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41060 Commits

Author SHA1 Message Date
Beat Küng 7e75b497ae
helicopter: add switch to engage main motor 
For helicopters it's useful (e.g. during bringup) to be able to disable
the main rotor while the tail is still controlled to safely land.
 2022-09-07 08:00:26 +02:00
Matthias Grob f32d931117
helicopter: add yaw sign parameter & expose settings in UI 2022-09-07 08:00:26 +02:00
Matthias Grob 349f152601
Helicopter: throttle spoolup upon arming 
Uses COM_SPOOLUP_TIME to slowly ramp the throttle and allow the
tailrotor to compensate in a coordinated way based on the yaw
compesation from throttle, see CA_HELI_YAW_TH_S.

This coordinated spoolup is necessary to avoid unsafe yaw twitches
because of the heli rotating until the correct compensation kicks in
through the feedback controller.
 2022-09-07 08:00:26 +02:00
Matthias Grob 7bf62373ae
Helicopter: refactor complicated throttle curve logic 2022-09-07 08:00:26 +02:00
Matthias Grob 2edb35b1b5
Functions: add gradual function with arbitrary number of corner points 2022-09-07 08:00:26 +02:00
Matthias Grob 6a9a049f1e
Helicopter: add unit testing for throttle curve 2022-09-07 08:00:26 +02:00
Matthias Grob 9ba6f4efb7
Helicopter: add yaw compensation from throttle CA_HELI_YAW_TH_S 2022-09-07 08:00:26 +02:00
Matthias Grob 554d965a2d
Helicopter: use absolute value for yaw compensation from collective pitch 2022-09-07 08:00:26 +02:00
Beat Küng 608ab9ff9c
control_allocator: extend description for CA_SP0_ANGx 2022-09-07 08:00:25 +02:00
Beat Küng e346190e63
helicopter: use tail motor & add CA_HELI_YAW_CP_S 2022-09-07 08:00:25 +02:00
Julian Oes 5ece24cdc4 setup: attempt to fix macOS CI 
Somehow the wheel install of pymavlink fails without future, let's try
to work around that.
 2022-09-07 13:49:37 +12:00
Peter van der Perk 8f0c2f4146 UCANS32K1 Enable some sensors by default 2022-09-06 09:43:11 -04:00
bresch 92fbd86b46 ekf2: add gps altitude drift test 2022-09-05 10:28:37 -04:00
bresch a2a5093881 ekf2: relax zero velocity update 
The ZVU is too strong and prevents the EKF from following variations in
the height aiding sources, creating large innovations.
 2022-09-05 10:28:37 -04:00
Daniel Agar d996af4647 ekf2: pass gpsSample around where required 
- this minimizes potential misuse accessing _gps_sample_delayed and
makes the dependency clear
 2022-09-05 10:27:19 -04:00
RomanBapst 0c860fa227 airspeed_selector: don't declare wind estimate valid if estmator is not initialised 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-09-05 10:21:38 -04:00
Ville Juven 9ed35debec board_ctrl: Clean up usage of VBUS, nARMED from user/kernelspace 
Move logic implemented in the header files to source files, this way
it will be simpler to define which is compiled to kernel space and
which to user space

Also allows to remove some headers that pull in half the universe
from the board definitions (which should just be pin definitions and
no functionality)
 2022-09-05 07:37:28 +02:00
Benjamin Perseghetti a56f654651
Multi-Vehicle Ignition Gazebo Simulation (#20154) 2022-09-04 21:10:29 -04:00
Daniel Agar 7bbdc220f5 ekf2: initialiseFilter() simplify mag heading init and resetQuatStateYaw 
- most of resetQuatStateYaw doesn't apply to initial heading init, so
removing the special case keeps it simple
 2022-09-02 08:46:10 -04:00
Ville Juven e467d11990 boards/px4/fmu-v5/toc: The RD certificate signature points to the wrong place 
The signature end address is incorrect
 2022-09-02 08:00:27 +02:00
Daniel Agar 5dfd2f39ef boards/cubepilot/cubeorange: initialize all I2C pins immediately 2022-09-01 20:46:09 -04:00
Daniel Agar e93a3a2a3a
ak09916: enable retries and reset perf count 2022-09-01 20:45:20 -04:00
Daniel Agar f66b5ce204
simulation: ignition bridge allow IMU or pose callbacks to update system time if newer than clock 
* requires HRT lockstep changes to eliminate offset (PR #20146)
 2022-09-01 20:42:21 -04:00
Daniel Agar c52f2143d2 posix lockstep remove HRT offset and use full sim time 2022-09-01 20:40:37 -04:00
Daniel Agar 3da0293369 simulator_ignition_bridge: init error handling 2022-09-01 18:54:59 -04:00
Beat Küng 43c5f14aa0 commander: update arming & health protocol, add modes to event hash 2022-09-01 17:07:23 -04:00
Beat Küng f57321d365 simulator_mavlink: fix esc_status publication 2022-09-01 17:07:23 -04:00
Beat Küng 295caaea60 events/enums.json: remove redundant manual_control_input 2022-09-01 17:07:23 -04:00
Beat Küng 2c96bb3746 px4_parameters.hpp.jinja: explicitly set .name attribute 
Fixes the compile error on llvm:
mixture of designated and non-designated initializers in the same initializer list is a C99 extension [-Wc99-designator]
 2022-09-01 17:07:23 -04:00
Beat Küng 1370cc0d74 log.h: add PRINTF_LOG option for direct printf to reduce dependencies 2022-09-01 17:07:23 -04:00
Beat Küng a9c1415337 Makefile: allow to set CMAKE_ARGS via CLI 2022-09-01 17:07:23 -04:00
Beat Küng 4e940fab83 perf_counter: remove unused include sys/queue.h 2022-09-01 17:07:23 -04:00
Beat Küng 9eff6dd049 commander: cleanup param value description for COM_POSCTL_NAVL 2022-09-01 17:07:23 -04:00
Beat Küng 0e130eac83 refactor commander: move code inside run() into separate methods 2022-09-01 17:07:23 -04:00
Beat Küng dcb9b712bb refactor commander: move vehicle control mode to ModeUtil 2022-09-01 17:07:23 -04:00
Beat Küng f197c8884d commander: move esc checks to arming check 2022-09-01 17:07:23 -04:00
Beat Küng c9037f115b refactor commander: split out home position 2022-09-01 17:07:23 -04:00
Beat Küng f17f38197d commander: move estimator checks to arming check 2022-09-01 17:07:23 -04:00
Beat Küng cfe3d793bf commander: move battery handling into arming checks 2022-09-01 17:07:23 -04:00
Daniel Agar 5cb44a521c ekf2: estimator interface handle sample time with signed integers 
- this prevents unsigned integer overflow if the timestamp is smaller
than the configured delay (mostly a simulation edge case)
 2022-09-01 09:47:29 -04:00
dagar 75f6f22223 [AUTO COMMIT] update change indication 2022-08-31 08:52:30 -04:00
Daniel Agar 1948c5057a ekf2: handle all time on delayed horizon (except for newest sample checks) 
- a growing number of samples come into the backend with the time
already delayed (sensor's interrupt setting timestamp sample)
 - if the incoming timestamp is already delayed then the new data checks
(relative to latest IMU) can be slightly wrong
 - handle almost all timestamps and checks on delayed time horizon,
except for explicit checks of new samples
 - isRecent() and isTimedOut() helpers use delayed time
 - add new isNewestSampleRecent() used for checking the incoming
timestamp of the incoming (adjusted) data
 2022-08-31 08:52:30 -04:00
Jukka Laitinen d6a4e158cf Add call-gates to px4_crypto for protected build 
This adds kernel-userspace interfaces to crypto layer

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-08-31 09:48:49 +02:00
Beat Küng d681782c7f fix flashfs: find_entry: do not go to the next sector if the CRC is invalid 2022-08-31 09:42:59 +02:00
Beat Küng 4f52cda504 flashfs: ensure no address past the end of a sector is dereferenced 
As it might result in a hardfault if it's the last flash sector.
 2022-08-31 09:42:59 +02:00
Beat Küng 2776b723ea holybro/kakuteh7: switch to flash-based params 2022-08-31 09:42:59 +02:00
Hamish Willee e780a583cd Fix typo follow height: FLW_TGT_HT 2022-08-29 13:25:35 +02:00
Ben Berry 734d3e4aa0 Reverted changes that broke Level Horizon calibration 2022-08-29 09:54:36 +02:00
Beat Küng afc99749b8 px4/fmu-v5/uavcanv0perith: disable gps to reduce flash usage 2022-08-25 22:02:15 -04:00
Beat Küng 715afd27f5 ROMFS: exclude mixers on v2 & disable mixer command 
The dynamic mixing is now the default
 2022-08-25 22:02:15 -04:00