dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity
35,537 Commits 514 Branches 136 Tags 234 MiB
Commit Graph

2340 Commits

Author SHA1 Message Date
JaeyoungLim 58ca389634
Fix tiltrotor range to use normalized actuator inputs in SITL (#14751) 
This adds fixes to use the normalized actuator setpoints for simulating tiltrotor in sitl
 2020-06-15 08:51:26 +02:00
Daniel Agar 6f6efd60b7 boards: centralize optional external I2C sensor start 
- configured with new parameter SENS_EXT_I2C_PRB
 2020-06-10 09:04:13 -04:00
Daniel Agar a83e75ee10
ROMFS: microsd prevent MacOS and Ubuntu trash and indexing files 2020-06-08 16:57:28 -04:00
Daniel Agar 5507c15bdc boards: move rgbled_pwm startup to appropriate boards 2020-06-08 16:49:46 -04:00
Beat Küng 7f73b9a131 kopis2: update tuning and filter parameters 2020-06-04 20:58:40 -04:00
Beat Küng fa567e93d8 4050_generic_250: update default filter parameters 
A racer should have have to use a filter of 30Hz.
 2020-06-04 20:58:40 -04:00
Beat Küng 5ce006dd8b SYS_HITL: reserve value -1 for external HITL 2020-06-04 20:58:40 -04:00
Beat Küng 867453eada posix rcS: always set IMU_INTEG_RATE 
If this is wrong, the startup just hangs.
 2020-06-04 20:58:40 -04:00
Daniel Agar e34bdb4be9
move IMU integration out of drivers to sensors hub to handle accel/gyro sync 
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu 
 - sensors: voted_sensors_update now consumes vehicle_imu
 - delete sensor_accel_integrated, sensor_gyro_integrated
 - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
 - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
 2020-05-30 11:07:54 -04:00
Daniel Agar 05856c1029 ROMFS: holybro s500 decrease filter defaults 2020-05-27 12:25:51 -04:00
Matthias Grob d92e66863a mc_pos_control: migrate MPC_*_VEL_* parameter to acceleration scaling 
Before #14212 the velocity control gains used in the multicopter
position controller were defined as a scale between velocity error in
one axis (or it's integral and derivative respectively) and the unit
thrust vector. The problem with this is that the normalization of the
unit thrust vector changes per vehicle or even vehicle configuration
as 0 and 100% thrust get a different physical response. That's why
the gains are now defined as scale between velocity error
(integral/derivative) and the output acceleration in m/s².
 2020-05-26 14:44:41 +02:00
JaeyoungLim b5e23f544e Tune down solo attitude rate controller 
This removes visible oscillations of the vehicle
 2020-05-23 11:46:16 -04:00
斯东Stone c07b687753 Set Power Monitor to a Neutral Position for PX4 Vision 
Reference manual in box, and Holybro's website.
 2020-05-11 14:27:03 -04:00
Daniel Agar 04113b4d57 commander: changes when USB connected 
- skip avionics rail voltage check when USB connected
 - skip forced reboot on USB disconnect if circuit breaker set
 - avionics voltage preflight check don't silently fail if system_power unavailble
     - explicitly set supply check circuit breaker (CBRK_SUPPLY_CHK)
 2020-05-06 13:53:54 -04:00
Daniel Agar ca998c1822
IMU: parameterize IMU integration time (IMU_INTEG_RATE) 
- default integration rate now 200 Hz (5000 us interval)
 - set update rate for all drivers and simulators using PX4Accelerometer/PX4Gyroscope
 2020-05-05 20:34:09 -04:00
JaeyoungLim b10cbd2892 Fix shibang of r1_rover airframe config 
The shibang was missing in the previous commit where this file was added
 2020-05-05 10:01:26 -04:00
kritz 33dc0fd146
Add vision velocity integration test (#14818) 2020-05-05 11:14:30 +02:00
JaeyoungLim cae28cd59a
Add aion robotics r1 rover sitl target (#14652) 
This adds a sitl target and aiframe configs for the r1_rover, which is a differential rover example for SITL rover. The model is based on the aion robotics r1 rover
 2020-05-05 11:07:02 +02:00
JaeyoungLim cd59f95565 Add additional flap channel in mixer 
Since sitl gazebo is unable to control to joints from a single channel, an additional mixer is defined
 2020-05-01 21:01:33 -04:00
baumanta 545b8118a8 change solo mag rotation to new convention 2020-05-01 21:00:55 -04:00
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
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
JaeyoungLim 6e18cb85b1 Add plane lidar model 
Add model that can test terrain estimated landing
 2020-04-19 17:09:42 -04:00
Matthias Grob ffa9fdbd56 posix rcS: always disable CPU load check 2020-04-17 18:25:07 +02:00
flbernier 3b0f2a4d43 Swap Ki and Kd in rover related airframes 2020-04-17 08:18:10 +02:00
Matthias Grob 8b76c0c023 PreFlightCheck: add checks for CPU and RAM load 2020-04-16 11:45:50 +02:00
mcsauder 6548fde024 Whitespace cleanup to quiet new blank line at EOF git hook. 2020-04-15 23:00:39 -04:00
Matthias Grob c9e64988b9 GPS Dynamic model default <1g 
Only have it higher for VTOL and fixed wing.
Multicopter position controlled flight is in our experience always <1g.
Acrobatic flying definitely exceeds the acceleration but if control
doesn't rely on the GPS velocity and position there shouldn't be any
problem.
 2020-04-08 11:52:38 -04:00
Nico van Duijn df07eed1a4 PX4Vision: tune MPC_LAND_ALT 2020-04-08 11:52:01 -04:00
Daniel Agar 7aa7f0ed95 switch remaining boards to new InvenSense IMU drivers 2020-04-07 09:59:12 -04:00
AlexKlimaj d8c140be04
UAVCAN Smart Battery Improvements 2020-04-06 21:09:02 -04:00
Julian Oes 641612468b ROMFS: start esc_battery if param is set 2020-04-06 15:56:54 +02:00
RomanBapst 0d8d4cd6e0 SITL configs: improve L1 tracking and increase backtransition duration 
-decrease L1 period for tighter mission tracking in fw mode
- increase backtransition duration, we can now do this is we have active
deceleration control

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-04-02 23:54:48 -04:00
Daniel Agar ca81175b07 rename drivers/px4fmu -> drivers/pwm_out 
- split out header
 2020-03-31 19:12:31 -04:00
Matthias Grob bda072512a rc.vtol_defaults: reduce maximum jerk to 4.5 m/s³ based on testing feedback 
@fury1895 reported very valuable feedback from testing
the acceleration feed-forward on VTOL:
> MPC_JERK_MAX 4.5 (from 5 on it felt too aggressive)
> MPC_JERK_AUTO 4
> some hovering, some transitions, and a mission. Everything good.
> I'd say you feel the difference in position mode and you see it in
> Auto modes. Great improvement!
 2020-03-30 09:58:39 +02:00
Matthias Grob bc2579f3be mc_pos_control_params: lower jerk configuration 
because of tighter tracking with acceleration feed-forward.
 2020-03-30 09:58:39 +02:00
Daniel Agar 28dc225015 add SENS_EN_PAW3902 to start paw3902 optical flow sensor 2020-03-26 13:08:59 -04:00
Beat Küng 2b360bfd48 rcS: fixes for SYS_USE_IO=0 
rc.io is called from 2 places in rc.interface:
- if [ $OUTPUT_MODE = io -o $OUTPUT_MODE = uavcan_esc ]:
  - 'set OUTPUT_MODE io' is only set within USE_IO=yes, so removing
    the check in rc.io has no effect.
  - in case of UAVCAN, we also want the IO for RC, now covered in the next
    case.
- Further down ('Start IO for RC input if needed.').
  This is intended to start IO for RC only, when fmu is already started.
  However the previous check '$USE_IO = yes' in rc.io prevented that.

In addition we don't start rc_input in case of $USE_IO = no.

Fixes no RC on Pixhawk 2 with SYS_USE_IO=0.
 2020-03-26 10:33:27 -04:00
Anurag Sai Vempati bcfe56b297
replay: apply replay module params before starting ekf2 (#14478) 2020-03-26 10:02:15 +01:00
Hyon Lim 1161dac875 Script update: PMW3901 driver argument has changed. so we change scripts and SPI interface. 2020-03-25 16:16:45 -04:00
Hyon Lim 1a23b7c609 IFO-S parameter updated. 2020-03-25 16:16:45 -04:00
Hyon Lim 15f997d337 Airframe: IFO-S setup is added. 2020-03-25 16:16:45 -04:00
SalimTerryLi dc8e775d8f
ADC: replace ioctl with uorb message (#14087) 2020-03-20 11:23:32 +01:00
Beat Küng e4bf535595 refactor bst telemetry: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 1710cd9648 refactor px4flow: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng ec2de33547 lights: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 3b7b2dc871 differential_pressure sensors: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 83b367f000 refactor teraranger: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng a6ddf0e4b9 refactor sf1xx: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng f743585160 refactor mb12xx: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 7e3f40d1c2 refactor mappydot: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 1b1e1ba31f refactor ll40ls: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng df99555132 refactor ll40ls: split I2C and PWM into separate drivers 
- there was almost nothing shared
- it will fit better into the updated I2C driver structure
 2020-03-17 23:31:17 -04:00
Beat Küng 58f386a81c refactor pmw3910: use driver base class 2020-03-17 23:31:17 -04:00
Lorenz Meier 4f1749541c ROMFS: Exclude uncommon board configs (Generic 250) 2020-03-16 23:40:29 +01:00
Lorenz Meier cff36315c4 ROMFS: Exclude uncommon board configs (Beta75x) 2020-03-16 23:40:29 +01:00
Lorenz Meier f7455db20c ROMFS: Exclude uncommon board configs (Reaper) 2020-03-16 23:40:29 +01:00
Lorenz Meier 98c9e558ca ROMFS: Exclude uncommon board configs (3DR Quad) 2020-03-16 23:40:29 +01:00
Lorenz Meier 48d1c355c3 ROMFS: Exclude uncommon board configs (Solo) 2020-03-16 23:40:29 +01:00
Lorenz Meier 4c8866059d ROMFS: Exclude uncommon board configs (HK Micro) 2020-03-16 23:40:29 +01:00
Lorenz Meier ebf52a988a ROMFS: Exclude uncommon board configs (HB PX4 Vision) 2020-03-16 23:40:29 +01:00
Lorenz Meier 2e63a43ea1 ROMFS: Exclude uncommon board configs (HB S500) 2020-03-16 23:40:29 +01:00
Lorenz Meier f2037876a4 ROMFS: Exclude uncommon board configs (S500) 2020-03-16 23:40:29 +01:00
Lorenz Meier bf02b8cc72 ROMFS: Exclude uncommon board configs (QAV250) 2020-03-16 23:40:29 +01:00
Lorenz Meier 0808bc7243 ROMFS: Exclude uncommon board configs (QAVR5) 2020-03-16 23:40:29 +01:00
Lorenz Meier f660c495cb ROMFS: Exclude uncommon board configs (TBS Caipi) 2020-03-16 23:40:29 +01:00
Lorenz Meier 992adfed58 ROMFS: Exclude uncommon board configs (Parrot Disco) 2020-03-16 23:40:29 +01:00
Lorenz Meier 23bf4d5e1b ROMFS: Exclude uncommon board configs (Pigeon Airframe) 2020-03-16 23:40:29 +01:00
Lorenz Meier d397543262 ROMFS: Exclude uncommon board configs (Viper) 2020-03-16 23:40:29 +01:00
Lorenz Meier a304ce0d59 ROMFS: Exclude uncommon board configs (FX79) 2020-03-16 23:40:29 +01:00
Lorenz Meier c08128e917 ROMFS: Exclude uncommon board configs (Wing Wing) 2020-03-16 23:40:29 +01:00
Lorenz Meier 5f64efb87d ROMFS: Exclude uncommon board configs (Skywalker) 2020-03-16 23:40:29 +01:00
Lorenz Meier dd22b51606 ROMFS: Exclude uncommon board configs (Phantom) 2020-03-16 23:40:29 +01:00
Lorenz Meier 72cb9f2c1b ROMFS: Exclude uncommon board configs (Camflyer) 2020-03-16 23:40:29 +01:00
Lorenz Meier 936f93eb3a ROMFS: Exclude uncommon board configs (Generic Wing) 2020-03-16 23:40:29 +01:00
Lorenz Meier a2e2e4069b ROMFS: Exclude uncommon board configs (Dodeca Cox) 2020-03-16 23:40:29 +01:00
Lorenz Meier 47f21e42ba ROMFS: Exclude uncommon board configs (Mini Talon) 2020-03-16 23:40:29 +01:00
Lorenz Meier a1878cd1ab ROMFS: Exclude uncommon board configs (Albatross) 2020-03-16 23:40:29 +01:00
Lorenz Meier 3b7922b788 ROMFS: Exclude uncommon board configs (Maja) 2020-03-16 23:40:29 +01:00
Lorenz Meier 456958dd15 ROMFS: Exclude uncommon board configs (Standard Plane) 2020-03-16 23:40:29 +01:00
Lorenz Meier ffc718c0c2 ROMFS: Exclude uncommon board configs (AutoG2) 2020-03-16 23:40:29 +01:00
Lorenz Meier 3ab6cfe701 ROMFS: Exclude uncommon board configs (Helicopter) 2020-03-16 23:40:29 +01:00
Lorenz Meier e2429c8a7a ROMFS: Exclude uncommon board configs (Coax Heli) 2020-03-16 23:40:29 +01:00
Lorenz Meier f5db720e78 ROMFS: Exclude uncommon board configs (Tri Y-) 2020-03-16 23:40:29 +01:00
Lorenz Meier 31e776d570 ROMFS: Exclude uncommon board configs (Tri Y) 2020-03-16 23:40:29 +01:00
Lorenz Meier c4c39940de ROMFS: Exclude uncommon board configs (S250) 2020-03-16 23:40:29 +01:00
Lorenz Meier 21bcf2ff04 ROMFS: Exclude uncommon board configs (QAV250) 2020-03-16 23:40:29 +01:00
Lorenz Meier 60a1309b07 ROMFS: Exclude uncommon board configs (Kopis 2) 2020-03-16 23:40:29 +01:00
Lorenz Meier 733d3d0f13 ROMFS: Exclude uncommon board configs (DJI Matrice 100) 2020-03-16 23:40:29 +01:00
Lorenz Meier 61f4f25530 ROMFS: Exclude uncommon board configs (Aero) 2020-03-16 23:40:29 +01:00
Lorenz Meier 9e770c609d ROMFS: Exclude uncommon board configs (IFO) 2020-03-16 23:40:29 +01:00
Lorenz Meier db9f2700f6 ROMFS: Exclude uncommon board configs (Draco) 2020-03-16 23:40:29 +01:00
Lorenz Meier 7b94a2da80 ROMFS: Exclude uncommon board configs (ZMR250) 2020-03-16 23:40:29 +01:00
Lorenz Meier 41f9df6cf8 ROMFS: Exclude uncommon board configs (Nanomind) 2020-03-16 23:40:29 +01:00
Lorenz Meier 59ee1f0a29 ROMFS: Exclude uncommon board configs (Tilt Quad) 2020-03-16 23:40:29 +01:00
Lorenz Meier b5daf5799d ROMFS: Exclude uncommon board configs (Teal) 2020-03-16 23:40:29 +01:00
Lorenz Meier ed4ed50786 ROMFS: Exclude uncommon board configs (Clover4) 2020-03-16 23:40:29 +01:00
Lorenz Meier 4ee4b830ab ROMFS: Exclude uncommon board configs (Crazyflie) 2020-03-16 23:40:29 +01:00
Lorenz Meier d8ed4c7b3d ROMFS: Exclude uncommon board configs (Generic Ground) 2020-03-16 23:40:29 +01:00
Lorenz Meier 428ce42966 ROMFS: Exclude uncommon board configs (Axialracing AX10) 2020-03-16 23:40:29 +01:00
Lorenz Meier a394a68e47 ROMFS: Exclude uncommon board configs (Traxxas Stampede) 2020-03-16 23:40:29 +01:00
Lorenz Meier 8bc3418892 ROMFS: Exclude uncommon board configs (AION Robotics) 2020-03-16 23:40:29 +01:00
Lorenz Meier ebd188bca9 ROMFS: Exclude uncommon board configs (DFrobot GPX Asurada) 2020-03-16 23:40:29 +01:00
Lorenz Meier 37cc9604bc ROMFS: Exclude uncommon board configs (Quad +) 2020-03-16 23:40:29 +01:00
Lorenz Meier fd73580db8 ROMFS: Exclude uncommon board configs (UUV Generic) 2020-03-16 23:40:29 +01:00
Lorenz Meier 56de232bae ROMFS: Exclude uncommon board configs (UUV HippoCambus) 2020-03-16 23:40:29 +01:00
Lorenz Meier 54c3e72f0c ROMFS: Exclude uncommon board configs (Hexa X) 2020-03-16 23:40:29 +01:00
Lorenz Meier d68caed742 ROMFS: Exclude uncommon board configs (Draco R) 2020-03-16 23:40:29 +01:00
Lorenz Meier 942097a0ce ROMFS: Exclude uncommon board configs (Hexa +) 2020-03-16 23:40:29 +01:00
Lorenz Meier 7b0c8ec3fc ROMFS: Exclude uncommon board configs (Octo X) 2020-03-16 23:40:29 +01:00
Lorenz Meier e93d23985c ROMFS: Exclude uncommon board configs (Octo +) 2020-03-16 23:40:29 +01:00
Lorenz Meier 75491ed298 ROMFS: Exclude uncommon board configs (VTOL Tailsitter) 2020-03-16 23:40:29 +01:00
Lorenz Meier a3419a0130 ROMFS: Exclude uncommon board configs (VTOL Octo) 2020-03-16 23:40:29 +01:00
Lorenz Meier 4176627539 ROMFS: Exclude uncommon board configs (Babyshark) 2020-03-16 23:40:29 +01:00
Lorenz Meier f7666a8b74 ROMFS: Exclude uncommon board configs (Convergence) 2020-03-16 23:40:29 +01:00
Lorenz Meier 65ea2bc981 ROMFS: Exclude uncommon board configs (Claire) 2020-03-16 23:40:29 +01:00
Lorenz Meier 8d0f9d8601 ROMFS: Exclude uncommon board configs (Ranger) 2020-03-16 23:40:29 +01:00
Lorenz Meier 1300930d85 ROMFS: Exclude uncommon board configs (QuadRanger) 2020-03-16 23:40:29 +01:00
Lorenz Meier f663515f49 ROMFS: Exclude uncommon board configs (VTOL AAVVT) 2020-03-16 23:40:29 +01:00
Lorenz Meier 207ae6d83c ROMFS: Exclude uncommon board configs (VTOL Standard Delta) 2020-03-16 23:40:29 +01:00
Lorenz Meier 1e1762401e ROMFS: Exclude uncommon board configs (VTOL AAERT) 2020-03-16 23:40:29 +01:00
Lorenz Meier dc41771c1a ROMFS: Exclude uncommon board configs (Quad+) 2020-03-16 23:40:29 +01:00
Lorenz Meier 6cd669836c ROMFS: Exclude uncommon board configs (Firefly 6) 2020-03-16 23:40:29 +01:00
Lorenz Meier af9b073c9a ROMFS: Exclude uncommon board configs (Steadidrine Mavrik) 2020-03-16 23:40:29 +01:00
Lorenz Meier 440067870a ROMFS: Exclude uncommon board configs (Octo COX) 2020-03-16 23:40:29 +01:00
Lorenz Meier f3e4aec45a ROMFS: Exclude uncommon board configs (Hexa COX) 2020-03-16 23:40:29 +01:00
Lorenz Meier 079772823a ROMFS: Exclude uncommon board configs (TBS Endurance) 2020-03-16 23:40:29 +01:00
Lorenz Meier 65052717fe ROMFS: Exclude uncommon board configs (Steadidrone Q4D) 2020-03-16 23:40:29 +01:00
Lorenz Meier 83c0d4607e ROMFS: Exclude uncommon board configs (3DR Iris) 2020-03-16 23:40:29 +01:00
Lorenz Meier df49d1d815 ROMFS: Exclude uncommon board configs (TBS Dicovery) 2020-03-16 23:40:29 +01:00
Lorenz Meier 4f2d39cb15 SITL plane: Do not configure trigger 
We have a plane_cam configuration for survey applications instead.
 2020-03-14 17:50:40 +01:00
Lorenz Meier 39e473f988 Gazebo plane model: Enable tighter turns 
This helps to fly smaller / faster test missions.
 2020-03-14 17:50:40 +01:00
Lorenz Meier 76b3c18625 Add dedicated survey camera plane model 
This is to allow us to test triggering properly in SITL
 2020-03-14 17:50:40 +01:00
Lorenz Meier 320cc8bae6 POSIX SITL: Enable trigger control in plane model 
This allows to test plane survey missions with the camera trigger included in SITL.
 2020-03-14 17:50:40 +01:00
Daniel Agar 0eca583ecf sensors: move baro aggregation to new sensors/vehicle_air_data 2020-03-12 19:06:34 -04:00
Daniel Agar 093e9ba1ce
mc_rate_control: use vehicle_angular_acceleration topic instead of differentiating 
* mc_rate_control: use vehicle_angular_acceleration topic
* IMU_DGYRO_CUTOFF change default to 30 Hz
* improve IMU_DGYRO_CUTOFF param documentation (updated from MC_DTERM_CUTOFF)
 2020-03-12 15:07:03 -04:00
Daniel Agar 5d33b9e999
delete Outback Challenge (OBC) AUTO_RTGS (datalink loss) and AUTO_RCRECOVER (rc loss) 2020-03-11 22:45:55 -04:00
Daniel Agar f9794e99f8
move hover_thrust_estimator to new module (mc_hover_thrust_estimator) 
* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.

* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2020-03-11 21:20:54 -04:00
Beat Küng e627fed117 fmu-v2: disable perf command and some airframes 
to reduce FLASH size
 2020-03-10 10:11:43 -04:00
Matej Frančeškin b8970673c6 Fixed Mavlink FTP tests 2020-03-08 21:43:54 +01:00
Katrin 116de6d25f
Airframe and mixer for rover DF Robot GPX:Asurada (#14244) 
Added Airframe and mixer for rover DF Robot GPX:Asurada

Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: Lorenz Meier <lorenz@px4.io>
 2020-03-08 14:35:24 +01:00
Julian Oes 874c6f385b commander: unify offboard timeouts 
The implementation before this change had two timeouts, a hard-coded
timeout of 0.5 seconds as well as a by param configurable timeout with
certain failsafe actions set.

This change aims to fix two problems:
1. The hard-coded offboard timeout can be triggered easily with sped up
   lockstep simulation. Since i t is hard-coded it can't be adapted to
   the speed factor.
2. The offboard signal can time out but no action will be taken just
   yet. This means we end up in an in-between stage where no warning or
   failsafe action has happened yet, even though certain flags are set
   to a timeout state.

This patch aims to fix this by unifying the two timeouts to the existing
configurable param. The convoluted double timeout logic is replaced by a
simple hysteresis.

For anyone that has previously not changed the default timeout param (0),
the param will now be changed to 0.5 seconds which reflects the
previously hardcoded time. For anyone with a specific timeout
configured, the behaviour should remain the same.

Also, going forward, timeouts lower than 0.5 seconds should be possible.
 2020-03-04 09:35:14 +01:00
Julian Oes 43a1257843 ROMFS: prevent auto-disarm before takeoff in CI 
Sometimes in CI for VTOL we saw disarms before the spoolup and ramp were
over and the takeoff would actually happen. By raising the auto-disarm
time we should be able to work around this and get CI less flaky.
 2020-02-21 09:58:21 -05:00
JaeyoungLim e0d6f94318 Add boat(usv) sitl target 2020-02-21 00:30:15 -08:00
JaeyoungLim c89766c8ab Fix gcs udp port to support more vehicles in multivehicle sitl 
Limit remote udp port to 14549


Fix


Cleanup port handling


Fix bash syntax


Fix
 2020-02-19 14:23:17 +01:00
JaeyoungLim 7a1464d992
Revert port change (#14177) 
Reverts #14126 and #14176 until CI failures can be resolved
 2020-02-18 14:56:04 +01:00
JaeyoungLim b365fbf1e9 Fix bash syntax 2020-02-18 13:55:24 +01:00
JaeyoungLim 30cc3a1243 Cleanup port handling 2020-02-18 13:06:46 +01:00
JaeyoungLim fc61d1c43d Limit remote udp port to 14549 
Fix
 2020-02-18 13:06:46 +01:00
JaeyoungLim 2bcd8490ff Fix gcs udp port to support more vehicles in multivehicle sitl 2020-02-18 13:06:46 +01:00
Daniel Agar d7c3e1066a
uavcannode updates and px4_fmu-v4_cannode example 
- drivers/uavcannode add baro, mag, gps publications
 - delete old px4_cannode-v1 board
 - add stripped down simple rcS for CAN nodes
 2020-02-16 12:11:54 -05:00
Beat Küng 73bd90ddd5 crazyflie: fix PWM channel ordering 
Channels belonging to a certain timer were not all grouped together.
This is required by the .first_channel_index and .last_channel_index data
members.

We introduce a new mixer geometry to solve the problem.
 2020-02-13 03:49:16 -08:00
Daniel Duecker 36f836be79
add support for unmanned underwater vehicles (#14079) 
* add support for unmanned underwater vehicles:
* airframe uuv_generic + uuv_hippocammpus including mav_type = 12 for submarines
* mixer for UUVs with X-shaped thruster setup similar to quadcopter
* add module  uuv_att_control for underwater robot attitude control
* add rc.uuv_defaults/apps for autostarting e.g. ekf2 and uuv_att_control app
 2020-02-04 23:24:37 -05:00
JaeyoungLim 6dc3cbbd95
SITL add catapult plane target for new gazebo model (plane_catapult) 2020-02-02 11:59:17 -05:00
kritz 92e75452f5
Flow mockup (#14054) 
* Add optical flow mockup model

* Update Tools.sitl_gazebo
 2020-01-29 14:06:46 +01:00
Daniel Agar dc5e10c3b1 airframes: delete 4004 H4 680mm 
- this doesn't include any actual airframe configuration
 2020-01-28 07:43:26 +01:00
Daniel Agar b95442b38f airframes: delete 4012 quad x can 2020-01-28 07:43:26 +01:00
Daniel Agar 4ac3ce9f54 airframes: delete 4002 quad x mount 
- the mount can be enabled via parameter
 2020-01-28 07:43:26 +01:00
Roman Dvořák 497ab07daf airframes: add ThunderFly Auto-G2 autogyro (#14015) 2020-01-27 16:21:52 +01:00
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
Julian Oes 735749e341 Revert "SITL shell: Do math using the shell" 
This reverts commit be35c4857b.

This would only work for integer math, so for simulation speed-up. For
speeds slower than realtime we need floating point.
 2020-01-17 10:32:21 +01:00
Daniel Agar d32a80df3a
simulator: replace gpssim with simple orb publication 
- this is one of the last pieces of the system that still depend on DriverFramework
 - add new SIM_GPS_NOISE_X parameter for optionally increasing the GPS noise multiplier (was previously a gpssim command line option)
 - add SIM_x_BLOCK parameters to block sensor publication
   - SIM_GPS_BLOCK
   - SIM_ACCEL_BLOCK
   - SIM_GYRO_BLOCK
   - SIM_MAG_BLOCK
   - SIM_BARO_BLOCK
   - SIM_DPRES_BLOCK
 2020-01-09 10:30:20 -05:00
Jacob Dahl d08ec05bab PWM automatic trigger system (ATS) for parachutes (#13726) 
* parameter and logic to commander for triggering failsafe from external automatic trigger system.
* logic to startup script for enabling ATS. Added uORB publishing to pwm_input module.
* Refactored out CDev usage from pwm_input and ll40ls. Refactored out ll40ls specifics from pwm_input and cleaned up dead code.
 2020-01-06 20:14:06 -05:00
Daniel Agar 44f9de5e37
delete parrot bebop board support 
This target was never fully supported and is heavily dependent on a number of DriverFramework drivers that have no in tree equivalents (bebop bus, flow, rangefinder, etc). Deleting this will make it easier to fully drop DriverFramework shortly.
 2020-01-05 19:46:51 -05:00
Lorenz Meier f5ce40e434 FMUv2: Exclude some multicopter targets 
These are rarely used airframes that should not be missed.
 2019-12-26 10:16:58 +01:00
Lorenz Meier 0c85c5d18e FMUv2: Exclude some fixed wing targets 
These are rarely used airframes that should not be missed.
 2019-12-26 10:16:58 +01:00
Lorenz Meier 02119c1832 FMUv2: Exclude rover targets 
This is reasonable as these boards are very old and rovers are a new area of activity.
 2019-12-26 10:16:58 +01:00
Lorenz Meier be35c4857b SITL shell: Do math using the shell 
Bash or zsh from the last 10 years or so do math using the $((a + b)) syntax. This saves us from having bc as dependency.
 2019-12-26 10:16:58 +01:00
Julian Oes 81809d8234 ROMFS: prevent high accel bias in SITL 2019-12-26 10:16:58 +01:00
JaeyoungLim 4bcdf560be airframes: add config for px4vision devkit drone (#13683) 
* Added configuration file for Pixhawk Vision

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-12-16 08:21:17 +01:00
Ricardo Marques 86d3453343 Fix rover_sitl mixer call in CMakeLists.txt 2019-12-12 13:43:08 -05:00
Daniel Agar f769b80fde cmake px4_add_romfs_files FATAL_ERROR if file doesn't exist 2019-12-12 13:42:30 -05:00
Matthias Grob 904ab16558 Fix trailing whitespace, EOF newline, indentation 2019-12-09 13:22:19 +01:00
RomanBapst 634e8d206a tiltrotor SITL config: increase transition time from 1.5 to 5 seconds 
- avoids tilting the motors forward too fast

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-12-03 13:57:58 +03:00
Daniel Agar 0cc250194d
VTOL: explicitly start all FW & MC controllers in VTOL mode 2019-11-30 12:58:36 -05:00
Daniel Agar bc182e94e6
sensors split rc_update into new standalone module 2019-11-24 13:25:11 -05:00
Matthias Grob 6589aa5f71 posix rcS: remove overwriting default altitude 2019-11-22 13:36:05 -05:00
Julien Lecoeur 053ede6ca5 SITL: create a parameter file for each airframe 2019-11-21 15:55:49 +00:00
Julien Lecoeur be99064133 SITL: add SYS_AUTOCONFIG support 2019-11-21 15:55:49 +00:00
Daniel Agar 84fe64b1c2
create new multicopter rate controller module (mc_rate_control) split out of mc_att_control 2019-11-19 17:03:11 -05:00
Nik Langrind ba5efa5642 px4io: When running HITL, don't publish actuator_outputs. Fixes #13471. 
When running in HITL mode, pwm_out_sim publishes actuator_outputs.

px4io unconditionally publishes the uOrb actuator_outputs. When HITL
is configured, the px4io copy of the uOrb has all zeros.

The result is that there are two publications, one valid, and one
all-zeros. This causes the HIL_ACTUATOR_CONTROLS mavlink message
to be incorrect (all-zeros) and the SERVO_OUTPUTS_RAW mavlink
message to be inconsistent, as it takes the data from one or the
other uOrb randomly each cycle.

The fix is to let px4io know that HITL is in effect when it is
started, and modify px4io to suppress publication in this case.

This is a bigger more complicated fix than I would like, but I
think it is conceptually correct.

Signed-off-by: Nik Langrind <langrind@gmail.com>
 2019-11-17 11:19:35 +01:00
Daniel Agar a694f0bbdd bl_update: build and include board bootloader if config available 2019-11-16 11:43:42 +01:00
Daniel Agar 2af262ed1d NuttX cmake build wrapper thorough dependencies 2019-11-16 11:43:42 +01:00
TSC21 d4ddabdf52 SITL: adds 'iris_rtps' target 2019-11-13 18:24:11 +00:00
Oleg Kalachev 942cdb1fa5 Add COEX Clover 4 airframe 2019-11-11 22:45:52 -05:00
Daniel Agar 668984b6b0 boards: start adc in rc.board_sensors 2019-11-11 17:08:24 -05:00
xdwgood f984c4e450 ROMS: delete caipirinha_vtol.main.mix and instead use vtol_tailsitter_duo.main.mix 2019-11-11 10:40:20 +01:00
Pandacoolcool ec0244906f fix yaw control error 2019-11-11 10:40:20 +01:00
Pandacoolcool 5c7da88265 remove unuse param 2019-11-11 10:40:20 +01:00
Daniel Agar 7a82df3872
UVify Core and Draco-R updates 
* Draco-R sensor orientation correction
* LL40LS sensor is not stable during I2C probing. More trials have been implemented.
* px4flow execution has been removed as rc script already running it
* GPS LED script repaired
* Off ICM20608 due to some bug?
* Removed i2c speed adjustment due to SMBUS.
* ms5611 test2 does not exist
* Baud rate has changed.
* Draco-R airframe parameters are updated.
* IFO and Draco parameters are updated
* Draco-R sensor orientation corrected
* Draco-R DSHOT supports
 2019-11-02 11:39:41 -04:00
Jacob Dahl 66b3a4269b updated maintainer on 4250_teal 2019-10-30 15:31:04 +00:00
JaeyoungLim 4c8f27cf57 Fix typhoon h480 parameter (#13263) 2019-10-25 10:46:27 +02:00
Jaeyoung-Lim f7871ec9de Retune h480 2019-10-23 16:55:30 +01:00
RomanBapst 06a902f598 rcS: do not wipe next flight UUID parameter when resetting parameters 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-10-23 16:54:17 +01:00
Daniel Agar 6a0f5249f8
sensors: split out analog battery handling to new standalone battery_status module 2019-10-21 13:40:23 -04:00
Beat Küng 349469cf75 refactor pwm_out_sim: use mixer_module and run on work queue 
Tested with SITL + HITL
 2019-10-21 09:42:08 +02:00
Daniel Agar bde36f0f4a
ROMFS: rc.vtol_defaults limit inner loop rate (#13196) 
- temporary remedy for https://github.com/PX4/Firmware/issues/13149
 2019-10-16 12:27:06 -04:00
Beat Küng b080679146 kakutef7, kopis airframe: enable dshot & telemetry 2019-10-11 08:14:17 +02:00
Beat Küng 132dcdaf25 beta75x airframe: enable DShot600 2019-10-11 08:14:17 +02:00
Beat Küng d8ef1b59b9 ROMFS: add dshot startup support 2019-10-11 08:14:17 +02:00
BazookaJoe1900 02e861b16e enable silent compare of parameter (#12850) 
Remove false errors after comparing parameters that doesn't exists.
as described in #12832
 2019-10-07 09:50:11 +02:00
garfieldG bbb96cbd0c Mavlink startup script per board 
-moved rc.mavlink to the boards optional rc additions (now it's called rc.board_mavlink) to handle board specific mavlink needs (mavlink over usb, ethernet, additional streams, etc.)
-mavlink module will be responsible to usb defaults, therefore less args are needed to be passed to mavlink module if one wants to use mavlink over usb.
-the way to check if connection is usb is by it's designated variable and not by config mode.
 2019-09-29 10:46:08 -04:00
mcsauder 7b16c3482d Refactor the ll40ls namespace driver methods to more closely match the cm8jl65, mappydot, leddar_one, and other distance sensor driver implementations. 2019-09-27 07:55:53 +01:00
bazooka joe 49c74ab021 add new parameter LIGHT_EN_BLINKM to start blinkm lights 2019-09-02 20:02:00 -04:00
BazookaJoe1900 8a45c6145b add new parameter SENS_EN_PMW3901 to start pmw3901 optical flow 2019-09-02 11:08:51 -04:00
mcsauder 0817ee40f8 Add generic vtol tailsitter airframe/mixer and incorporate modifications from PR 9849 in 4001_quad_x and 13001_caipirinha_vtol. 2019-09-01 18:35:14 -04:00
Matthias Grob 328544ae2e deltaquad: remove deprecated parameter MAN_R_MAX 2019-09-01 14:56:59 -04:00
Daniel Agar 10ed88db57
VTOL airframes update legacy VT_MOT_COUNT parameter 2019-09-01 13:09:48 -04:00
BazookaJoe1900 e3b60cd9e7 rc.sensors: moved common ms5611 start to rc.board_sensors per board 2019-09-01 12:55:50 -04:00
Silvan Fuhrer db4b4719c3 BabyShark VTOL: update config file 
- increased transition throttle
 - enable airmode
 - increased max roll angle

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-29 09:58:20 -04:00
Hyon Lim 0262a699c1 UVify Core board support and airframes (Draco, Draco-R, IFO) (#12337) 
* also includes minor changes to make it easy to keep in sync with px4_fmu-v4
 2019-08-23 17:02:25 -04:00
Claudio Micheli f3eafdc296 Fix wrong initialization of PWM_AUX_RATE. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-23 15:37:57 +02:00
Todd Colten b55ae09f00 FW: set default RTL_TYPE = 1 for fixed wing 
This change adds the line "param set RTL_TYPE 1" to the default init scripts for fixed wing.  Similar to the other PR that sets default RTL_TYPE=1 for VTOLs, RTL_TYPE=1 should be default for normal fixed wings as well.  Reference: https://github.com/PX4/Firmware/pull/12746/files
 2019-08-22 08:47:50 +02:00
Silvan Fuhrer 536f073d02 VTOL: set RTL_TYPE default for VTOL to 1 (return to home via mission landing if available) 2019-08-21 10:15:06 +02:00
Silvan Fuhrer 5a736c9af8 update babyshark VTOl config 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-21 05:23:25 +02:00
Daniel Agar 7d248e0f45
px4fmu: move to WQ with uORB callback scheduling (#12224) 2019-08-20 20:24:12 -04:00
Beat Küng a7eed520b4 commander: refactor module usage output 2019-08-19 10:54:56 +02:00
Silvan Fuhrer cedf14e2ba Airspeed Selector: repurpose wind estimator into an airspeed (selection, validation) module. 
This new airspeed module does:
  -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale
  -selects another airspeed sensor if for the current one a failure is detected
  -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present
  -outputs airspeed_validated topic

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-09 10:55:05 +02:00
Matthias Grob 45187e1aa8 Improve magnetometer inconsistency check 
To check directional difference between the magnetometer field vectors
instead of vector component difference.
 2019-08-07 18:44:39 +02:00
Daniel Agar bf474028ff px4flow add parameter to enable (SENS_EN_PX4FLOW) 
- fixes https://github.com/PX4/Firmware/issues/12571
 2019-08-06 10:55:35 -04:00
RomanBapst cfba41d2f4 posix configs: set trigger interface to mavlink as it's the only one 
supported on posix

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-08-06 08:08:56 +02:00
Timothy Scott 3850322046 Added module.yaml and serial port configuration. 2019-08-05 02:45:33 -07:00
Timothy Scott 2406aa8b50 Further fixing up parameters 2019-08-05 02:45:33 -07:00
Timothy Scott 6ea03bee58 Ongoing work to update RoboClaw driver 2019-08-05 02:45:33 -07:00
Daniel Agar 77694183b2 delete position_estimator_inav 2019-08-02 17:38:28 -04:00
Beat Küng 8e5aaff76b airframes: add Kopis 2 2019-07-25 10:38:57 -04:00
Julien Lecoeur 8f47535b54 ROMFS: fix airframe incremental build 2019-07-24 05:40:53 -07:00
Julien Lecoeur 24c2846750 ROMFS: add explicit dependency to parser scripts 2019-07-24 05:40:53 -07:00
Julien Lecoeur daeba4e75f Add airframe .post scripts on NuttX targets 2019-07-22 13:02:45 +02:00
Matthias Grob e964af9262 commander_params: enable RC override by default 
It doesn't affect fixed wing flying anymore. I disabled it for the
deltaquad since I presume @sanderux prefers to have the feature disabled
even when flying in multicopter mode.
 2019-07-22 09:57:37 +02:00
Matthias Grob aaad71faab commander_params: enable automatic disarming after land detection by default 2019-07-18 14:36:50 +02:00
Mark Sauder 4a02475dd1 rcS: reduce a few LOC in AUTOCNF logic (#12467) 
* Set/unset rcS vars at beginning and end of rcS script and reduce a few LOC checking SYS_AUTOCONFIG with improved logic.

* Restore current placement of set/unset vars in rcS script to leave only the SYS_AUTOCONFIG logic modification.

* Replace set AUTOCNF no after inadvertent deletion.
 2019-07-16 16:48:25 +02:00
Beat Küng 84bca7e4d0 shellcheck: disable SC2181 
The combination of 'if mycmd' and a logical expression is not supported in
NuttX.
 2019-07-16 08:09:22 +02:00
Beat Küng 92c2d7ae36 CBRK_BUZZER: allow to disable startup sound 
The 'if [ $LOG_FILE = /dev/null ]' block can be removed, because
STARTUP_TUNE is already set in that case.
 2019-07-16 08:09:22 +02:00
Beat Küng 5fe4c61b42 rc_input: add RC_PORT_CONFIG param to configure RC port 
The parameter will only be available if the board defines an 'RC' serial
port in SERIAL_PORTS (in default.cmake).
 2019-07-16 08:09:22 +02:00
Beat Küng a3c920db7d board_defaults: remove unnecessary 'set MIXER_AUX none' 
On all of these boards '$USE_IO = no' will hold.
 2019-07-16 08:09:22 +02:00
Timothy Scott 2ed00c9cb6 Rover: Rewrote gnd_pos_control and removed gnd_att_control (#12239) 2019-07-11 09:39:13 -04:00
Daniel Agar d4cd1d0d2e
NuttX stm32f7 fully re-enable dcache with write back (#12435) 
- fixes https://github.com/PX4/Firmware/issues/12216
 - includes latest PX4/NuttX and apps update 7.29+
 2019-07-10 19:08:12 -04:00
Silvan Fuhrer fdcb0f06d6 Babyshark VTOL: updated config file (new smooth flight task, detuned position control, 
improved land detector, included autopilot rotation)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-07-09 15:38:40 +02:00
Daniel Agar aff13f6f64 rc.fw_defaults: reduce EPH/EPV failsafe values from 5x to 3x MC 2019-07-08 17:50:54 -04:00
BazookaJoe1900 df45124d02 black sheep telemetry add new TEL_BST_EN parameter to enable 2019-07-08 16:30:22 -04:00
Timothy Scott f7a460427b Changed name of mixer to be shorter 2019-07-05 18:00:15 +02:00
Silvan Fuhrer 9b46c1d8a9 Upated Babyshark VTOL config and vtol_defaults 
Updated the babyshark default  parameters for improved flight performance,
as well as two MPC parameters in vtol_defaults for smoother hovering with VTOLS"

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-07-04 11:26:01 -04:00
Fabian Schilling d139bc5a7c Use bc to support floating point PX4_SIM_SPEED_FACTOR 2019-07-03 16:54:29 +02:00
RomanBapst 7bba5a7287 vtol_configs: replaced VT_MOT_COUNT with VT_MOT_ID 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-06-27 20:14:10 +02:00
Daniel Agar 6d9bf18ca6 Revert "VTOL: add parameter to prevent flight if roll direction was not checked" 
This reverts commit 5f06c6a1aa.
 2019-06-25 09:26:20 +02:00
Matthias Grob 443381327e Airframes: rename normal S500 to generic and remove PX4 defaults 2019-06-24 18:26:27 +02:00
Matthias Grob c22825ee45 Airframes: add Holybro S500 Kit which was tested at dev summit 2019-06-24 18:26:27 +02:00
Ildar Sadykov fb8630c267 Adding VTOL Octoplane airframe type (#12303) 
* Srcparser updated, default script for VTOL octoplane added.
 2019-06-22 14:13:29 +02:00