Commit Graph

32296 Commits

Author SHA1 Message Date
Beat Küng 8bc72fe771 gps drivers: update submodule (M9N support) 2020-04-29 11:39:32 -04:00
Matthias Grob 81e576b63a rotation conversion: deconfuse roll 90 yaw 90 2020-04-29 10:12:50 +02:00
Jakub Kákona dfa5ca1710
FlightGear simulator support (#14539)
- Add flightgear_bridge submodule.
- Add traget px4_sitl_nolockstep with disabled  LOCKSTEP simulation.
- Add flightgear viewer targets and startup scripts
- Add a few possible vehicles plane (rascal), autogyro (tf-g1), and rover (tf-r1))

Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
2020-04-29 08:46:59 +02:00
Mohammed Kabir 5ffe88672e vehicle_odometry: add timestamp_sample field for latency monitoring 2020-04-28 13:58:43 -04:00
kritz ccaa103164
ekf2: Stop getting velocity variance from pose covariance matrix (#14779) 2020-04-28 10:05:30 -04:00
ealdaz-seesai efa0e1bf0f
Rover land detection (#13769)
* Land Enabled

* Declared Subscriptor in header as originally intended.

In the header it caused SIGSEGV in my machine so that's why it was moved
to .cpp

* Code Style fixed

* Removed confusing comments

* Comment update

Co-authored-by: Julian Oes <julian@oes.ch>
2020-04-28 10:59:24 +02:00
Silvan Fuhrer f78847b26f
VTOL: Pusher assist: add configuration for enabling it in LAND /disable below some altitude (#14706)
* VTOL type: add new parameter VT_FWD_TRHUST_EN for customizing pusher/tilt assist

Depending on the setting of this param, the pusher assist is:
-completely disabled (default)
-enabled in pos, alt and auto mode (except LAND)
-enabled in pos, alt and auto mode if above MPC_LAND_ALT1
-enabled in pos, alt and auto mode if above MPC_LAND_ALT2
-enabled in pos, alt and auto mode
(before it was always disabled in LAND mode)

-change default of VT_FWD_THRUST_SC from 0 to 0.7

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2020-04-28 10:44:57 +02:00
Julian Oes 48c60d354d mavlink: move tune publication to separate class
This makes it easier to allocate in MavlinkReceiver.
2020-04-28 08:45:39 +02:00
Julian Oes 2d5184fcfe mavlink: copy tune to buffer to play later
Instead of blocking the receiver thread while playing a tune we now copy
the tune to a buffer and check if we can play the next note on each
iteration of the receiver thread.

The buffer and tune object is only created on the heap if we receive a
tune to play once and doesn't use resources otherwise.
2020-04-28 08:45:39 +02:00
Julian Oes 6f707bf7b5 mavlink: add support for PLAY_TUNE_V2 2020-04-28 08:45:39 +02:00
Julian Oes 5f676b6795 mavlink: move tune publication to a method 2020-04-28 08:45:39 +02:00
Julian Oes 06f40042e9 mavlink: use static_cast instead of C-style cast 2020-04-28 08:45:39 +02:00
Julian Oes 18b39545ab mavlink: add missing uORB publication of tunes
The old tune device interface is not working anymore and we need to
publish to uORB tune_control.

This solution is not optimal though because blocks the receiving thread.
2020-04-28 08:45:39 +02:00
baumanta 48cf38d623 support mag power compensation with battery_status instance 1 2020-04-28 08:36:44 +02:00
baumanta 503bd15b82 change python script to calculate right params 2020-04-28 08:36:44 +02:00
Daniel Agar 326d8efc16 move attitude controllers to new wq:attitude_ctrl 2020-04-27 21:34:35 -04:00
PX4 BuildBot 97bdfd9cec Update submodule ecl to latest Mon Apr 27 12:39:40 UTC 2020
- ecl in PX4/Firmware (27232514fcaf04924ecb405e144615c23ac6e2e0): 8a9d961f0d
    - ecl current upstream: 8b6d665a13
    - Changes: 8a9d961f0d...8b6d665a13

    8b6d665 2020-04-26 kamilritz - Avoid subtraction of two uint
70d65ea 2020-04-16 kamilritz - Test:Increase GPS jump need for rejection
c19f40e 2020-04-15 Kamil Ritz - Add reset position test for GPS and VISION
78a6b9f 2020-04-15 Kamil Ritz - SensorSimulator: Fix GPS horizontal position step
050298f 2020-04-08 Kamil Ritz - Improve matrix library usage
5749273 2020-04-08 Kamil Ritz - refactor resetPosition
2020-04-27 10:19:22 -04:00
Beat Küng 34c75f2d36 boards: temporarily disable UART TX DMA
work-around for https://github.com/PX4/Firmware/issues/14659.
This can be reverted when fixed properly.
2020-04-27 08:47:46 -04:00
JaeyoungLim e669e999e2
Add options to spawn multiple vehicles in different worlds (#14764)
Since SITL gazebo now has the ability to spawn vehicles to different worlds, this can be done for simulating multiple vehicles
2020-04-27 11:57:47 +02:00
RomanBapst 2b276a3ad8 FixedWingPositionControl: set waypoint straight ahead for front transition
- this fixes the case where the navigator publishes a loiter waypoint or any
waypoint which is too close to the vehicle.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
2020-04-26 22:59:07 -04:00
RomanBapst 0779a0502c takeoff: only set _can_loiter_at_sp if takeoff position has been set
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2020-04-26 22:59:07 -04:00
Lorenz Meier b3afb325d8 Update Gazebo to latest
This includes a relevant compile fix for a recent MAVLink update.
2020-04-26 22:55:51 -04:00
Daniel Agar 8cd848fcd6
temperature_compensation: enable parameters set reboot_required
- min/max are unnecessary with boolean
2020-04-26 22:38:35 -04:00
Daniel Agar cc62a52553 PX4Rangerfinder: delete unused CDev 2020-04-26 22:36:46 -04:00
Daniel Agar 5739cf27e5 boards: delete obsolete commented config systemcmd 2020-04-26 22:34:34 -04:00
Daniel Agar 3832214145
PX4Accelerometer/PX4Gyroscope: fix calibration offset for integrated FIFO case
This is a quick follow up fix to to a bug introduced by #14752. In the case of FIFO data (new IMU drivers) the calibration offset wasn't being applied correctly to the result of integrating the FIFO samples.

This slipped through basic sanity testing (simple bench testing, the test rack, and SITL CI) due to the calibration offsets being zeroed.
2020-04-26 13:24:51 -04:00
Daniel Agar 37d5d1b4d2 PX4Accelerometer/PX4Gyroscope: integrated data avoid loss of numerical precision 2020-04-26 14:28:50 +02:00
PX4 BuildBot 70329ce396 Update submodule nuttx to latest Sat Apr 25 12:38:14 UTC 2020
- nuttx in PX4/Firmware (2c938af28051250f90baf7c411179b9b01dc5d0c): 7fffab1610
    - nuttx current upstream: 66b4f2c4f2
    - Changes: 7fffab1610...66b4f2c4f2

    66b4f2c4f2 2020-04-21 Peter van der Perk - [Backport] Added S32K1XX progmem driver to use the FlexNVM memory
1b3fc1c668 2020-04-10 Peter van der Perk - Added net_trylock so we can call can_input while being in a interrupt handler
2020-04-25 09:14:39 -04:00
David Jablonski a0f5002685
navigator: fix loiter_time for FW missions 2020-04-25 09:13:09 -04:00
Roman Dvořák 75fe3bee8c
drivers/rpm: add simple RPM message simulator (dummy publisher) 2020-04-25 09:10:11 -04:00
Beat Küng 44537ccd1a sdp3x: reduce verbosity when no device on the bus 2020-04-24 12:59:50 +02:00
Beat Küng d3dd5e9da1 i2c_spi_buses: improve info output for external buses 2020-04-24 12:59:50 +02:00
xdwgood d922678ea0 tailsitter: remove unused code 2020-04-24 13:33:51 +03:00
Daniel Agar 31f3a21849
update ecl/EKF with improved covariance prediction stability and change default IMU integration period 4000 us -> 2500 us
- bring in PX4/ecl#795 "EKF: Improve covariance prediction stability"
    - the ecl/EKF filter update period has changed from 8 ms to 10 ms
 - change default integration period 4000 us -> 2500 us (aligns with new EKF filter update period)
2020-04-23 13:55:34 -04:00
Konstantin Petrykin 5819c82678 vmount: Fixes max AUX number for MNT_MAN_ROLL, MNT_MAN_PITCH and MNT_MAN_YAW parameters. 2020-04-23 08:55:29 +02:00
Silvan Fuhrer 172e435ec0
VTOL: add parameter to set the PWM_OUTPUT_DEVICE_PATH (#14732)
The device path is needed to apply PWM limits on the motors that are not
used for FW flight (switch them off). With this parameter the device path can be set
to either IO or FMU, depending on whether the motors are on the IO or FMU port.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2020-04-22 20:42:23 +02:00
bresch d29344cb9c MCLandDetector: fix low thrust detection in stabilized mode
HTE runs based on the position controller so, even if we whish to use
the estimate, it is only available in altitude and position modes.
Therefore, we need to always initialize the hoverThrottle using the hover
thrust parameter in case we fly in stabilized
2020-04-22 11:07:04 -04:00
Mathieu Bresciani be2bb4a479
FlightTask: Fix ekf2 reset race condition during task switch (#14692)
* FlightTask: Fix ekf2 reset race condition during task switch

During a loss of GPS data when using GPS as primary height source,
the height is reset to baro and the local position gets invalid at the
same time. This triggers a switch to altitude flight task and a setpoint
reset.
This combination of events had the effect to ignore the height reset,
the large sudden height error could create an abrupt change of altitude
or even a crash.
The ekf2 reset is now done at the beginning of each update call.
2020-04-22 13:18:35 +02:00
Jin Chengde e82880d6d7
add new rotation (#14512)
* add new rotation  ROLL_270_YAW_180

fix compile error

fix rotation

modify roatation

* modify enum to 41
2020-04-22 09:03:55 +02:00
PX4 BuildBot a96bc6a145 Update submodule sitl_gazebo to latest Wed Apr 22 00:38:48 UTC 2020
- sitl_gazebo in PX4/Firmware (c5eefc6b2e): 2f83192e70
    - sitl_gazebo current upstream: c2d7d2609f
    - Changes: 2f83192e70...c2d7d2609f

    c2d7d26 2020-04-12 JaeyoungLim - Incorporate wind in lift calculation and airspeed measurements (#375)
2020-04-21 22:39:59 -04:00
Daniel Agar b1b54fd4ec
Update submodule mavlink v2.0 to latest Wed Apr 22 00:38:54 UTC 2020
- mavlink v2.0 in PX4/Firmware (9686525575a08acccacd15af8d977882d8a88301): 0f9e4218df
    - mavlink v2.0 current upstream: c6e18fb338
    - Changes: 0f9e4218df...c6e18fb338
2020-04-21 22:39:26 -04:00
Daniel Agar c5eefc6b2e
new InvenSense ICM20649 IMU driver 2020-04-21 11:25:37 -04:00
Matthias Grob 809b45eac8 FlightTasks: do not adjust tilt limit of the position control
Adjusting the tilt limit can lead to diverging position control
and should only be used by setting a sanity limit for the controller
and not to adjust during the descent phase of a Land or RTL.
Otherwise it leads to flyaways in important failsafe modes when
there's stronger disturbance e.g. wind.
2020-04-21 09:35:52 +02:00
Hamish Willee 95779ea670 ubuntu.sh: No automatic removal of modemmanager 2020-04-21 09:34:05 +02:00
TSC21 c3ebb1a584 px4.py: signal it as being used by the PX4 Homebrew formulae 2020-04-21 09:21:56 +02:00
TSC21 4923e5ce3a px4.py: case the script is run outside of the cloned repo, get it from remote 2020-04-21 09:21:56 +02:00
TSC21 18df0240df px4.py: get release version from Git 2020-04-21 09:21:56 +02:00
Hamish Willee 8236b8da81 Fix up doc links to point to master branch 2020-04-21 08:58:40 +02:00
JaeyoungLim 75054f11df
Add px4vision sitl target
- Use px4vision parameters
2020-04-20 18:08:41 -04:00
bresch c05b70bf86 MPC: initialize hover thrust with parameter even if using HTE
The hover thrust estimator (HTE) starts to run after the first thrust
setpoint is published. Until then, the feedforward of the vertical
velocity controller was unitialized (= 0). This is now set to hover
thrust parameter until the estimate is available.
2020-04-20 20:54:31 +02:00