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29966 Commits

Author SHA1 Message Date
Silvan Fuhrer d129fcccd5 Omnibus: take out local_position_estimator from build as was out of flash after ecl update for airspeed selection module 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-09 10:55:05 +02:00
Silvan Fuhrer 5bc6979796 AirspeedSelector: added RTPS ID for airspeed_validated message 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-09 10:55:05 +02:00
Silvan Fuhrer cedf14e2ba Airspeed Selector: repurpose wind estimator into an airspeed (selection, validation) module. 
This new airspeed module does:
  -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale
  -selects another airspeed sensor if for the current one a failure is detected
  -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present
  -outputs airspeed_validated topic

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-09 10:55:05 +02:00
Silvan Fuhrer 970e362e9a Increased stack of lp work queue as with new airspeed modudle it was getting low 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-09 10:55:05 +02:00
Silvan Fuhrer 50dc8aee7a Airspeed Selector: added airspeed validator class 
This validator takes measurements from a single airspeed sensor and:
    -checks validity of measurement
    -can estimate an airspeed scale factor (estimation enabled with parameter setting) to accout for errors in airspeed due due placement of sensor

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-09 10:55:05 +02:00
Silvan Fuhrer 248e1818e2 Airspeed Selector: changes in airspeed library to account for new EAS state (equivalent airspeed) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-09 10:55:05 +02:00
Claudio Micheli aae16cc594 uavcan esc: use time literals for timeout checks. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 2eb9fb9ed6 Commander: move esc_status as local variable. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 5fe7992af5 mixer_group: improved get_multirotor_count () code readbility. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 09d79b221f Simplified esc_status healthiness logic. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 8a2d05be4f Improved code comment for condition_escs_error topic. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 75c336c00c uavcan_main: replaced printf messages with PX4_INFO 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 1e04d718f6 uavcan escs: Modified esc_status reporting to have _rotor_count published. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 187a025dfe Commander: added esc_status prearm checks 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli d06c679252 uavcan esc: added timeout checks to escs. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 03637fa6f1 Added topics to esc_status and vehicle_status_flags. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Mark Sauder 056c8000a1 MultiCopterLandDetector: Implement ModuleParams inheritance (#12356) 2019-08-09 07:57:42 +02:00
Daniel Agar 2f222d6cbf containers/List add nullptr check 2019-08-09 07:55:13 +02:00
Daniel Agar 9481b3b232
Update submodule mavlink v2.0 to latest Fri Aug 9 02:59:05 UTC 2019 (#12669) 
- mavlink v2.0 in PX4/Firmware (e8a11086eb): 7283284073
    - mavlink v2.0 current upstream: 0385f82286
    - Changes: 7283284073...0385f82286
 2019-08-09 00:15:38 -04:00
PX4 Build Bot 34ed454ea9 Update submodule ecl to latest Fri Aug 9 02:59:11 UTC 2019 
- ecl in PX4/Firmware (e93e676c38bc3ce2e57c20a8dc33ffe377826903): d38164fc8e
    - ecl current upstream: 62fa464e4d
    - Changes: d38164fc8e...62fa464e4d

    62fa464 2019-07-17 RomanBapst - WindEstimator: added support for pre-set airspeed scale factor
a7d9c73 2019-07-09 Silvan Fuhrer - Wind estimator: added wind_estimator_reset state (to indicate if wind estimator was reset in last fusion-cycle)
09f29db 2019-07-02 Silvan Fuhrer - added option to fix airspeed scaling to 1
 2019-08-08 23:39:43 -04:00
Daniel Agar e8a11086eb create uORB::PublicationMulti for multi publications 2019-08-08 21:01:56 -04:00
Daniel Agar 0a0c404a08 mavlink receiver move to uORB::Publication 2019-08-08 21:01:56 -04:00
David Sidrane 21782603b3 px4_fmu-v5x: add networking 
* fixed dropped CONFIG_LIBC_FLOATINGPOINT=y
* fix RMII TX pinning
* update platforms/nuttx/NuttX/nuttx w/ f7 eth
 2019-08-08 20:38:56 -04:00
mcsauder 887b55269a Delete whitespace to quiet githooks. 2019-08-08 18:56:26 -04:00
Daniel Agar c6aaa606da
sensors angular velocity and acceleration publishers fix auto usage 
- if the primary gyro or accel change this will cause the callback to be registered multiple times
 2019-08-08 11:36:27 -04:00
Daniel Agar c66fc85630
fw_pos_control_l1: move to WQ with uORB callback scheduling 2019-08-07 23:13:21 -04:00
Daniel Agar cab0aee2a0
fw_att_control: move to WQ with uORB callback scheduling 2019-08-07 22:54:44 -04:00
Daniel Agar 0955fd2d58
NuttX boards reduce CONFIG_NFILE_DESCRIPTORS 54 -> 20 2019-08-07 21:23:27 -04:00
Daniel Agar e43e37cc46 fw_pos_control_l1 add new simple min groundspeed 2019-08-07 18:50:42 +02:00
Matthias Grob 161429f8c6 voted_sensors_update: refactor to camelCase function names 2019-08-07 18:44:39 +02:00
Matthias Grob 89a0a3acb6 PreflightCheck: improve output in case of mag inconsistency 2019-08-07 18:44:39 +02:00
Matthias Grob fe37ee2b7f voted_sensors_update: refactor out matrix:: because of using namespace 2019-08-07 18:44:39 +02:00
Matthias Grob 45187e1aa8 Improve magnetometer inconsistency check 
To check directional difference between the magnetometer field vectors
instead of vector component difference.
 2019-08-07 18:44:39 +02:00
Daniel Agar 83e532d339
logger move to uORB::SubscriptionInterval (#12123) 2019-08-07 11:02:16 -04:00
baumanta e91614c791 change angle parmeter to degrees 2019-08-07 15:29:13 +02:00
baumanta f80a539faa add unit for coll prev angle 2019-08-07 15:29:13 +02:00
baumanta 14f128b89d add parameter for detection angle 2019-08-07 15:29:13 +02:00
baumanta 150b5df7cb change size of reaction angle 2019-08-07 15:29:13 +02:00
baumanta b26d3ac9d4 no slinding in collision prevention (roll jerk fix) 2019-08-07 15:29:13 +02:00
Daniel Agar a917f22b65
sensors: create vehicle_acceleration module (#12597) 2019-08-07 05:05:48 -04:00
bresch 50fbb56737 Yaw mode 3 - Add check for minimum distance to target in MPC_YAW_MODE 3 (along trajectory) to be consistent with the other yaw modes 2019-08-07 10:30:34 +02:00
Martina 119e5e3182 Revert "CollisionPrevention only process distance_sensor updates" 
This reverts commit 839787568c.
 2019-08-07 04:01:50 -04:00
Daniel Agar 6e781c2289 InvenSense ICM20948 move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer helpers 2019-08-06 23:36:31 -04:00
Daniel Agar 5421ef5535 NuttX increase HPWORK and LPWORK stack by 256 bytes 2019-08-06 23:15:07 -04:00
Daniel Agar 4c329c3b4b simple circleci.com px4_fmu-v5 build & archive example 2019-08-06 19:07:21 -04:00
Daniel Agar 7b179776e2 vehicle_angular_velocity: sensor_selection callback 
- needed to update the main sensor_gyro subscription if the primary
stops responding
 2019-08-06 14:23:57 -04:00
Daniel Agar b945e28e08 uORB fix vehicle_angular_velocity RTPS id 2019-08-06 13:39:56 -04:00
Daniel Agar 2ad12d7977
sensors: create vehicle_angular_velocity module (#12596) 
* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
 2019-08-06 12:55:25 -04:00
Daniel Agar bf0eaf4d54 bloaty fix master comparison 
- jenkins add new sections and segments output
 2019-08-06 11:57:53 -04:00
Daniel Agar 6f2d1d55f6 logger use uORB::PublicationQueued for ulog_stream 
- queue depth is now set by the msg
 2019-08-06 11:07:59 -04:00