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39175 Commits

Author SHA1 Message Date
Daniel Agar c2cbf74351 vscode: cmake variants add px4_fmu-v5_debug for convenient debugging 2021-11-22 11:27:45 -05:00
Daniel Agar 577d926639 commander: improve angular velocity validity and message 2021-11-22 11:27:45 -05:00
Daniel Agar f058cbd0e0 boards: px4_fmu-v5_debug disable CONFIG_DEBUG_I2C 2021-11-22 11:27:45 -05:00
Daniel Agar 25846f48c4 boards: px4_fmu-v2/v3 use SPI bus power off rather than full reset 2021-11-22 11:27:45 -05:00
Daniel Agar c4de9f67a1 Jenkins: HIL add simple reboot script that fails on any ERROR 2021-11-22 11:27:45 -05:00
PX4 BuildBot 643002bd86 Update submodule sitl_gazebo to latest Mon Nov 22 12:39:01 UTC 2021 
- sitl_gazebo in PX4/Firmware (c73028bb1b): 607aa4d990
    - sitl_gazebo current upstream: 60d6844e17
    - Changes: 607aa4d990...60d6844e17

    60d6844 2021-11-16 wangwwno1 - Format: Remove extra spaces
e233c6d 2021-11-16 wangwwno1 - Enhance: fuse accel rotation
e8a7f89 2021-11-16 wangwwno1 - Fix: convert accel frame to local NED
 2021-11-22 09:12:23 -05:00
PX4 BuildBot 88d9ade4d7 Update submodule mavlink to latest Mon Nov 22 12:39:21 UTC 2021 
- mavlink in PX4/Firmware (0e4e8162407a12dc09c8d17635c60d4036b81bc7): c3a4b52eb1
    - mavlink current upstream: 5309ba449a
    - Changes: c3a4b52eb1...5309ba449a

    5309ba44 2021-11-18 Hamish Willee - Remove backticks - these do not render as a style so not helpful (#1745)
9cac0e5a 2021-11-17 David Jablonski - docs: catch more hyperlinks (#1744)
ea9349b5 2021-11-16 David Jablonski - common: add SET_FOCUS_TYPE_AUTO (#1741)
 2021-11-22 09:08:50 -05:00
Daniel Agar 8fc3b05491 mavlink: param_get proper type to silence errors 2021-11-22 09:08:38 -05:00
Daniel Agar cbb743c64d parameters: param type checking use PX4_ERR and enable in PX4_SITL 2021-11-22 09:08:25 -05:00
Beat Küng 7faaad79d0 generate_params.py: add PWM_AUX_* for boards w/o IO and >8 channels 2021-11-22 09:07:23 -05:00
Igor Mišić c73028bb1b iridiumsbd: discard all pending data for flow control enabled 2021-11-22 11:46:15 +01:00
Daniel Agar 7653bd1757 cmake fix NuttX config import for 0 values 2021-11-21 12:33:29 -05:00
wangwwno1 7a1a4ea7a6 Format fix & Remove redundant lines 2021-11-20 16:13:46 +01:00
wangwwno1 51ce8306ee Remove redundant code out of hil_lpos 2021-11-20 16:13:46 +01:00
wangwwno1 b2c5919d29 Update src/modules/simulator/simulator_mavlink.cpp 
Co-authored-by: JaeyoungLim <jalim@ethz.ch>
 2021-11-20 16:13:46 +01:00
wangwwno1 160fec5f25 Update simulator_mavlink.cpp 2021-11-20 16:13:46 +01:00
wangwwno1 6e2060ddb6 Add accel to vehicle_local_position_groundtruth 
Related Issue: #18527 
According to [this doc](92b1a43468/common/mavlink_msg_hil_state_quaternion.h (L102)), the *acc value are mili-Gee, so multiply the value with `CONSTANT_ONE_G/1000.0f` would get the acceleration in `m/s`.
 2021-11-20 16:13:46 +01:00
Daniel Agar 505f963dd0 mavlink: receiver fix SENS_FLOW_ROT type 2021-11-19 21:08:04 -05:00
Max Elfgen 7f5fa3d1f7 Using RTPS as a label resulted in the PX4 instance crashing. Removing the label fixed the problem. 2021-11-19 20:30:46 +01:00
Matthias Grob f912ee2c8b Commander: send out parachute MAVLink command when kill switch engaged 2021-11-19 17:15:04 +01:00
Matthias Grob 3193b554ca Add optional preflight check for healthy MAVLink parachute system 2021-11-19 17:15:04 +01:00
Matthias Grob 43c529f294 Add MAVLink parachute system heartbeat detection 2021-11-19 17:15:04 +01:00
Thomas Debrunner fb54324f56 gyro-fft: Disable asm-operand-widths warning on apple silicon. The warning is caused by unused functions only. As with compiling for x86, the functions containing assembly never get used, but since the apple silicon is also an ARM target, they trigger a warning. 2021-11-19 09:14:11 -05:00
Daniel Agar 24090b724c cmake: px4_add_module improve unity build dependencies to avoid unnecessary work 2021-11-19 09:13:07 -05:00
Matthias Grob 4c6621f6cf Commander: Allow arming a rover with the throttle stick in the middle 2021-11-19 10:10:32 +01:00
Jani Paalijarvi 02336acd61 Improve SPI bus implementation 
Make possible to define chip-select pin for internal SPI.
By defining chip-select pin, it's possible to start specific SPI device only.
This allows to have several same type of sensors on the same bus with different orientation.
 2021-11-19 07:47:18 +01:00
Matthias Grob 35d4986ea7 FlightTasks: remove updateFinalize() concept because it got obsolete 2021-11-18 19:12:44 -05:00
Matthias Grob 9eac0edbc0 FlightTaskAuto: remove generateSetpoints function, replace by implementation 2021-11-18 19:12:44 -05:00
Matthias Grob ece8fdddec FlightTaskAuto: simplify early setpoint preparation based on triplet type 2021-11-18 19:12:44 -05:00
dagar 9646b49b60 [AUTO COMMIT] update change indication 2021-11-18 13:58:53 -05:00
Daniel Agar bffd88ad81 ekf2: don't inhibit accel bias when not in air 2021-11-18 13:58:53 -05:00
Daniel Agar f3472385da sensors/vehicle_imu: fix accel/gyro learned bias calibration updates 
- fix confusion between estimated bias and calibration offset when
saving after each flight
 - when the stable bias estiamte is retrieved during flight it's
immediately converted to a sensor offset and saved
 - fixes https://github.com/PX4/PX4-Autopilot/issues/18658
 2021-11-18 10:00:26 -05:00
bresch fc155bc57e Ekf2Selector: declare filter unhealthy when high test ratio 
Request a switch to another instance when the combined test ratio is too high.
 2021-11-18 13:29:01 +01:00
bresch 43fb076828 AngularAcceleration: explicitly disable filter when cutoff <= 0 2021-11-18 09:25:47 +01:00
bresch 4a14a8bc7f AutoLineSV: Always publish a valid yaw setpoint 
In MPC_YAW_MODE 3 (along trajectory), the flight task is asked to
produce a yaw setpoint. If the previous yaw value was NAN (e.g.: during
early takeoff), the setpoint should then be reset to the current
estimate.
 2021-11-16 18:09:37 -05:00
bresch f751dd2242 FlightTask: set yaw_setpoint to NAN when yaw should not be controlled 2021-11-16 18:09:37 -05:00
bresch 2213343240 ft altitude: use longerThan to save a sqrt operation 2021-11-16 18:09:37 -05:00
bresch 394fa953b8 EKF: get status on yaw alignement in flight 
1s after the in air mag reset is performed, the final yaw alignment is
complete and the yaw estimate can be used for yaw control.
 2021-11-16 18:09:37 -05:00
Matthias Grob 2a5751233a FlightTasks: remove unused StraightLine library 
It was meant as an example for an easy to use interface of a
motion primitive with a minimal implementation. But the implementation
is much worse than the jerk optimized trajectory. We rather
work on making it easier to use. #18390 was a first step towards that.
 2021-11-16 18:08:27 -05:00
Daniel Agar e062f4fcf0 mavlink: ORBIT_EXECUTION_STATUS stream limit to 2 instances 2021-11-16 17:10:13 -05:00
Alessandro Simovic 7090e634cc mission_block: always accept yaw in MC takeoff 2021-11-16 12:35:16 -05:00
Beat Küng 0622cb8857 mavlink_ftp: disallow writes outside of /fs/microsd under NuttX 
As these files are kept in RAM, it could just fill up the RAM.
 2021-11-16 12:34:16 -05:00
Daniel Agar 4e8c234a55 ekf2: only save mag declination if changed 2021-11-16 12:33:48 -05:00
Daniel Agar 96bf3aa5d0
matrix: apply PX4 astyle 2021-11-16 12:30:51 -05:00
Daniel Agar ab07f5300b
lib/matrix: delete unused and add testing to PX4 2021-11-16 12:27:14 -05:00
Daniel Agar 4a3d64f1d7
consume PX4/Matrix repository and preserve history 2021-11-16 12:24:19 -05:00
Daniel Agar 38516f7e9c
delete matrix submodule 2021-11-16 12:20:57 -05:00
Matthias Grob b36dbf8de4 Remove AutoLineSmoothVel, merged into Auto 2021-11-16 10:08:47 +01:00
Matthias Grob 179b1cdf56 FlightTaskAuto: merge activate(), reActivate() and update() from FlightTaskAutoLineSmoothVel 2021-11-16 10:08:47 +01:00
Matthias Grob 51ebb0f294 FlightTaskAuto: move in helper methods from FlightTaskAutoLineSmoothVel 2021-11-16 10:08:47 +01:00