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39,222 Commits 514 Branches 136 Tags 601 MiB
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39222 Commits

Author SHA1 Message Date
Matthias Grob c522a8b15a Compute RTL time and react if lower than flight time 
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
 2021-11-24 14:10:24 +01:00
Matthias Grob 5489005e0b Commander: call battery_status_check on update instead of early return 2021-11-24 14:10:24 +01:00
Beat Küng 5bec3004c3 omnibus/f4sd: disable RGBLED to reduce flash 2021-11-24 11:41:33 +01:00
Jukka Laitinen 5dbbddb13f EKF2: Use _distance_sensor_subs vector directly 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen b66270f8a8 Inline uORBDeviceNode::copy for performance improvement 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen 3f884c5d24 Inline deviceNodeExists and getDeviceNode in uORB DeviceMaster 
This gives a small performance improvement

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen d9498ade32 EKF2: Allocate distance sensor subscriptions as member variables 
Just create the subscriptions and keep them, instead of
re-creating them continuously

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen bb307cd462 Fix comparing orb_metadata in uORB::DeviceNode::publish 
Don't compare pointers to metadata, but the metadata contents.

In protected/kernel build there are two sets of metadata, on on kernel
side and another in user side. Thus the comparison of pointers would just
always fail. Compare orb_id instead

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen 0b9505453d Clean up interfaces towards uORB 
Proxy all calls to the DeviceNode through Manager;
- This hides the DeviceNode from publishers and subscribers
- Manager can be made an interface class between user and kernel spaces in protected build
- This doesn't increase code size or harm the performance on flat build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Beat Küng 99d3b2a4e4 omnibus/f4sd: disable modules to reduce flash 2021-11-23 12:40:22 -05:00
Beat Küng db2a1e5fee px4/fmu-v2: disable modules to reduce flash 2021-11-23 12:40:22 -05:00
Beat Küng 950767f1af holybro/kakutefy: disable modules to reduce flash 2021-11-23 12:40:22 -05:00
Beat Küng 4c03def6e9 boards: add CONTROL_ALLOCATOR + ACTUATOR_TEST 2021-11-23 12:40:22 -05:00
Beat Küng 312d84ca23 metadata: run json schema validation for actuators + parameter metadata 2021-11-23 12:40:22 -05:00
Beat Küng 2809dd8944 control_allocator: remove min/max/scale params 2021-11-23 12:40:22 -05:00
Beat Küng b29d9db7f1 control_allocator: limit status publication rate to 200Hz 
Reduces CPU load by ~3.5% on F4 @2khz.
And compute getAllocatedControl as needed (~1.5% CPU reduction)
 2021-11-23 12:40:22 -05:00
Beat Küng 93a54ee63d metadata: fix generic param metadata generation 
Adds the module.yaml params that was previously split into a separate file.
 2021-11-23 12:40:22 -05:00
Beat Küng bcba3dfe52 control_allocator,angular_velocity_controller: run on rate_ctrl wq 2021-11-23 12:40:22 -05:00
Beat Küng a0e43bca96 msg: remove unused vehicle_actuator_setpoint topic 2021-11-23 12:40:22 -05:00
Beat Küng 52a2ef34fd mixer_module: add THR_MDL_FAC for SYS_CTRL_ALLOC=1 2021-11-23 12:40:22 -05:00
Beat Küng 357a16aca6 pwm_out_sim: split module.yaml into HIL+SIM files 2021-11-23 12:40:22 -05:00
Beat Küng b94c5db55d component_information: add actuators json generation & CI deployment 2021-11-23 12:40:22 -05:00
Beat Küng 70b1b19902 uavcan: add configuration parameter to actuator metadata 2021-11-23 12:40:22 -05:00
Beat Küng 19b89e1d35 output_functions: add notes to camera trigger + capture & exclude from testing 2021-11-23 12:40:22 -05:00
Beat Küng 4346ac4a37 control_allocator: add mixer metadata 2021-11-23 12:40:22 -05:00
Beat Küng 282d35bbf0 esc_calibration: handle SYS_CTRL_ALLOC==1 2021-11-23 12:40:22 -05:00
Beat Küng 490a2cd7ae dshot: handle VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng 21699935e8 vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng 6fdcc43ea8 mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg 2021-11-23 12:40:22 -05:00
Beat Küng 36296794c8 module config: add generate_actuators_metadata.py script 2021-11-23 12:40:22 -05:00
Beat Küng 36d9635518 output_functions.yaml: allow single-instance entry with 'start' but no 'count' 
for other additional data
 2021-11-23 12:40:22 -05:00
Beat Küng 5d6e785a4b mixer_module: remove unneeded test_motor_s force init 2021-11-23 12:40:22 -05:00
Beat Küng f99c2617ad control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults 2021-11-23 12:40:22 -05:00
Beat Küng dbc889a2ae rc.mc_apps: remove 'param set MPC_USE_HTE 0' for control allocation 
this is working now
 2021-11-23 12:40:22 -05:00
Beat Küng 2ff6baa250 actuator params: use module_name as prefix to channel label 2021-11-23 12:40:22 -05:00
Beat Küng 6537f480b1 module.yaml: make long param description optional 
Some params are very simple and don't need more.
 2021-11-23 12:40:22 -05:00
Daniel Agar 1b7f4b6003 Jenkins HIL test loading all airframes 2021-11-23 12:38:41 -05:00
Matthias Grob 0153c870d2 Commander: make sure yaw airmode is not possible while arm gesture is enabled 
It's unsafe to arm with the gesture when yaw airmode is enabled
because e.g. in Stabilized mode that results in a high yawrate setpoint
that the drone tries to follow even with zero thrust
because of the airmode.

It was handled before by checking the arm switch parameter because that
used to disable the stick arm gesture.
See 24dc316973
 2021-11-23 16:03:46 +01:00
Matthias Grob 572890f8c0 ManualControl: add parameter to disable arm/disarm stick gesture 2021-11-23 16:03:46 +01:00
Matthias Grob 468022abba ManualControl: correct arm hysteresis parameter name 2021-11-23 16:03:46 +01:00
Matthias Grob c84b1c6566 ManualControl: ignore unassigned mode slots 
They were resulting in a message
"Switching to Unkown is currently not available".
 2021-11-23 16:03:46 +01:00
Jaeyoung-Lim af7fa63480 Remove kconfig-frontends installation from setup.sh 2021-11-23 15:17:00 +01:00
Silvan Fuhrer e596607e2e minor comments update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-23 14:48:51 +01:00
Daniel Agar 7ff72304b4
sensors/vehicle_imu: improve disabled sensor handling 
- remove regular callback scheduling when sensor is disabled, register if re-enabled
 2021-11-22 21:10:35 -05:00
Daniel Agar 3140bf167c
NuttX submodule update with work_usrthread.c fixes 2021-11-22 17:41:49 -05:00
Daniel Agar 1c6b1f7554 pwm_out: parameter failure error messages 2021-11-22 11:27:45 -05:00
Daniel Agar c95dbfd7ac boards: px4_fmu-v5_debug disable debug fs errors 2021-11-22 11:27:45 -05:00
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