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31441 Commits

Author SHA1 Message Date
Beat Küng 92aa341c18 navigator: do not set a mode while disarmed 
This avoids premature state machine execution, most notably for missions.

In particular this fixes these issues:
- when landed, and the vehicle has a valid mission: switching to mission
  would execute the first item.
- after executing a mission with a land waypoint, the mission is reset
  and the first item is executed.

In case the first waypoint is a takeoff, it would print a user message:
"Takeoff to x meters above home.". If it was a vehicle command, it would
execute that.
Note that because the vehicle is disarmed, the vehicle would not actually
do anything (except for commands that are accepted while disarmed).
 2020-01-24 08:42:16 +01:00
Beat Küng e939f60a9e FlightTaskAuto: accept invalid triplet_setpoint (and interpret as loiter) 
This will allow navigator to not output any setpoints while disarmed.
Otherwise the position controller outputs warnings in the form of:
Auto activation failed with error: Activation Failed

The risk here is that it could hide problems, where navigator sends invalid
triplets when it should not.
 2020-01-24 08:42:16 +01:00
Beat Küng c0352027fb mc_pos_control: do not warn when going into failsafe while disarmed 
It's possible to get invalid or no setpoints from navigator while disarmed.
 2020-01-24 08:42:16 +01:00
Beat Küng d68e595514 vehicle_control_mode: fix invalid comment for flag_armed 2020-01-24 08:42:16 +01:00
kritz 47cab3dba5 Update external vision interface (#13989) 
* Update external vision interface

* Update ECL Version
 2020-01-23 15:36:08 +01:00
kamilritz 9554f8f98b Update ECL version 2020-01-23 13:27:30 +01:00
kamilritz 8d25dcd543 Update EKF auxiliary velocity interface 2020-01-23 13:27:30 +01:00
kamilritz 9d184ea3d6 Update EKF range finder interface 2020-01-23 13:27:30 +01:00
kamilritz 230d7f2558 Update EKF airspeed interface 2020-01-23 13:27:30 +01:00
kamilritz 8772e09963 Update EKF gps interface 2020-01-23 13:27:30 +01:00
kamilritz 19b7421f86 Update EKF baro interface 2020-01-23 13:27:30 +01:00
kamilritz 439a20bfcb Update EKF mag interface 2020-01-23 13:27:30 +01:00
Daniel Agar 009ba638f5 PX4Accelerometer/PX4Gyroscope update FIFO case to trapezoidal integration 2020-01-22 18:35:41 -05:00
Daniel Agar 697dbfb9f8 sensors/vehicle_imu: incremental step towards multi-EKF 2020-01-22 18:04:29 -05:00
RomanBapst 0e90448e52 navigator: add position setpoint reset helper with safe defaults 
- use in reset_triplets()
 2020-01-22 18:03:25 -05:00
Daniel Agar 98042bf58f
uORB: introduce SubscriptionBlocking 
- uORB::SubscriptionBlocking is a specialized uORB::Subscription that allows you to do a blocking read
 - this is intended to be an easy to use, hard to misuse replacement for the typical orb fd + poll pattern we've relied on historically
 2020-01-22 17:56:28 -05:00
Daniel Agar 036a45377d boards rename auav_x21 -> mro_x21 2020-01-22 15:33:02 -05:00
SalimTerryLi 3ed8e876b7 New pca9685 pwm output driver 2020-01-22 15:19:47 -05:00
Daniel Agar 693d532bba
mRo x2.1 777 board support 2020-01-22 15:02:55 -05:00
Claudio Micheli 421a06685c BMM150: Fix priority assignment 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-01-22 12:26:49 -05:00
Beat Küng db36edffe8 commander: fix mission topic publication 
The local scope caused the topic to be unadvertised, which in turn caused
a copy() failure in navigator and 'mission update failed' printf error.
 2020-01-22 12:08:32 -05:00
Beat Küng c61e44f55b commander: fix variable naming 2020-01-22 12:07:51 -05:00
Beat Küng 8bfbfa033c fix commander: avoid LED printf errors on every SITL startup 2020-01-22 12:07:51 -05:00
Beat Küng 67f3234b5b posix cdev_platform: set errno on px4_open failure 2020-01-22 12:07:51 -05:00
Daniel Agar 21a8d7db7f WorkItem modules: Run() shouldn't be public 2020-01-22 12:03:03 -05:00
Martina Rivizzigno 8162b1095b send obstacle distance data in onboard mode such that they are 
received by the gcs when using mavlink router
 2020-01-22 16:22:32 +01:00
Beat Küng d865d9e64e safety_button: fix missing return when module exits 2020-01-22 09:49:20 -05:00
Beat Küng 35fc51de92 safety_button: add support for pairing command (3x pressing the button) 2020-01-22 09:49:20 -05:00
Tal Zaitsev 65aaf5170c microRTPS: Fix C++11 remnant 2020-01-22 00:30:47 -05:00
Daniel Agar b47eaa6061
update C++ standard (c++11 -> c++14) 
- temporarily disable snapdragon builds until toolchain is updated
 2020-01-21 21:49:10 -05:00
Daniel Agar cf195b0755 commander: safety button disarm require land detector 
- landed, maybe_landed, or ground_contact required before the safety
button is able to disarm
 - this reduces the risk of a faulty safety button triggering in regular
flight
 2020-01-21 23:35:25 +01:00
Daniel Agar 4f868fc565 commander: use arm_disarm() helper for safety button disarm 2020-01-21 23:35:25 +01:00
Claudio Micheli 624fcc3adb v5x target: Fix wrong FD for TELEM3 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-01-21 23:27:59 +01:00
Daniel Agar 350268ee68 navigator: mission WORK_ITEM_TYPE_MOVE_TO_LAND altitude isn't relative 2020-01-21 23:27:22 +01:00
Daniel Agar fcbf8b6bcd platforms/nuttx: fix fmu-v4pro jlink debug device helper 2020-01-21 22:24:58 +01:00
Daniel Agar b2f4dae2c4 boards: fmu-v2/v3 limit rate loop by default 2020-01-21 19:16:27 +01:00
Roman Bapst fa83f3799a navigator: set acceptance radius even for IDLE position setpoint 2020-01-21 11:14:43 -05:00
kamilritz 04e09d772e Add missing mag calibration biases 2020-01-21 13:36:08 +03:00
kamilritz a3d2254e44 Move mag downsampling to ECL lib 2020-01-21 13:36:08 +03:00
kamilritz 4e8665082e Move baro downsampling and dynamic pressure comp to ECL lib 2020-01-21 13:36:08 +03:00
Daniel Agar 6704c90354
px4/fmu-v4: restore SPIDEV integers from stable v1.10 (and earlier) 2020-01-20 22:31:30 -05:00
Daniel Agar dc05ceaad2
create temperature_compensation module 
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
 - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
 2020-01-20 21:42:42 -05:00
PX4 BuildBot dedb4e8267 Update submodule sitl_gazebo to latest Tue Jan 21 00:39:16 UTC 2020 
- sitl_gazebo in PX4/Firmware (635ceccfdb): a5b33417f7
    - sitl_gazebo current upstream: 2f4b32723c
    - Changes: a5b33417f7...2f4b32723c

    2f4b327 2019-10-21 Martina Rivizzigno - typhoon sonar fix rotation such that the reported orientation metches the gazebo model
7db52d7 2019-10-18 Martina Rivizzigno - typhoon_h480: rotate sonar such that is forward facing
 2020-01-20 21:01:45 -05:00
Daniel Agar e863dd317e
Update submodule ecl to latest Tue Jan 21 00:39:21 UTC 2020 
-  ecl in PX4/Firmware (ac205456f9): 011b4c2e4e
    - ecl current upstream: 950e75e484
    - Changes: 011b4c2e4e...950e75e484

950e75e 2020-01-18 Matthias Grob - EKF_ringbuffer: minor missing space for style
26125c2 2020-01-17 kamilritz - Switch from jenkins to github actions
 2020-01-20 21:01:02 -05:00
Daniel Agar 635ceccfdb
land_detector: relax data timeouts uniformly 
* if we're hitting these timeouts there are much larger problems in the system
 2020-01-20 17:14:00 -05:00
Daniel Agar d1260aa28c logger: add safety (switch) at minimal rate 2020-01-20 14:30:24 -05:00
stmoon 44cac04abe fix the bug for none of recv_topics 2020-01-20 12:33:47 +00:00
Daniel Agar c270e75156
vehicle_local_position: delete unused and redundant dist_bottom_rate 2020-01-18 12:50:57 -05:00
Julian Oes 98f0ba33d2 setup: prevent prompt during install 
This should prevent debconf from asking questions during install.
Presumably, the exported env variable DEBIAN_FRONTEND is not taken into
account in a sudo command, hence we need to add it every time.
 2020-01-18 11:10:55 +01:00
Julian Oes 09c3fc3e71 setup: add pyros-genmsg, sort list 2020-01-18 11:10:55 +01:00