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39539 Commits

Author SHA1 Message Date
Beat Küng 8d9e2a28c4 control_allocator: add fixed-wing actuator effectiveness 2021-12-24 20:06:13 -05:00
Beat Küng 4d2a403afa control_allocator: add rover actuator effectiveness 
This can be generalized later
 2021-12-24 20:06:13 -05:00
Beat Küng ed3a115c8f control_allocator: add status publication rate limitation comment 2021-12-24 20:06:13 -05:00
Beat Küng 70e46a194f control_allocator: major refactoring & additions 
- allow effectiveness matrix to select control allocator method
  (desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
  to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
 2021-12-24 20:06:13 -05:00
Beat Küng a81f11acdd mc_rate_control: don't publish thrust + torque sp if vtol 2021-12-24 20:06:13 -05:00
Beat Küng 28e995ede2 fw_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng 4becd6e4c7 rover: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng 5da67e2e28 vtol_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng d1abdd0f8d output drivers: add option to generate a separate output range reversing param 
Makes it a bit easier to configure. Reversing by setting MIN > MAX is still
supported.
 2021-12-24 20:06:13 -05:00
Beat Küng 1901edf13c actuator_motors.msg: add reversible flags & implement in mixer_module 2021-12-24 20:06:13 -05:00
Beat Küng ccc1f0e8fa generate_actuators_metadata: minor additions (index_offset, item_label_prefix) 2021-12-24 20:06:13 -05:00
Beat Küng 81cef522fd generate_params.py: fix bitmask param type 2021-12-24 20:06:13 -05:00
Beat Küng 5bcc5d3a13 generate_actuators_metadata.py: add mixer rules support 2021-12-24 20:06:13 -05:00
Beat Küng 230aae580f ROMFS: add control_allocator to all types 2021-12-24 20:06:13 -05:00
Beat Küng 86aa9f9336 Makefile: exclude src/lib/crypto/libtommath from validate_module_configs 2021-12-24 20:06:13 -05:00
Beat Küng 9c767ff1ee control_allocator: make effective source name a class member 2021-12-24 20:06:13 -05:00
Beat Küng 20d96f3bd9 metadata: fix BOARD_WITH_IO detection 
Wasn't correctly updated during a rebase.
 2021-12-24 20:06:13 -05:00
Daniel Agar 712353ea56 gyro_calibration: increase required samples (to be more conservative) 
- make sure variance is checked across all available sensors
 2021-12-24 19:53:44 -05:00
Daniel Agar 3f3836afa8 parameters: simplify import mark_unsaved and don't fail bson decode unnecessarily 2021-12-24 14:32:40 -05:00
Daniel Agar d1cd4904dc parameters: param_value_is_default avoid locking if value unchanged 2021-12-24 14:32:40 -05:00
Daniel Agar c0b8f2952c parameters: param_get_default_value avoid locking if value is static default 2021-12-24 14:32:40 -05:00
Daniel Agar 27a113ecab parameters: param_get avoid locking if value is static default 2021-12-24 14:32:40 -05:00
Daniel Agar cd8ce4d01e parameters: remove obsolete perf_end 2021-12-24 14:32:40 -05:00
Daniel Agar 38731662c6 parameters use bitset for mark_unsaved 2021-12-24 14:32:40 -05:00
Daniel Agar 0e0639a5bf Jenkins: hardware don't tolerate logger failures 2021-12-24 14:31:21 -05:00
Daniel Agar b054fc7b8b
navigator: trivial code style fix 2021-12-24 10:55:20 -05:00
seungjo0109 0f7c850080 Fix typo(at modules/navigator_main) 2021-12-24 08:54:43 -05:00
PX4 BuildBot 7e9cdef57b Update submodule jMAVSim to latest Thu Dec 23 18:11:33 UTC 2021 
- jMAVSim in PX4/Firmware (a4040f7afd): b23dc53d55
    - jMAVSim current upstream: 66b764ada5
    - Changes: b23dc53d55...66b764ada5

    66b764a 2021-12-17 romain-chiap - Merge pull request #129 from romain-chiap/tailsitter
71444c6 2021-10-04 romain-chiap - Update x_vert.mtl
4cc100e 2021-08-27 Romain Chiappinelli - tailsitter .mtl updated
561a5c4 2021-08-27 Romain Chiappinelli - tailsitter selection and docs
57fbdb8 2021-08-25 Romain Chiappinelli - tailsitter
 2021-12-23 17:50:10 -05:00
Daniel Agar 00eae055ac lib/sensor_calibration: don't save uninitialized priority parameter immediately 2021-12-23 17:49:11 -05:00
Daniel Agar e694fa906b tinybson: add more error output on node name overflow 2021-12-23 17:45:50 -05:00
Daniel Agar 47d6a6c63d Tools/HIL/test_airframes.sh dump parameters before reboot (for verification) 2021-12-23 17:45:50 -05:00
Daniel Agar 14c2225b1c ROMFS: rcS dump parameter backup contents before using 
- this is mainly for debug comparion
 2021-12-23 17:45:50 -05:00
Daniel Agar 38af93085b linux_pwm_out: use PWM_MAIN parameter prefix 
- this keeps things simpler for now across the old and new output
configuration
 2021-12-23 15:57:11 -05:00
Daniel Agar 64e00c41d4 posix-configs: fix bbblue and rpi param import 2021-12-23 15:57:11 -05:00
Daniel Agar c8f2a29d67 boards: beaglebone_blue_default fix missing linux_pwm_out driver 2021-12-23 15:57:11 -05:00
Daniel Agar a5f58d321e boards: emlid_navio_default fix missing drivers/modules 2021-12-23 15:57:11 -05:00
Daniel Agar 7d7d707db9 commander: add COM_HOME_EN parameter to enable/disable home position 2021-12-23 15:46:31 -05:00
Daniel Agar 28c34a0484 Jenkins: hardware don't force tests dataman to pass and add to stackcheck build 2021-12-23 14:50:47 -05:00
PX4 BuildBot a069a47d50 Update submodule nuttx to latest Thu Dec 23 18:11:37 UTC 2021 
- nuttx in PX4/Firmware (d0ce5705359f8beeb9faf7fa0d12279e03bb7ac7): d4c06e9dfb
    - nuttx current upstream: 378032a44b
    - Changes: d4c06e9dfb...378032a44b

    378032a44b 2021-12-15 David Sidrane - [BACKPORT] stm32f7:sdmmc invalidate before DMA to avoid eviction overwrite
 2021-12-23 14:50:47 -05:00
Daniel Agar a4040f7afd px4io_serial: always perform full abort DMA on error 
- enable DMA error perf count
 2021-12-23 12:48:42 -05:00
Matthias Grob f68ae39840 Commander: avoid RC actions during calibration 2021-12-22 09:08:23 -05:00
Beat Küng 89974c46b9 mavlink streams: add return in all cases 
Generally not needed here, but GCC produced an error when compiling with
-finstrument-functions.
 2021-12-22 08:47:33 -05:00
Beat Küng e29759d877 WorkQueueManager: explicitly convert PTHREAD_STACK_MIN to int 
fixes a compiler error on GCC 11.2.1:
error: no matching function for call to ‘max(long int, int)’
 2021-12-22 08:47:33 -05:00
alessandro 2c8a92c628 sitl config: put model name first 
Github constructs the workflow names from the 
matrix configurations. Having latitude and longitude
in the fist columns makes these names rather cryptic.
 2021-12-22 12:48:54 +01:00
Daniel Agar 47fcdb1fdb
sensors/vehicle_angular_velocity: replace ESC/FFT elapsed perf counters with single cycle perf counter 
- non-trivial perf counters (elapsed & interval) are relatively expensive
 - if ESC and FFT notch filtering are enabled this reduces 6 updates (2 per axis) to 1
 2021-12-21 14:21:10 -05:00
Julian Oes 5894f302b5 mavlink: add test for zero padding 
We want to avoid publishing garbage leftover from earlier publications.
 2021-12-21 09:40:36 -05:00
Julian Oes 5cfe30fa2e mavlink: fix include for unit tests 
This is required to find the include directory for the unit test of the
MavlinkStatustextHandler.
 2021-12-21 09:40:36 -05:00
Julian Oes 2e0286e6bb mavlink: support receiving multi-chunk statustexts 
This adds support for mavlink statustext messages arriving in multiple
chunks.
 2021-12-21 09:40:36 -05:00
Daniel Agar 0029a75ab0 systemcmds: convert c -> c++ 2021-12-21 09:22:49 -05:00
Julian Oes d2e931858d px4io: remove unused cmake_policy 
This should fix the build with older cmake versions.
 2021-12-21 09:21:25 -05:00