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34010 Commits

Author SHA1 Message Date
Mathieu Bresciani fdd1d6d244
Multicopter rounded turns (#16376) 
* AutoLineSmoothVel: Implement l1-style guidance in turns
 2020-12-14 13:04:01 +01:00
Julian Oes 9b065b4975 Update src/systemcmds/tests/test_dataman.c 
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2020-12-14 09:26:18 +01:00
Julian Oes 5cb1bb7731 systemcmds: fix dataman test 2020-12-14 09:26:18 +01:00
Julian Oes 1719ff9892 simulator: fix after px4_task_spawn_cmd change 
argv[0] now contains the task name, so everything moves by one.
 2020-12-14 09:26:18 +01:00
Julian Oes dba3c642d2 posix: set task name as argv[0] to match Nuttx 
This changes px4_task_spawn_cmd to match the NuttX task_spawn. It adds
the task name as argv[0]. See example below:

px4_task_spawn_cmd("task_name",
		   SCHED_DEFAULT,
		   SCHED_PRIORITY_DEFAULT,
		   1024,
		   (px4_main_t)&Something::start_helper,
		   (char *const *)argv);

with:

argv[0]: "something"
argv[1]: "start"
argv[2]: nullptr

becomes in Something::start_helper:

argv[0]: "task_name"
argv[1]: "something"
argv[2]: "start"
argv[3]: nullptr
 2020-12-14 09:26:18 +01:00
Julian Oes 862fd1d450 module: remove NuttX only quirk 
The behaviour on NuttX and Posix should now be the same anyway.
 2020-12-14 09:26:18 +01:00
Julian Oes 314b5e721f src: remove NuttX ifdefs around args 
It doesn't look like they are required anymore.
 2020-12-14 09:26:18 +01:00
Julian Oes 5be2066e1a posix: small cleanup 2020-12-14 09:26:18 +01:00
Thomas e51000c5be fix syntax of prev commit 2020-12-11 22:00:56 +01:00
Thomas Stauber eec64c5c0f More compact if statement 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-11 22:00:56 +01:00
Thomas d025787334 replace _vehicle_status 2020-12-11 22:00:56 +01:00
Thomas db58269577 Add support for set_position_target_local_ned message 2020-12-11 22:00:56 +01:00
Thomas 1e6976234f Remove reset_offb_cruising_speed(). Make more explicit that this PR only affects offboard mode. 2020-12-11 22:00:56 +01:00
Thomas f1524fe27d renaming the new functions 2020-12-11 22:00:56 +01:00
Thomas 9cc9e4f89f Handle MAV_CMD_DO_CHANGE_SPEED command for FW Offboard global position control. 2020-12-11 22:00:56 +01:00
Daniel Agar 0433f4d33c land_detector: decrease default LNDFW_AIRSPD_MAX 8 -> 6 m/s 2020-12-11 21:58:43 +01:00
Daniel Agar ae2b1a265c commander: POSCTL optical flow aiding continue updating GPOS validity 
- updating the global position validity should happen regardless of
being in manual position control mode with only optical flow
 - condition_global_position_valid needs to be accurate to adjudicate
main state changes (eg going into AUTO MISSION)
 2020-12-11 15:33:50 -05:00
Daniel Agar 6bda8af97c commander: merge duplicated position and velocity validity checks 2020-12-11 15:33:50 -05:00
Daniel Agar 5cd4a9c73f commander: global position validity respect local position xy_valid 2020-12-11 15:33:50 -05:00
Daniel Agar ef6209ba03
new manual_control_switches msg (split out of manual_control_setpoint) (#16270) 
- split out switches from manual_control_setpoint into new message manual_control_switches
 - manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
 - simple switch debounce in rc_update (2 consecutive identical decodes required)
 - manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
 - manual_control_setpoint publish at minimal rate unless changing
 - commander handle landing gear switch for manual modes
 - processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
     - a future step will be to finally drop mode_switch and accompanying switches entirely

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2020-12-11 12:11:35 -05:00
Daniel Agar 25ef76b3b8 navigator: fix LOITER_TO_ALT 
- this was overzealously removed in https://github.com/PX4/PX4-Autopilot/pull/15677
 2020-12-11 16:28:08 +01:00
Jannik Beyerstedt c5a6a60903 Also log transponder_report and satellite_info 
* log full data rate transponder_report message by default
* log satellite_info (GPS_STATUS) as part of debug topics
 2020-12-11 12:44:23 +01:00
RomanBapst fd18ba6496 tiltrotor: allow to finish transition if groundspeed is below cruise speed 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-12-11 09:40:47 +03:00
Roman Bapst 842d98d572 AirspeedValidator: fuse true airspeed before sideslip (#742) 
- the states can be initialised more accurately using an airspeed measurement
and the wind estimator uses the first measurement to initialise

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-12-11 09:37:09 +03:00
Daniel Agar d44e537084
ekf2: update to new ecl to fix fault status getter 
- estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits
 2020-12-10 12:45:41 -05:00
Beat Küng 72420dfff3
mavlink_receiver: remove unused _param_com_flight_uuid 2020-12-10 08:47:04 +01:00
PX4 BuildBot 7db555573b Update submodule ecl to latest Wed Dec 9 12:40:07 UTC 2020 
- ecl in PX4/Firmware (ef162f7629ce29be8fd556b81357b96720d8e21f): https://github/commit/da7d41e78aecdc07d226bd7d723c747895d1c615
    - ecl current upstream: https://github/commit/8f3df7a97b348dd7bf06233004f9821fe2ea88d1
    - Changes: https://github/compare/da7d41e78aecdc07d226bd7d723c747895d1c615...8f3df7a97b348dd7bf06233004f9821fe2ea88d1

    8f3df7a 2020-12-09 Mathieu Bresciani - flow: restructure optical flow control logic (#928)
3835800 2020-12-09 kritz - Auto update change indication by github actions
688a054 2020-12-08 Daniel Agar - EKF: controlDragFusion() add parenthesis for readability
944b18c 2020-12-05 Paul Riseborough - EKF: Remove non useful status print
ee94980 2020-12-03 Paul Riseborough - EKF: Clean up wind state activation logic
44ebfb8 2020-12-02 Paul Riseborough - EKF: Don't report local position as valid when in a non-position mode
 2020-12-09 13:12:58 -05:00
flbernier bca2d3139a Enable dshot driver for fmu-v4pro 2020-12-09 17:56:11 +01:00
Orkun Aşa f2aa7d3f88 Update ROMFS/px4fmu_common/init.d/rc.sensors 
parameter comparison logic is changed.

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2020-12-09 17:55:38 +01:00
Orkun Aşa a6b7add2fe SENS_EN_VL53L1X parameter is implemented to enable VL53L1X distance sensor 2020-12-09 17:55:38 +01:00
Igor Campos 9c3b70d517 remove default value for roll angle 2020-12-09 17:54:53 +01:00
Igor Campos bbad1bdd6e add comment. 2020-12-09 17:54:53 +01:00
Igor Campos 33b831efe3 rename variables 2020-12-09 17:54:53 +01:00
Igor Campos dfcd6a7c16 fix typo 2020-12-09 17:54:53 +01:00
Igor Campos c316af6ec7 update to match new feature as a new mavlink command Oblique Survey 260 2020-12-09 17:54:53 +01:00
Igor Campos 390ed3765f disable pseudo-oblique mode if param4 is 0. 2020-12-09 17:54:53 +01:00
Igor Campos 38a5b8a502 fix comment description for pitch angle 2020-12-09 17:54:53 +01:00
Igor Campos d0ae931543 adjust minimum number of positions to 2. 2020-12-09 17:54:53 +01:00
Igor Campos 0cb3ce4886 fix readability 2020-12-09 17:54:53 +01:00
Igor Campos e1e06364da fix formatting 2020-12-09 17:54:53 +01:00
Igor Campos 73f7b08873 add Camera Auto Mount Pseudo Oblique Solution (CAMPOS) 
add target system and component ids to vmount commands

Signed-off-by: Igor Campos <igor.gama.90@gmail.com>
 2020-12-09 17:54:53 +01:00
Thomas 7e2da11d67 reenable WV after FT alignment 2020-12-09 17:36:20 +01:00
Julian Oes a1b54eb655 mavlink: check index for out-of-bounds 
If a MAP_RC_PARAM message is sent with an index > 2, this would lead
to undefined behaviour or a segfault/hardfault.
 2020-12-09 08:59:57 +01:00
Mark Sauder dd4ee5c48c
dshot: breakout driver header file, use static_casts, add const specifiers (#15908) 
* Break out dshot.h from dshot.cpp and rename files to reflect the class name.
Move DShot class specific #defines from drv_pwm_output.h to dshot.h.
Replace c-style casts with static_casts, standardize method naming, single line comment styles, and formatting.
Rename update_dshot_out_state() to enable_dshot_outputs().
 2020-12-09 08:51:47 +01:00
Daniel Agar cf010f44d0
Update submodule sitl_gazebo to latest Wed Dec 9 00:39:59 UTC 2020 (#16354) 
- sitl_gazebo in PX4/Firmware (cd1ffa63cd): e01ba8f78c
    - sitl_gazebo current upstream: 19981d61cf
    - Changes: e01ba8f78c...19981d61cf

    19981d6 2020-12-08 Flavio Tonelli - Fix plugin misspelling (#665)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2020-12-09 08:43:45 +01:00
Daniel Agar cd1ffa63cd
commander: auto transition to LOITER if disarmed with no RC only requires a valid global position 2020-12-08 18:26:03 -05:00
Daniel Agar 82746af07a
ekf2: use new IMU and mag bias and variance getters in ecl/EKF 
- reset IMU bias on calibration change (only works with multi-ekf)
 - standardize PX4_INFO/PX4_WARN/PX4_ERR output for multi-ekf with instance number
 - https://github.com/PX4/PX4-ECL/pull/924
 2020-12-08 16:06:18 -05:00
Daniel Agar 8f5f564c05 commander: preflightcheck only report failure once per sensor type 
- either way the user action is to recalibrate, so we might as well try
to minimize the noise/annoyance
 2020-12-08 13:18:22 -05:00
Silvan Fuhrer edaf9f2bb6 FW Position Controller: consolidate mission throttle adaptions for position and loiter waypoints 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 12:08:36 -05:00
Silvan Fuhrer 6d255df0a8 airspeed selector: disable beta fusion when not in fixed-wing mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-08 11:43:27 -05:00