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40292 Commits

Author SHA1 Message Date
chris1seto 912962f109
lib/rc: Fix DSM2/DSMX guessing routine and DSM range checking (#18270) 
* Add Orangerx test case

Co-authored-by: Chris Seto <chris.seto@bossanova.com>
 2022-04-13 17:29:08 -04:00
PX4 BuildBot 93268a285d Update submodule mavlink to latest Wed Apr 13 12:39:05 UTC 2022 
- mavlink in PX4/Firmware (16fd85d9b9133f21a79a5c1bccbf4756f4b3c781): 56a5110d38
    - mavlink current upstream: 3b52eac09c
    - Changes: 56a5110d38...3b52eac09c

    3b52eac0 2022-04-13 Beat Küng - add COMPONENT_METADATA, deprecate COMPONENT_INFORMATION (#1823)
 2022-04-13 14:09:03 -04:00
Daniel Agar 9c381a60b5 Tools/ecl_ekf: fix vibe_metrics usage (moved to vehicle_imu_status instances) 2022-04-13 10:36:45 -04:00
Daniel Agar b4158c1b48 sensors/vehicle_imu: Integrator use 1 microsecond for minimum DT 
- this is a more realistic minimum for the system
 2022-04-13 10:36:45 -04:00
Daniel Agar d2f1349d1a sensors/vehicle_imu: replace coning metric with actual integrator coning correction (averaged) 
- this saves a relatively expensive higih rate cross product and gives
better visibility into what's actually happening internally
 2022-04-13 10:36:45 -04:00
bresch 37cafe7dcd ekf rng kin: reduce minimum rng variance 2022-04-13 11:41:48 +02:00
bresch 4994649500 ekf rng kin: increase default gate size 
The user needs to tune the range finder noise parameters properly and we
shouldn't need such a small gate
 2022-04-13 11:41:48 +02:00
bresch 1fbe04986f ekf rng finder consistency: simplify class member names 2022-04-13 11:41:48 +02:00
bresch 4c03f0bc50 ekf: make range finder kin consistency gate tunable by parameter 2022-04-13 11:41:48 +02:00
bresch 079a5e92ba ekf: run rng consistency check only when not horizontally moving 
The check assumes a non-moving terrain height
 2022-04-13 11:41:48 +02:00
bresch d903613c9c ekf: add logging for rng kinematic consistency check 2022-04-13 11:41:48 +02:00
bresch 8693ad15a7 ekf: add logging of range finder consistency check 2022-04-13 11:41:48 +02:00
bresch baf9cc9597 ekf: use uint64_t for time variables 2022-04-13 11:41:48 +02:00
bresch 9fc331b7ea ekf: requires kinematically consistent range finder data to continue terrain aiding 2022-04-13 11:41:48 +02:00
bresch 78211f9dbb ekf: improve rng consistency check 
To pass from invalid to valid:
- time hysteresis
- some vertical velocity
- test ratio < 1
- low-passed signed test ratio < 1

To pass from valid to invalid:
- low-passed signed test ratio >= 1
 2022-04-13 11:41:48 +02:00
bresch b1ea2e4e15 ekf: use same gate for innov and innov sequence monitoring 2022-04-13 11:41:48 +02:00
bresch f96287b80a ekf: access member variable without getter 2022-04-13 11:41:48 +02:00
bresch 904bf8ef9f ekf: add range finder kinematic consistency check 
At each new valid range measurement, the time derivative of the distance
to the ground is computed and compared with the estimated velocity.
The average of a normalized innovation squared statistic check is used
to detect a bias in the derivative of distance measurement,
indicating that the distance measurements are kinematically inconsistent
with the filter.
 2022-04-13 11:41:48 +02:00
bresch 064518f57a ekf: extract range finder noise computation 2022-04-13 11:41:48 +02:00
Matthias Grob 97b2947416 FlightTaskAuto: refactor _commanded_speed_ts -> _time_last_cruise_speed_override 2022-04-13 12:23:27 +03:00
Matthias Grob 68cf686892 FlightTask: rename and move setCruisingSpeed() -> overrideCruiseSpeed() 2022-04-13 12:23:27 +03:00
Matthias Grob f892a624b7 FlightModeManager/FixedwingPositionControl: robustify vehicle command parameter casting 2022-04-13 12:23:27 +03:00
Matthias Grob 6ce3e88f9d vehicle_command: specify what SPEED_TYPEs are for 2022-04-13 12:23:27 +03:00
RomanBapst 3ed929c7b6 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
RomanBapst b335710655 vehicle_command: added enum for speed types 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
RomanBapst d41de33a85 FlightModeManager: handle MAV_CMD_DO_CHANGE_SPEED 
- support setting the cruise speed of the auto flight task via command

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
RomanBapst ca657f36ef FixedWingPositionControl: handle VEHICLE_CMD_DO_CHANGE_SPEED 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
RomanBapst 36e32ecd7b navigator: stop handling speed changes via reposition triplet 
- the mc and fw controllers are handling the speed changes directly

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
Junwoo Hwang 35613df210 uORB : Don't automatically include message name as default topic name in uORBTopics source files, to handle case where user doesn't use default messgae name for multi topic definition in .msg file 2022-04-13 09:08:51 +02:00
alexklimaj 4fc161192a Add ARK CANnode board config 2022-04-12 21:23:18 -04:00
Daniel Agar 0a0987a6e0 ROMFS: move px4flow start to rc.sensors 2022-04-12 21:22:41 -04:00
Daniel Agar 1d66f2cf83 posix: HRT hrt_lock() sem_wait try again if error returned 2022-04-12 12:46:29 -04:00
Matthias Grob 10f927ae2b MulticopterPositionControl: remove unused return value parameters_update() 2022-04-12 10:13:11 -04:00
Daniel Agar c30475b04b
Update submodule GPSDrivers to latest Tue Apr 12 12:38:56 UTC 2022 
- GPSDrivers in PX4/Firmware (c04e66a890): ad1094aaf1
    - GPSDrivers current upstream: ddb1825fe3
    - Changes: ad1094aaf1...ddb1825fe3

    ddb1825 2022-03-29 Daniel Agar - ubx: print relevent UBX-MON-VER output

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-04-12 10:12:46 -04:00
PX4 BuildBot 5e6fb9b537 Update submodule sitl_gazebo to latest Tue Apr 12 12:38:53 UTC 2022 
- sitl_gazebo in PX4/Firmware (bb2ea574aa): 25138e803e
    - sitl_gazebo current upstream: 2cf56d0bf8
    - Changes: 25138e803e...2cf56d0bf8

    2cf56d0 2022-03-23 Julian Oes - Revert "models: Add model for standard_vtol_ctrlalloc"
b3ab8de 2022-03-18 JamesAnawati - Update cloudship.sdf.jinja
 2022-04-12 10:12:12 -04:00
Daniel Agar 8166a500ac
Update world_magnetic_model to latest Mon Apr 11 11:14:11 UTC 2022 (#19475) 2022-04-12 10:11:51 -04:00
Daniel Agar bb2ea574aa ekf2: properly reset IMU biases on calibration change (non-multi-EKF) 
- this was working in the multi-EKF case using vehicle_imu, but missing
in sensor_combined
 2022-04-11 12:23:55 -04:00
Daniel Agar 8f891332f1
boards: px4_fmu-v2_multicopter disable load_mon to save flash 2022-04-11 12:23:35 -04:00
bresch 76a59d5c66 Tools: add drag fusion tuning script 2022-04-11 09:56:01 -04:00
Daniel Agar 04f37222f8 ekf2: fix IMU missed perf count when not using multi-EKF 2022-04-10 11:07:33 -04:00
PX4 BuildBot f2c5d70d3a Update submodule mavlink to latest Sun Apr 10 12:39:00 UTC 2022 
- mavlink in PX4/Firmware (a1530591764f0c694560e4bb6ae41c15d3e35c9b): 0133e5db7f
    - mavlink current upstream: 56a5110d38
    - Changes: 0133e5db7f...56a5110d38

    56a5110d 2022-04-09 Tom Pittenger - Add radius to DO_REPOSITION (#1825)
3b5959bd 2022-04-07 Thomas Debrunner - Option to not reset non-configurable params in preflight storage (#1826)
 2022-04-10 10:21:14 -04:00
Silvan Fuhrer 6096620828 ROMFS: remove duplicate setting of NAV_LOITER_RAD to 80 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-04-09 14:31:17 -04:00
Silvan Fuhrer c7023e5879 Increase NAV_LOITER_RAD and RTL_LOITER_RAD to 80m each 
For many VTOLs/fixed-wing drones a 50m loiter radius is too tight, and
going to 80m is a better and safer default.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-04-09 14:31:17 -04:00
Nicolas MARTIN eb1bb4335b
commander: fix enable_failsafe reason (#19391) 
- In this case, no action is configured for datalink lost. Action is configured for RC lost.
 - In case of no data link and no rc failsafe is enabled but reporting a "no_datalink" reason but "no_rc_and_no_datalink" seems more explicit.
 2022-04-09 14:30:49 -04:00
Daniel Agar 091fca701e
px4io: input_rc only publish new successful decodes 
- previously an invalid decode would continue to be transferred to the FMU (at 50 Hz) and published to the rest of the system as successfully decoded new RC data
 - by only publishing new successful decodes we can more effectively discard invalid data in downstream consumers
 2022-04-09 14:28:16 -04:00
alexklimaj 017f860f44 Add I2C retries in INA226 to prevent publishing 0's on a single read failure 2022-04-09 14:23:52 -04:00
Ryan Johnston 777540bd02
boards/matek/gnss-m9n-f4: RM3100 orientation fix 
- the RM3100 needs to be pitched 180º for correction orientation on this board.
 2022-04-09 14:22:21 -04:00
Ryan Johnston c585758f67
boards/matek/gnss-m9n-f4: IMU orientation update 
- the icm20602 needs to be rolled 180º and yaw 90º for this board.
 2022-04-09 14:21:45 -04:00
Jacob Dahl 3bffe3087d use new safety_button topic for uavcannode Button publishing 2022-04-09 14:20:18 -04:00
Matthias Grob fe26ee244d modeCheck: allow arming in land mode for MAVSDK compatibility 
ideally we can remove it again when the workflow is changed to
first changing mode then arming.
 2022-04-08 09:56:47 +02:00