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945 Commits

Author SHA1 Message Date
Daniel Agar cf37be8c44
ekf2 handle accelerometer clipping 
- track clipping per IMU axis and pass through to ecl/EKF
 - update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663)
 2020-04-07 20:11:08 -04:00
TSC21 4f718086ea microRTPS: fix topic name when ROS2 is not being used 2020-04-07 16:34:30 +01:00
Julian Oes cafd52647c msg: fix battery source enum 2020-04-06 15:56:54 +02:00
Julian Oes f650b91718 battery: check source param inside battery lib 
This moves the handling of the BAT%d_SOURCE param inside of the battery
library. Users of the library now pass the source instead of the flag
whether to publish. The battery library then checks if the source is
selected using the param and publishes accordingly.

Since we removed the strange system_source flag, we now need to look at
all batteries in commander.
For current estimation - I think - it makes sense to sum them up.
 2020-04-06 15:56:54 +02:00
Julian Oes 5beb293a6a msg: fix typo 2020-04-06 15:56:54 +02:00
stmoon 9a0c50325b remove exception in case that ROS is not installed 2020-04-04 08:20:35 +01:00
stmoon aaa72b2a25 change how to get ros2 version 2020-04-04 08:20:35 +01:00
TSC21 144c65c92f microRTPS: only use '-typeros2' FastRTPSGen option for Dashing and later ROS2 distros 2020-04-03 18:03:26 +01:00
Claudio Micheli dc29a994b7 msg: extend field definition in msg/esc_report (arming & failure states) 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-04-03 09:16:43 +02:00
TSC21 2020b77a43 microRTPS: use FastRTPSGen '-typeros2' option to generate the typenaming required to interface the bridge with ROS2 topics 2020-04-02 14:28:38 +01:00
Julian Oes 07d172dc9c tools: present nicer error for missing packaging 
This makes the error more user friendly and suggests what to do to fix
it.
 2020-04-01 10:42:18 +01:00
Hyon Lim 3bcd8c63f8
SMBus battery (a.k.a. smart battery) enhancement. (#14496) 
* Enhancement: State of health, and max_error value is added. Both shows battery health of SMBUS smart battery.
 * Enhancement: BAT_C_MULT parameter is introduced. This is for high-current capable SMBUS-based battery.
As SMBUS only provides 16-bit for current, it could only be +-32768mA which is about +-32A.
But with proper treatment, it could be extended with little accuracy loss.
This factor can be set for individual battery system with available information.
    * Relative SOC introduced. Proper SMBUS battery should provide percentage of remaining battery
directly. Therefore it does not have to be computed like before.
    * State of Health introduced. Proper SMBUS battery should provide SOH value.
    * Max error: this shows estimation error of BMS.
 * Enhancement: With smart battery, precise estimation of time remaining is provided
with impedance track. It is unit of minute, so 60 seconds multiplied.
Update rate of this is not fast, but very useful.

Co-authored-by: Hyon Lim <lim@uvify.com>
 2020-03-31 17:28:22 -04:00
Daniel Agar 2b82b471c1 sensor_accel_fifo increase to 32 samples 2020-03-31 13:26:50 -04:00
David Jablonski a0bf7425ae Implemented multipart status message 2020-03-31 09:23:52 +02:00
Timothy Scott 14a61a6695 Fixed reporting of battery voltages in uORB 2020-03-31 09:14:50 +02:00
Roman Dvořák b02e209507
Remove duplicite data from RPM message and enable logging of RPM message 2020-03-30 13:08:53 -04:00
David Jablonski 536cd6cb1a allow DO_CONTROL_VIDEO in missions 2020-03-30 17:10:36 +02:00
David Jablonski 6bd191a24e Mavlink: Implemented SET_CAMERA_ZOOM 2020-03-30 17:10:36 +02:00
TSC21 c4f8f39ca9 microRTPS: templates: use full version comparison when checking for version 1.7 2020-03-24 17:47:39 +00:00
TSC21 1b453ed849 microRTPS: templates: check only the major and minor of FastRTPS to set the 'discovery_config' namespace 2020-03-24 16:43:12 +00:00
TSC21 1ea5280299 microRTPS: use package.version to compare FastRTPS lib versions 2020-03-24 13:31:41 +00:00
SalimTerryLi dc8e775d8f
ADC: replace ioctl with uorb message (#14087) 2020-03-20 11:23:32 +01:00
Lorenz Meier ed0a01d5da Commander: Add reporting of preflight and prearming state 
This is essential for the operator to know if the system is ready to fly.
 2020-03-17 00:17:11 +01:00
Paul Riseborough ab92b46e69
Update ecl to add ability to recover from bad magnetic yaw 
* msg: Add EKF-GSF yaw estimator logging data
* ecl: update to version with EKF-GSF yaw estimator
* ekf2: Add param control and logging for EKF-GSF yaw estimator
* logger: Add logging for EKF-GSF yaw esimtator
 2020-03-15 12:57:25 -04:00
Lorenz Meier cb63fcdcc4 Vehicle command: Add mission item to gate mission execution on line orthogonal to current trajectory 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
TSC21 69b38c9ced RTPS: add IDs to 'orb_test' related multitopics 2020-03-12 11:10:50 +00:00
Daniel Agar a89b69b0ea
vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz) 
* attitude_estimator_q: get velocity from local position (if available)
 2020-03-11 23:57:43 -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
TSC21 2b8eb736e1 microRTPS: timesync: fix comment indentation 2020-03-11 15:13:07 +00:00
TSC21 21f0d99145 microRTPS: RtpsTopics: code specialization simplification 2020-03-11 15:13:07 +00:00
TSC21 e9bc675bfa microRTPS: agent: simplify Publisher code specialization 2020-03-11 15:13:07 +00:00
TSC21 296714a00a microRTPS: agent: simplify Subscriber code specialization 2020-03-11 15:13:07 +00:00
TSC21 99f96437c3 microRTPS: timesync: add getters and setter to generalize interface 2020-03-11 15:13:07 +00:00
TSC21 7612879ffd microRTPS: use FastRTPS version instead of FastRTPSGen version to generate conditional code 2020-03-11 15:13:07 +00:00
TSC21 c7d86b73d4 microRTPS: RtpsTopics: generalize types and member functions access 2020-03-11 15:13:07 +00:00
Daniel Agar 9585055e9e
uORB: add bitset for faster orb_exists check and remove uORB::Subscription lazy subscribe hack/optimization 
- add PX4 bitset and atomic_bitset with testing
 - add uORB::Subscription constructor to take ORB_ID enum
 - move orb test messages into msg/
 2020-03-11 09:06:33 -04:00
TSC21 04ec2041e3 microRTPS: timesync: cleanup and style fix 2020-03-10 12:15:18 +00:00
TSC21 512c405834 microRTPS_timesync.h: fix comments notation so to be properly generated in EmPy 2020-03-10 12:15:18 +00:00
TSC21 1893c9e37e microRTPS_timesync.h: add description to functions 2020-03-10 12:15:18 +00:00
TSC21 a3487ab8a3 microRTPS: timesync: fix unit conversion 2020-03-10 12:15:18 +00:00
TSC21 59869b2350 microRTPS_timesync.cpp: fix style 2020-03-10 12:15:18 +00:00
TSC21 7de8bee29e microRTPS: timesync: interpolate 2020-03-10 12:15:18 +00:00
TSC21 2568d9ae20 mavlink: timesync: readd timesync_status uORB to report Mavlink timesync 2020-03-10 12:15:18 +00:00
TSC21 250b6b24ab microRTPS: timesync: properly apply offsets 2020-03-10 12:15:18 +00:00
TSC21 67491b473c microRTPS: add timesync handshake 2020-03-10 12:15:18 +00:00
TSC21 e3e607f600 microRTPS: client: add client response to timesync 2020-03-10 12:15:18 +00:00
TSC21 2ec8958351 microRTPS: microRTPS_timesync: fix template indentation 2020-03-10 12:15:18 +00:00
TSC21 6dea2dd97d microRTPS: agent: make sure that is able to subscribe a timesync stream from itself 2020-03-10 12:15:18 +00:00
TSC21 cfd8e368df microRTPS: timesync: template generalization for both ROS2 and non-ROS2 2020-03-10 12:15:18 +00:00