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31396 Commits

Author SHA1 Message Date
Daniel Agar d089bacb1b
codecov notification changes 
- require the reporting of 5 builds to try and prevent Github actions + Jenkins race condition
 - don't report if there's no change
 2020-01-30 21:50:59 -05:00
Hamish Willee 1acb947124 commander_params: subedit com_rc_override 2020-01-30 19:30:17 -05:00
David Sidrane 514e1a3744 px4_fmu-v4pro:Fix USART6 RX DMA Assignment 2020-01-30 16:20:49 -05:00
Daniel Agar e49112d406 invensense/icm20608-g: delete unnecessary perf counters 2020-01-30 13:07:44 -05:00
Daniel Agar aad27c4f94 invensense/icm20602: use watermarak interrupt instead of data ready and remove unnecessary perf counters 2020-01-30 13:07:44 -05:00
Daniel Agar ca4b8e4e76 invensense/mpu9250: delete redundant interval perf counter 2020-01-30 13:07:44 -05:00
Daniel Agar 6fe35d522a new icm20689 driver using FIFOs and raw sampling (8 kHz gyro, 4 kHz accel) 2020-01-30 13:07:44 -05:00
Daniel Agar 3910028fc5 new mpu6000 driver using FIFOs and raw sampling (8 kHz gyro, 1 kHz accel) 2020-01-30 13:07:44 -05:00
Hamish Willee 9886b11f99 EKF params - clarify body frame origin/orientation 2020-01-30 07:29:11 -05:00
Matthias Grob 69af6386b3 mc_pos_control_main: remove obsolete input setpoint assignments 
These assignments were temporary for correct logging of the input
setpoint which now properly also comes out of the controller again.

This is reverting the hotfix from:
dee8d200d8
 2020-01-30 07:28:18 -05:00
Matthias Grob b75c1308f9 PositionControl: replace interfacemapping checks 
Removing the skip_controller and interfaceMapping
concept and replacing it with a single method checking
if the position control update was successful and
return the result in the PositionControl.update().
 2020-01-30 07:28:18 -05:00
Matthias Grob e06fff94bb PositionControl: handle yaw NAN inputs 2020-01-30 07:28:18 -05:00
Matthias Grob dcc0339773 PositionControl: calculate velocity integral once using Vector3f 2020-01-30 07:28:18 -05:00
Matthias Grob 9109d22c28 PositionControl: simplify horizontal thrust limiting 2020-01-30 07:28:18 -05:00
Matthias Grob 83653d6581 PositionControl: readd direct thrust setpoint support 
This restores original horizontal thrust setpoint execution
that I intentionally broke three commits ago. It's necessary
for correct stick to tilt mapping of FlightTaskManualAltitude.
 2020-01-30 07:28:18 -05:00
Matthias Grob 282d46efcb PositionControl: add feed-forwards with addIfNotNan() 2020-01-30 07:28:18 -05:00
Matthias Grob 62fb06bd58 PositionControl: calculate velocity PID once using Vector3f 2020-01-30 07:28:18 -05:00
Matthias Grob 5bd8da2286 PositionControl: temporarily remove direct thrust setpoint support 
This commit temporarily breaks direct horizontal thrust setpoint execution
which is used by FlightTaskManualAltitude. This is necessary to allow for
PositionControl cleanup namely calculating the whole velocity PID in one
Vector3f formula.

Having this in a separate commit is useful since it reduces indentation
of a bigger code block.
 2020-01-30 07:28:18 -05:00
Matthias Grob e53ae45188 ControlMath: add addIfNotNan helper functions 2020-01-30 07:28:18 -05:00
Lorenz Meier eb50e89d87
Add flow tests to MAVSDK tests (#14039) 
* workflows: remove unneeded pip dep and comments

* mavsdk_tests: simple test using flow/offboard

This adds a first proof of concept of a test using flow and offboard.

* Flow MAVSDK test: check against ground truth

* CleanUp

* workflows: use latest docker image with psutil

* mavsdk_tests: fix PEP8 issues

* Add VTOL CI tests back

* switch to non-rendering flow mockup

* workflows: install mavsdk from GitHub release .deb

* Add vision test and disable VTOL temporarlly

* Fist draft of combining test coverage and test in one workflow

* Add VTOL mavsdk tests back in CI

Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: kritz <kritz@ethz.ch>
 2020-01-30 11:57:48 +01:00
PX4 BuildBot a141e4062b Update submodule sitl_gazebo to latest Thu Jan 30 00:37:59 UTC 2020 
- sitl_gazebo in PX4/Firmware (931a3f2684): 029722989e
    - sitl_gazebo current upstream: dfbc28badc
    - Changes: 029722989e...dfbc28badc

    dfbc28b 2020-01-29 kamilritz - Reduce airspeed noise
55d74c3 2020-01-11 JaeyoungLim - Add plane catapult model
 2020-01-29 23:31:40 -05:00
Daniel Agar 116716ad22
new mpu9250 driver using FIFOs and raw sampling (8 kHz gyro, 4 kHz accel) 
- currently disabled by default
 2020-01-29 22:53:21 -05:00
Daniel Agar 931a3f2684
logger: publish initial logger_status orb message 2020-01-29 17:29:30 -05:00
Daniel Agar 2410b31662
sensors: move accel filtering to sensors/vehicle_acceleration 
I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the `vehicle_acceleration` to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc. 

Later this mechanism will be used in a few areas
 - rate limit `vehicle_angular_velocity` and `vehicle_acceleration` without missing any raw data
 - move IMU integration to `vehicle_imu` and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated
 - integrate raw gyro synchronized with optical flow measurements
 2020-01-29 16:13:38 -05:00
David Sidrane 22c422d017 Update platforms/nuttx/NuttX/nuttx: imxrt backports merged 2020-01-29 13:54:20 -05:00
David Sidrane 2f1bc6676e imxrt:Add critmon 2020-01-29 13:54:20 -05:00
David Sidrane 78c7f98ef1 nxp_fmurt1062-v1:Memory Reorg 2020-01-29 13:54:20 -05:00
David Sidrane 962716a7c3 nxp_fmurt1062-v1:Performance tuning 2020-01-29 13:54:20 -05:00
David Sidrane a8720057fd nxp_fmurt1062-v1:RC is on LPUART6 ttyS5 2020-01-29 13:54:20 -05:00
David Sidrane eb30041958 nxp_fmurt1062-v1:PROBES:carry includes and path needed 2020-01-29 13:54:20 -05:00
David Sidrane 37995793f4 Updateded NuttX with backports of PX4 imxrt contrib 2020-01-29 13:54:20 -05:00
David Sidrane 304bef3554 iimxr:Needed more margin on minimum reload. 2020-01-29 13:54:20 -05:00
David Sidrane ef5ed2e43c nxp_fmurt1062-v1:OC remove Pull up - OC have series 47K 2020-01-29 13:54:20 -05:00
David Sidrane ec0f004a7b fmurt1062-v1:Correct SPI1_DRDY4_ICM20602 2020-01-29 13:54:20 -05:00
David Sidrane 1fd2f27493 fmurt1062-v1:Add SPI4 RESET and SYNC 2020-01-29 13:54:20 -05:00
David Sidrane 1346312012 fmurt1062-v1:Add GPIO info 2020-01-29 13:54:20 -05:00
David Sidrane 5202724f19 fmurt1062-v1:Add nARMED Support 2020-01-29 13:54:20 -05:00
David Sidrane 08ac209674 fmurt1062-v1:Set BAT ADC scaling 2020-01-29 13:54:20 -05:00
David Sidrane a223899e3e imxrt:ToneAlarmInterface Reset mode is dependant on Chan 1 2020-01-29 13:54:20 -05:00
David Sidrane 453c39230f fmurt1062-v1:Consistently use ONE/ZERO on inital OUTPUT settings 2020-01-29 13:54:20 -05:00
David Sidrane 1d2187528b fmurt1062-v1:Fix LPUART8 RX, TX pin definitions 2020-01-29 13:54:20 -05:00
David Sidrane a4e9498260 fmurt1062-v1:Fix LPUART3 CTS Pin definition 2020-01-29 13:54:20 -05:00
David Sidrane 2cbec89e2b fmurt1062-v1:Fix and enable support for debut Probes 2020-01-29 13:54:20 -05:00
David Sidrane 2385e1091d fmurt1062-v1:Correct ttyS usage 2020-01-29 13:54:20 -05:00
David Sidrane e5bf0710b5 fmurt1062-v1:Support imxrt_lpi2c_reset uses GPIO with SION 2020-01-29 13:54:20 -05:00
David Sidrane f44f8a95e1 fmurt1062-v1:Update board modules ==FMUv5 2020-01-29 13:54:20 -05:00
David Sidrane 625429d3b7 fmurt1062-v1:Support configurations to fine tune LPI2C Timeouts. 2020-01-29 13:54:20 -05:00
David Sidrane 59d17b053f fmurt1062-v1:Support clock setting for SPI and I2C from board.h 2020-01-29 13:54:20 -05:00
David Sidrane 94dbf3176a fmurt1062-v1:Update board modules ==FMUv5 2020-01-29 13:54:20 -05:00
David Sidrane 51f0bc9788 fmurt1062-v1:Remove EVK build options 2020-01-29 13:54:20 -05:00