_ekf: fix vibe_metrics usage (moved to vehicle_imu_status instances) 2022-04-13 10:36:45 -04:00
Daniel Agar b4158c1b48 sensors/vehicle_imu: Integrator use 1 microsecond for minimum DT 
- this is a more realistic minimum for the system
 2022-04-13 10:36:45 -04:00
Daniel Agar d2f1349d1a sensors/vehicle_imu: replace coning metric with actual integrator coning correction (averaged) 
- this saves a relatively expensive higih rate cross product and gives
better visibility into what's actually happening internally
 2022-04-13 10:36:45 -04:00
bresch 37cafe7dcd ekf rng kin: reduce minimum rng variance 2022-04-13 11:41:48 +02:00
bresch 4994649500 ekf rng kin: increase default gate size 
The user needs to tune the range finder noise parameters properly and we
shouldn't need such a small gate
 2022-04-13 11:41:48 +02:00
bresch 1fbe04986f ekf rng finder consistency: simplify class member names 2022-04-13 11:41:48 +02:00
bresch 4c03f0bc50 ekf: make range finder kin consistency gate tunable by parameter 2022-04-13 11:41:48 +02:00
bresch 079a5e92ba ekf: run rng consistency check only when not horizontally moving 
The check assumes a non-moving terrain height
 2022-04-13 11:41:48 +02:00
bresch d903613c9c ekf: add logging for rng kinematic consistency check 2022-04-13 11:41:48 +02:00
bresch 8693ad15a7 ekf: add logging of range finder consistency check 2022-04-13 11:41:48 +02:00
bresch baf9cc9597 ekf: use uint64_t for time variables 2022-04-13 11:41:48 +02:00
bresch 9fc331b7ea ekf: requires kinematically consistent range finder data to continue terrain aiding 2022-04-13 11:41:48 +02:00
bresch 78211f9dbb ekf: improve rng consistency check 
To pass from invalid to valid:
- time hysteresis
- some vertical velocity
- test ratio < 1
- low-passed signed test ratio < 1

To pass from valid to invalid:
- low-passed signed test ratio >= 1
 2022-04-13 11:41:48 +02:00
bresch b1ea2e4e15 ekf: use same gate for innov and innov sequence monitoring 2022-04-13 11:41:48 +02:00
bresch f96287b80a ekf: access member variable without getter 2022-04-13 11:41:48 +02:00
bresch 904bf8ef9f ekf: add range finder kinematic consistency check 
At each new valid range measurement, the time derivative of the distance
to the ground is computed and compared with the estimated velocity.
The average of a normalized innovation squared statistic check is used
to detect a bias in the derivative of distance measurement,
indicating that the distance measurements are kinematically inconsistent
with the filter.
 2022-04-13 11:41:48 +02:00
bresch 064518f57a ekf: extract range finder noise computation 2022-04-13 11:41:48 +02:00
Matthias Grob 97b2947416 FlightTaskAuto: refactor _commanded_speed_ts -> _time_last_cruise_speed_override 2022-04-13 12:23:27 +03:00
Matthias Grob 68cf686892 FlightTask: rename and move setCruisingSpeed() -> overrideCruiseSpeed() 2022-04-13 12:23:27 +03:00
Matthias Grob f892a624b7 FlightModeManager/FixedwingPositionControl: robustify vehicle command parameter casting 2022-04-13 12:23:27 +03:00
Matthias Grob 6ce3e88f9d vehicle_command: specify what SPEED_TYPEs are for 2022-04-13 12:23:27 +03:00
RomanBapst 3ed929c7b6 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
RomanBapst b335710655 vehicle_command: added enum for speed types 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
RomanBapst d41de33a85 FlightModeManager: handle MAV_CMD_DO_CHANGE_SPEED 
- support setting the cruise speed of the auto flight task via command

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
RomanBapst ca657f36ef FixedWingPositionControl: handle VEHICLE_CMD_DO_CHANGE_SPEED 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
RomanBapst 36e32ecd7b navigator: stop handling speed changes via reposition triplet 
- the mc and fw controllers are handling the speed changes directly

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
Junwoo Hwang 35613df210 uORB : Don't automatically include message name as default topic name in uORBTopics source files, to handle case where user doesn't use default messgae name for multi topic definition in .msg file 2022-04-13 09:08:51 +02:00
alexklimaj 4fc161192a Add ARK CANnode board config 2022-04-12 21:23:18 -04:00
Daniel Agar 0a0987a6e0 ROMFS: move px4flow start to rc.sensors 2022-04-12 21:22:41 -04:00
Daniel Agar 1d66f2cf83 posix: HRT hrt_lock() sem_wait try again if error returned 2022-04-12 12:46:29 -04:00
Matthias Grob 10f927ae2b MulticopterPositionControl: remove unused return value parameters_update() 2022-04-12 10:13:11 -04:00
Daniel Agar c30475b04b
Update submodule GPSDrivers to latest Tue Apr 12 12:38:56 UTC 2022 
- GPSDrivers in PX4/Firmware (c04e66a890c75f57f5588d669eec45c8da8c3ed5): ad1094aaf1
    - GPSDrivers current upstream: ddb1825fe3
    - Changes: ad1094aaf1...ddb1825fe3

    ddb1825 2022-03-29 Daniel Agar - ubx: print relevent UBX-MON-VER output

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-04-12 10:12:46 -04:00
PX4 BuildBot 5e6fb9b537 Update submodule sitl_gazebo to latest Tue Apr 12 12:38:53 UTC 2022 
- sitl_gazebo in PX4/Firmware (bb2ea574aa): 25138e803e
    - sitl_gazebo current upstream: 2cf56d0bf8
    - Changes: 25138e803e...2cf56d0bf8

    2cf56d0 2022-03-23 Julian Oes - Revert "models: Add model for standard_vtol_ctrlalloc"
b3ab8de 2022-03-18 JamesAnawati - Update cloudship.sdf.jinja
 2022-04-12 10:12:12 -04:00
Daniel Agar 8166a500ac
Update world_magnetic_model to latest Mon Apr 11 11:14:11 UTC 2022 (#19475) 2022-04-12 10:11:51 -04:00
Daniel Agar bb2ea574aa ekf2: properly reset IMU biases on calibration change (non-multi-EKF) 
- this was working in the multi-EKF case using vehicle_imu, but missing
in sensor_combined
 2022-04-11 12:23:55 -04:00
Daniel Agar 8f891332f1
boards: px4_fmu-v2_multicopter disable load_mon to save flash 2022-04-11 12:23:35 -04:00