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37683 Commits

Author SHA1 Message Date
Mathieu Bresciani 17ebcd2456
mag_control: fuse fake heading during leveling fine alignment (#17964) 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-07-27 11:50:50 +02:00
Daniel Agar f2ae8ae814 sensors/vehicle_imu: vibration metrics use acceleration and angular velocity 
- this avoids any jitter in the integration timespan from impacting the vibration metrics
 - vehicle_imu_status vibration metrics are not consumed by anything
(yet), so changing the scaling of the metric shouldn't matter
 2021-07-26 13:55:47 -04:00
Daniel Agar e01b631465 ekf2: change indication test limit float precision to minimize false positives 2021-07-26 13:54:36 -04:00
Daniel Agar e84c6664bb ROMFS: update airframes/4901_crazyflie21 legacy battery parameter 2021-07-23 19:58:38 -04:00
Daniel Agar 6f4111e073 ROMFS: update airframes/17003_TF-G2 legacy battery parameter 2021-07-23 19:58:38 -04:00
Daniel Agar e9f84ba708 keep minimal legacy battery parameters for older QGC usability 
- BAT_V_EMPTY, BAT_V_CHARGED, BAT_V_LOAD_DROP, BAT_N_CELLS
 2021-07-23 15:07:53 -04:00
Daniel Agar fe1eb8cd62 cmake cleanup jlink flashing helpers 2021-07-23 15:07:25 -04:00
Daniel Agar 7846771c68 sensors: populate sensors_status_imu healthy flags even in multi-EKF mode 2021-07-23 11:17:08 -04:00
Julian Oes af50e25647 mavsdk_tests: update to MAVSDK v0.41.0 
This required replacing some of the methods which had been deprecated
and now removed.
 2021-07-23 09:05:31 +02:00
Julian Oes 11480cdbc7 mavlink: fix offboard velocity input 
This reverts the behavior for offboard velocity setpoint.

Back in v1.11, the velocity input in NED_BODY was assumed to be in the
world frame but rotated by yaw to the vehicle frame. With the current
state the frame is completely fixed to the body. While this might be
technically correct, it doesn't seem much intuitive for multicopters
and breaks the MAVSDK offboard velocity API.

So as an example, with a velocity setpoint of 5 m/s forward, the drone
would in
- v1.11: fly forward with 5 m/s
- v1.12: start to fly forward by pitching down but then descend rapidly
  as the forward velocity would translate to a setpoint in Z into the
  ground as it is pitched down.

This commit restores the behavior to what we had previously.
 2021-07-22 09:40:29 +02:00
alessandro bd17653383 Fix template_module header 
- SubscriptionInterval.hpp includes Subscription.hpp, but not vice versa
- The time literal 1_s is defined in the namespace time_literals
 2021-07-21 09:44:09 -04:00
Oleg Evseev 440449b85f mavlink: use explicit routing for message forwarding 
Forward message to other mavlink channels only if it is broadcast or the target component was seen on this link before (at least one message was received)
 2021-07-21 10:39:14 +02:00
Daniel Agar b1eb762753 drivers/imu: set sample timestamp from interrupt (if available) 
- minor scheduling improvements
   - if expected number of samples larger than expected adjust timestamp sample and save sample for next iteration
   - when scheduling via data ready interrupt (with no FIFO watermark) count continuously without clearing
 2021-07-21 02:19:11 -04:00
honglang 6ac6917430 boards: CUAV-x7pro: reoder brick to fixed cuav hvpm cannot detect voltage 2021-07-20 22:02:03 -07:00
Daniel Agar 949fef1f3b
boards: px4_fmu-v5_optimized disable optical_flow drivers to save flash 2021-07-20 21:43:48 -04:00
David Sidrane d6ee418cdf nxp_fmuk66:Add Serial RX DMA on Console 2021-07-20 18:22:35 -04:00
David Sidrane 0709a9bb1c NuttX With Kinetis LPUART DMA backport 2021-07-20 18:22:35 -04:00
DonLakeFlyer 0af1716864 Fix incorrect max for INT32 2021-07-20 16:29:39 -04:00
David Sidrane 78ecad6170 Revert "nxp_fmuk66-v3:DMA Poll not needed" 
This reverts commit 962f02220a.
 2021-07-20 07:52:10 -07:00
David Sidrane 89dff2d31c Revert "nxp_fmuk66-e:DMA Poll not needed" 
This reverts commit 39d684958d.
 2021-07-20 07:52:10 -07:00
David Sidrane b85a01f4c2 NuttX with Kinetis SerialPoll back in 2021-07-20 07:52:10 -07:00
Kirill Shilov e13884410b heater: added support of inverted IMU heat controller output 2021-07-20 10:37:53 -04:00
TSC21 205d4400eb add baro_bias_estimate to RTPS list 2021-07-20 04:56:33 -07:00
Oleg 8fbbf56c4d microRTPS: fix setting UART communication flags 
bitwise not should be used instead of logical not
 2021-07-20 12:34:58 +02:00
PX4 BuildBot 34160bb6c9 Update submodule sitl_gazebo to latest Fri Jul 16 12:39:10 UTC 2021 
- sitl_gazebo in PX4/Firmware (4a0fa08953): 1f3f1b1dec
    - sitl_gazebo current upstream: b6be00542b
    - Changes: 1f3f1b1dec...b6be00542b

    b6be005 2021-07-13 Jaeyoung-Lim - Add iris model for control allocation development
 2021-07-19 20:19:28 -04:00
JaeyoungLim 58060b23d9
Add ignition gazebo support for PX4 Software-In-The-Loop simulations 
This commit adds SITL support for ignition gazebo. Ignition gazebo is a replacement for the "classic" gazebo for future applications.

The simulation can be run as the following
```
make px4_sitl ignition
```
 2021-07-19 19:59:41 -04:00
dagar a8e3c46cdb [AUTO COMMIT] update change indication 2021-07-19 16:53:45 -04:00
Daniel Agar 14274ab071 boards: px4_fmu-v5_optimized disable pwm_input to save flash 2021-07-19 16:53:45 -04:00
bresch 54c7e74de3 EKF: add baro bias estimator using GNSS altitude 2021-07-19 16:53:45 -04:00
Daniel Agar 10f4fc7783 ekf2: don't print distance_sensor selection unless there are multiple options 2021-07-19 12:17:12 -04:00
Daniel Agar 1a222bf06e Tools/HIL/run_nsh_cmd.py handle missing echo, but cmd succeeded 2021-07-19 11:53:54 -04:00
Daniel Agar 87610957a4 flight_mode_manager: pass deltas on estimator reset 2021-07-19 09:34:07 -04:00
Daniel Agar d79eea0c41
Jenkins: HIL flash bootloaders 
- add new jlink_upload_bootloader helper target
 2021-07-18 23:33:00 -04:00
Daniel Agar 4c59997ff4 Jenkins: HIL attempt to set certain parameters initially 
- attempt to minimize issues on heavily loaded debug and stackcheck builds
 - disable systemcmds/bl_update on debug and stackcheck fmu-v5
 2021-07-18 21:25:00 -04:00
Daniel Agar 774ad80ba0 systemcmds/tests: split out microbenchmarks and remove obsolete tests 
- reorganize Jenkins HIL tests
 2021-07-18 18:02:33 -04:00
Daniel Agar 0101934f47 ekf2: multi-EKF instance message INFO -> DEBUG 2021-07-18 18:02:33 -04:00
Daniel Agar 0ad65738db gyro_calibration: reset on any parameter change 
- perform fresh calibration once system has settled
 2021-07-18 18:02:33 -04:00
Daniel Agar 9ac860ac33 ekf2: test fix double promotion warnings 2021-07-18 15:49:53 -04:00
Daniel Agar 9087ba2259 world_magnietc_model: update to latest and fix code style 
- minimize test_geo_lookup.cpp optimization to improve compile times
 2021-07-18 15:49:53 -04:00
mcsauder f34862f143 Delete redundant Ekf class member variable constructor initilizations and add missing C++ style initializers to the header file. 2021-07-17 12:24:56 -04:00
Daniel Agar eeb73fdbe6 ekf2: resetting IMU bias message INFO -> DEBUG 2021-07-17 10:57:09 -04:00
Daniel Agar 36dea8487c Jenkins: HIL remove redundant board_adc test 2021-07-17 10:57:09 -04:00
Daniel Agar bc79ea54dc Jenkins: HIL lower quick cal sleep time before checking parameters 2021-07-17 10:57:09 -04:00
Daniel Agar 858a30df21 systemcmds/tests: replace warnx -> PX4_INFO 2021-07-17 10:57:09 -04:00
Daniel Agar 209fde9ff3 Tools/HIL: console print timestamps 2021-07-17 10:57:09 -04:00
Daniel Agar 847b3b5b64 Tools/HIL/nsh_param_set.py bump timeout slightly 2021-07-16 22:18:07 -04:00
Igor Mišić 54c91002cd mavlink_ulog: update ulog_stream message lost errors to perf counter 2021-07-16 21:38:56 -04:00
Beat Küng cfef0c5d5a mavlink_ulog: check for lost ulog_stream ulog messages 2021-07-16 21:38:56 -04:00
Daniel Agar 5a046cae7e Tools/HIL: fix terminal colors (ANSI escape codes) 2021-07-16 21:37:48 -04:00
Daniel Agar f80f0e6c7e Jenkins: HIL set CCACHE_NOHASHDIR and remove obsolete "make sizes" 2021-07-16 21:06:07 -04:00