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40666 Commits

Author SHA1 Message Date
achim 3fe4c6e3f5
boards: matek h743-mini specify drivers to still fit to flash 
- the code has become a bit bigger again that now the drivers have to be specified a bit more precisely to still fit into the flash.
 2022-05-13 14:05:04 -04:00
Beat Küng 32df76ca8a dshot: handle DSHOT_MIN for reversible outputs 
Also ensures there's no deadband if dead_l == dead_h (the default).
 2022-05-13 14:04:01 -04:00
Matthias Grob 57a0289627 trajectory_setpoint: correct comment typo "kinematically" 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-05-12 17:19:48 +02:00
Matthias Grob 4017f4bb0b vehicle_local_position_setpoint: reorder fields for clarity 2022-05-12 17:19:48 +02:00
Matthias Grob b67fbac296 uuv_pos_control: siplify passing on trajectory position setpoint 2022-05-12 17:19:48 +02:00
Matthias Grob 200124f094 mavlink_receiver: check entire Vectors for NAN 
Note: Behavioral change Inf also results in the flag being true.
 2022-05-12 17:19:48 +02:00
Matthias Grob 8ca28f3796 Separate message for trajectory setpoint 2022-05-12 17:19:48 +02:00
Beat Küng 9166b6953d output drivers: init SmartLock after exit_and_cleanup 
This fixes an invalid memory access when exiting the module:
exit_and_cleanup destroys the object, but lock_guard is destructed after
and accesses the lock.
 2022-05-12 08:16:35 -04:00
Beat Küng 0a9378e0f6 mavsdk_tests: ensure motor is stopped for motor failure test 2022-05-12 07:58:56 +02:00
Alessandro Simovic b5a3c58a95 sitl: loosen some timeouts 
The typhoon_h480 model would not always complete takeoff in 30 seconds
or finish the mission within 60 seconds.
 2022-05-12 07:58:56 +02:00
Alessandro Simovic 5c1932dcca disable engine failure detector for SITL VTOL 
Tried increasing ESC timeout for VTOL first

VTOL sitl tests are failing because the ESC telemetry seems to be coming
in at 0.3 Hz
 2022-05-12 07:58:56 +02:00
Alessandro Simovic 06f69cd469 Add SITL tests for control allocation 2022-05-12 07:58:56 +02:00
Beat Küng 0f860045f7 failure_detector: add failure injector class for motor telemetry 
This allows to test motor failures via 'failure motor off -i 1' on a real
system.
 2022-05-12 07:58:56 +02:00
Alessandro Simovic 4640f395d7 simulator_mavlink: Add ESC telemetry 2022-05-12 07:58:56 +02:00
Alessandro Simovic 20ccfbb719 control_allocator: remove failed motor from effectiveness 
- limit to handling only 1 motor failure
- Log which motor failures are handled
- Remove motor from effectiveness matrix without
  recomputing the scale / normalization
 2022-05-12 07:58:56 +02:00
Alessandro Simovic fb71e7587c failure_detector: add motor/ESC failure detection 2022-05-12 07:58:56 +02:00
Beat Küng dfd934fbdb esc_report: add actuator_function 2022-05-12 07:58:56 +02:00
Hamish Willee aab2feb8f5
pwm.cpp: remove the test example (#19587) 2022-05-12 07:56:13 +02:00
alexklimaj 0f69f8ced8 Fix uavcan battery causing immediate RTL time remaining low 2022-05-11 21:48:12 -04:00
Daniel Agar fba7c972d1
drivers/rc_input: ensure RC inversion is disabled initially and latch RC_INPUT_PROTO conservatively 
- this allows jumping straight to a non-SBUS RC protocol
 - increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases.
 - only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds
 2022-05-11 14:30:41 -04:00
Daniel Agar c772e5230f
commander: remove compile time dependencies on non-commander parameters 
- this allows builds with mavlink fully disabled
 - move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control
 2022-05-11 10:14:23 -04:00
Beat Küng 8d36ba6727 log_writer_file: fix corner case when mission log is enabled 
Normally _should_run for mission is only ever true if _should_run for the
normal log is. There are exceptions though:
- the log buffer fails to allocate
- there was a write failure (e.g. due to SD card removal)
In that situation, the writer would not wait anymore but busy-loop.
 2022-05-11 10:06:35 -04:00
Beat Küng ebbe08bc86 log_writer_file: protect access to _should_run, use px4::atomicbool for _exit_thread 2022-05-11 10:06:35 -04:00
Peter van der Perk 0053aeec97 Cyphal restore O1Heap statistics 2022-05-11 09:49:18 -04:00
Peter van der Perk e62e8b58d1 Update UCANS32K146 clocking to use XTAL and support higher pheriphal freq 2022-05-11 06:02:39 -07:00
Silvan Fuhrer ea2c1095c2 ROMFS: SITL tiltrotor: enable control allocaton and only tilt front motors 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-11 10:19:37 +02:00
Silvan Fuhrer 866f9fa95b Control Allocation: add option to disable yaw by differential thrust 
This replaces the propeller_torque_disabled flag to disable yaw by differential thrust
for tiltrotor and tailsitter VTOLs, as propeller_torque_disabled is not enough to set
effectiveness of an acutator in the yaw axis to 0 in case it's tilted.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-11 10:19:37 +02:00
Silvan Fuhrer 46179586fb Control Allocation: Tiltrotor: pass only thrust magnitude instead of 3D thrust to allocator 
Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in
MC), pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they
can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated
by the allocator directly.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-11 10:19:37 +02:00
Daniel Agar a71d101869 ROMFS: delete 3037_parrot_disco_mod airframe 2022-05-10 16:23:20 -04:00
Daniel Agar 42d7fb0b66 ROMFS: delete 3035_viper airframe and mixer 2022-05-10 16:23:20 -04:00
Daniel Agar 61c5d11375 ROMFS: delete 3034_fx79 airframe 2022-05-10 16:23:20 -04:00
Daniel Agar f1a1ed4958 ROMFS: delete 3030_io_camflyer airframe 2022-05-10 16:23:20 -04:00
Daniel Agar b00d0720cd ROMFS: delete 13010_claire airframe 2022-05-10 16:23:20 -04:00
Daniel Agar 451cc5058d ROMFS: delete minimal DJI airframes 2022-05-10 16:23:20 -04:00
Daniel Agar fa1891ace2 ROMFS: delete steadidrone airframes 2022-05-10 16:23:20 -04:00
Daniel Agar af5e903b82
.vscode/.gitignore ignore all log files 2022-05-10 11:39:55 -04:00
Daniel Agar b77bb6d88d
Makefile: bootloaders_update add all Matek targets 2022-05-10 11:39:54 -04:00
Daniel Agar 45e3fad3e0
Update submodule GPSDrivers to latest Tue May 10 12:38:49 UTC 2022 
- GPSDrivers in PX4/Firmware (3ac8fdbe29): 6534b050ee
    - GPSDrivers current upstream: 58968922b7
    - Changes: 6534b050ee...58968922b7

    5896892 2022-04-26 Seppe Geuens - sbf: add heading support (#100)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-05-10 11:38:52 -04:00
PX4 BuildBot 4b7b7dfa8d Update submodule mavlink to latest Tue May 10 12:39:00 UTC 2022 
- mavlink in PX4/Firmware (d6dff7daa984514185a8f31f6e653a69a278ded8): 3b52eac09c
    - mavlink current upstream: a1cb2c0e71
    - Changes: 3b52eac09c...a1cb2c0e71

    a1cb2c0e 2022-05-05 KonradRudin - Figure eight MAV_CMD (#1831)
0ebdf846 2022-04-28 Hamish Willee - common.xml: Deprecate MAV_CMD_GET_MESSAGE_INTERVAL for MAV_CMD_REQUEST_MESSAGE. (#1835)
f357fc78 2022-04-27 Hamish Willee - Deprecate MAV_CMD_GET_HOME_POSITION for MAV_CMD_REQUEST_MESSAGE (#1834)
 2022-05-10 11:37:55 -04:00
Daniel Agar 371a551f05
github actions: add all matek targets and sort 2022-05-10 11:33:01 -04:00
Daniel Agar 73f4c3ea87
Jenkins: compile add all matek targets and sort 2022-05-10 11:32:52 -04:00
Daniel Agar 6d390f393c
boards: matek_h743-mini_bootloader fix NuttX CONFIG_ARCH_BOARD_CUSTOM_DIR 2022-05-10 11:28:26 -04:00
Daniel Agar 5778553508
boards: matek_h743_bootloader fix NuttX CONFIG_ARCH_BOARD_CUSTOM_DIR 2022-05-10 11:26:15 -04:00
Daniel Agar a80a74af79
Jenkins: compile update uavcanv1 -> cyphal 2022-05-10 11:23:22 -04:00
Daniel Agar 858292209d
boards: px4_fmu-v5_uavcanv0periph disable common differential pressure sensors to save flash 2022-05-10 11:17:24 -04:00
Peter van der Perk b1ad4e8864 Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal 
Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp
 2022-05-10 09:46:18 -04:00
Beat Küng 3ac8fdbe29
px4/fmu-v5/stackcheck: disable module to reduce flash 2022-05-10 10:25:06 +02:00
Beat Küng 689ceefada
px4/fmu-v2/fixedwing: disable module to reduce flash 2022-05-10 10:24:55 +02:00
Beat Küng fc062ffad4
omnibus/f4sd/ekf2: disable module to reduce flash 2022-05-10 10:24:43 +02:00
Konrad 0e464a91be Remove contradicting geofence parameter description 
The flight termination action on geofence violation is described as only trigger, when the corresponding circuit breaker is not disabled. However, the description of the circuit breaker states, that the geofence action is not depedning on this circuit breaker. The implementation follows the description of the circuit breaker. Hence the GF_ACTION description is adapted.
 2022-05-10 09:01:12 +02:00