statfs accesses the file-system and can be blocking for an extended period. Since the SD card check is part of the preflight checks in the main thread of commander, it could block its execution and cause various issues. The SD card is only mounted in rcS during boot so the state will not change after the first check.
- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
- to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
- fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
- in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
- fully respect datasheet quality and shutter metrics for mode changes
- use MOTION pin for scheduling if available
- log light mode
- refactor common enable LED code
- respect read and write time delays
* msg: Add estinator information and warning events message (estimator_event_flags)
* ekf2: publish information and warning events
* logger: log estimator_event_flags
* update ecl submodule to latest
Co-authored-by: Daniel Agar <daniel@agar.ca>
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
- rename message wind_estimate to wind
- publish wind from currently used ekf instance (ekf2selector)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
We should be using gimbal_manager_information and not
gimbal_device_information. Plus, this updates the fields and flags
according to the MAVLink changes.
- add command to request a message
- add gimbal attitude message
mavlink_receiver handle GIMBAL_MANAGER_SET_ATTITUDE
first implementation of new vmount input MavlinkGimbalV2
- setup class
- decode gimbal_manager_set_attitude in ControlData
add gimbal information message
add gimbal manager information and vehicle command ack
mavlink messages: add stream for GIMBAL_MANAGER_INFORMATION
mavlink_receiver: handle GIMBAL_DEVICE_INFORMATION
remove mavlink cmd handling from vmount input MavlinkGimbalV2
complete gimbal manager:
- send out fake gimbal_device_information for dummy gimbals
- complete ROI handling with nudging
small fixes
fix typos
cleanup
- gimbal device information
- flags lock
- check sanity of string
add support for CMD_DO_GIMBAL_MANAGER_ATTITUDE
stream GimbalDeviceAttitudeStatus for dummy gimbals
- add uROB gimbal_attitude_status
- fill status in vmount output_rc for dummy gimbals not able to send the
status themselves
- stream mavlink GimbalDeviceAttitudeStatus
better handle the request for gimbal infomation request
clean up
bring gimbal information back on vmount init
add new gimbal message to mavlink normal stream
fix publication of gimbal device information
rename gimbal_attitude_status to gimbal_device_attitude_status
stream gimbal_manager_status at 5Hz
mavlink: send information only on request
Sending the information message once on request should now work and we
don't need to keep publishing it.
mavlink: debug output for now
make sure to copy over control data
mavlink: add missing copyright header, pragma once
mavlink: address review comments
mavlink: handle stream not updated
Our answer does not just depend on whether the stream was found but
whether we actually were able to send out an update.
mavlink: remove outdated comment
vmount: add option for yaw stabilization only
The stabilize flag is used for gimbals which do not have an internal IMU
and need the autopilot's attitude in order to do stabilization. These
gimbals are probably quite rare by now but it makes sense to keep the
functionality given it can e.g. be used by simple servo gimbals for
sensors other than highres cameras.
The stabilize flag can also be re-used for gimbals which are capable of
stabilizing pitch and roll but not absolute yaw (e.g. locked to North).
For such gimbals we can now set the param MNT_DO_STAB to 2.
We still support configuring which axes are stabilized by the
MAVLink command DO_MOUNT_CONFIGURE, however, this is generally not
recommended anymore.
vmount: fix incorrect check for bit flag
mavlink_messages: remove debug message
Signed-off-by: Claudio Micheli <claudio@auterion.com>
use device id
remove debug print
gimbal attitude fix mistake
clang tidy fix
split:
- gimbal_attitude -> gimbal_device_set_attitude, gimbal_manager_set_attitude
- gimbal_information -> gimbal_device_informatio, gimbal_manager_information
add gimbal protocol messages to rtps msg ids
support set attitude for gimbal directly speaking mavlink
clean up gimbal urob messages
vmount: address a few small review comments
vmount: split output into v1 and v2 protocol
This way we can continue to support the MAVLink v1 protocol. Also, we
don't send the old vehicle commands when actually using the new v2
protocol.
vmount: config via ctor instead of duplicate param
vmount: use loop to poll all topics
Otherwise we might give up too soon and miss some data, or run too fast
based on commands that have nothing to do with the gimbal.
typhoon_h480: use gimbal v2 protocol, use yaw stab
Let's by default use the v2 protocol with typhoon_h480 and enable yaw
lock mode by stabilizing yaw.
- new heater_status logging message
- run continously at low rate until configured sensor is found
- fix px4io fd bugs (fd open/close/ioctl must be same thread)
Instead of directly doing the link loss reaction which by default is RTL a delay
can be configured such that the drone first switches to hold and waits
for the link to be regained.
For some usecases like starting video recording on a companion computer or triggering a ROS based (offboard control) mission control execution the status of RC channel is needed in ROS(2). This allows the user to start/stop such functionalities from the RC transmitter.
Therefore InputRc to be changed accordingly.
add 'Set send: true' for id: 30
Add new DeviceBusType_SERIAL to Device::DeviceId union
Add DRV_DIST_DEVTYPE's for all distance sensors
Change distance_sensor_s.id to distance_sensor_s.device_id
Modify all distance_sensor drivers to apply 'proper' device_id
- control allocation module with multirotor, VTOL standard, and tiltrotor support
- angular_velocity_controller
- See https://github.com/PX4/PX4-Autopilot/pull/13351 for details
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
- ekf2 publish estimated bias limits in estimator_sensor_bias
- preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
- this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
- ekf2 reset mag mag bias on any magnetometer or calibration change
- use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
- this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
- for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups.
Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
- 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>
- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
- helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
- add new parameter `IMU_GYRO_FFT_EN` to start
- add 75% overlap in buffer to increase FFT update rate
- space out FFT calls (no more than 1 per cycle)
- increase `IMU_GYRO_FFT_MIN` default
- decrease main stack usage
- mavlink messages DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT move to separate stream headers and don't include if CONSTRAINED_FLASH
- mavlink receiver DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT handling excluded if CONSTRAINED_FLASH
- msg: skip debug_array.msg, debug_key_value.msg, debug_value.msg, debug_vect.msg if CONSTRAINED_FLASH
- drivers/tone_alarm: move to ModuleBase and purge CDev (/dev/tone_alarm0)
- drivers/tone_alarm: only run on tune_control publication (or scheduled note) rather than continuously
- drivers/tone_alarm: use HRT to schedule tone stop (prevents potential disruption)
- msg/tune_control: add tune_id numbering
- systemcmds/tune_control: add "error" special case tune_id
- move all tune_control publication to new uORB::PublicationQueued<>
- start tone_alarm immediately after board defaults are loaded to fix potential startup issues
- for SITL (or other boards with no TONE output) print common messages (startup, error, etc)
- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
- blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU
Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
- vehicle_imu/vehicle_magnetometer add monotonically increasing `calibration_count` field so that downstream subscribers are aware of calibration changes
- inconsistency checks now run continuously instead of only preflight
- keep inconsistencies for all sensors
- add per sensor data validator state as overall health flag
- use proper Mavlink MAV_CMD_FIXED_MAG_CAL_YAW command for initiating magnetometer quick cal
- MAV_CMD_FIXED_MAG_CAL_YAW allows specifying the yaw and optionally latitude and longitude if the vehicle doesn't have GPS
- added support for BQ40Z80 based battery
- added performance counter for interface errors
- added SMART_BATTERY_INFO mavlink message
- general code cleanups and optimization
- fixed: void flooding the log in case of interface error
- fixed: using _batt_startup_capacity instead of _batt_capacity for discharged_mah
- update: read manufacture_date
- update: get _cell_count from parameter and not const 4
- update: avoid re-reading data that has already been read and stored on class already
- currently the battery type defined by BAT_SMBUS_MODEL parameter and not by auto detection
- track and publish validity based on hover thrust variance, innovation test ratio, and hysteresis
- only publish on actual updates or becoming inactive
- fix dt (previous timestamp wasn't being saved)
- use local position timestamp (corresponding) to accel data rather than current time to avoid unnecessary timing jitter
- check local position validity before using
- mc_hover_thrust_estimator: move from wq:lp_default -> wq:nav_and_controllers to ensure the hover thrust estimator runs after the position controller and uses the same vehicle_local_position data
- land_detector: check hover thrust estimate validity and adjust low throttle thresholds if hover thrust is available
- mc_pos_control: only use hover thrust estimate if valid
- always check system field for validity
- reject any data outside of "servo position" valid range from Spektrum specification
- properly support XPlus channels (12+)
- debug message if channel count changes
For the RC controlled yaw behaviour, we do a yaw setpoint according to
the stick expo. The uncontrolled yaw behaviour behaves undefined.
Switching between yaw behaviours makes the drone stand still for a
moment, which probably can be improved.
This Commit includes a update of the mavlink submodule
since the CELLULAR_STATUS message was updated, the necessary changes were done together
Add enums
- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
- sensor_accel and sensor_gyro are now always raw sensor data
- calibration procedures no longer need to first clear existing values before starting
- temperature calibration (TC) remove all scale (SCL) parameters
- gyro and baro scale are completely unused
- regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu
- sensors: voted_sensors_update now consumes vehicle_imu
- delete sensor_accel_integrated, sensor_gyro_integrated
- merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
- sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
This moves the handling of the BAT%d_SOURCE param inside of the battery
library. Users of the library now pass the source instead of the flag
whether to publish. The battery library then checks if the source is
selected using the param and publishes accordingly.
Since we removed the strange system_source flag, we now need to look at
all batteries in commander.
For current estimation - I think - it makes sense to sum them up.
* Enhancement: State of health, and max_error value is added. Both shows battery health of SMBUS smart battery.
* Enhancement: BAT_C_MULT parameter is introduced. This is for high-current capable SMBUS-based battery.
As SMBUS only provides 16-bit for current, it could only be +-32768mA which is about +-32A.
But with proper treatment, it could be extended with little accuracy loss.
This factor can be set for individual battery system with available information.
* Relative SOC introduced. Proper SMBUS battery should provide percentage of remaining battery
directly. Therefore it does not have to be computed like before.
* State of Health introduced. Proper SMBUS battery should provide SOH value.
* Max error: this shows estimation error of BMS.
* Enhancement: With smart battery, precise estimation of time remaining is provided
with impedance track. It is unit of minute, so 60 seconds multiplied.
Update rate of this is not fast, but very useful.
Co-authored-by: Hyon Lim <lim@uvify.com>
* msg: Add EKF-GSF yaw estimator logging data
* ecl: update to version with EKF-GSF yaw estimator
* ekf2: Add param control and logging for EKF-GSF yaw estimator
* logger: Add logging for EKF-GSF yaw esimtator
Julian Kent
RomanBapst
Daniel Agar
Michael Schaeuble
mohamed.moustafa
Paul Riseborough
Silvan Fuhrer
jciberlin
Julian Oes
Martina Rivizzigno
Ildar Sadykov
Matthias Grob
Antonio Sanjurjo Cortés
Gerald
TSC21
Claudio Micheli
JacobCrabill
David Sidrane
TheLegendaryJedi
Mathieu Bresciani
Beat Küng
Julien Lecoeur
bazooka joe
Robin Lilja
Igor Campos
Roman Dvořák
Jukka Laitinen
FengShun
mcsauder
Jacob Dahl
Daniel Leonard Robinson
stmoon
David Jablonski
JaeyoungLim
Thomas Stauber
kritz
Mohammed Kabir
Hyon Lim
Timothy Scott
SalimTerryLi
Lorenz Meier