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24978 Commits

Author SHA1 Message Date
Julien Lecoeur b7d7d1209b px_generate_mixers.py: scale mixer so that sum(z_thrust_scale)==n_rotors 2018-01-17 00:01:00 -05:00
Julien Lecoeur 262d9c790b MultirotorMixer: Apply thrust gain independently from other axes 
Align the way motor output is computed with the model used in the mixer generation script.
previous:
`out = (roll_gain*roll + pitch_gain*pitch + yaw_gain*yaw + thrust)*out_gain`
new:
`out = roll_gain*roll + pitch_gain*pitch + yaw_gain*yaw + thrust_gain*thrust`
which is the standard matrix*vector multiplication.

This commit has 0 effect on symmetric platforms (i.e. most) as thrust_gain==1 on these platforms.
On asymmetric platform --where some thrust_gain are lower than 1-- the previous formulation resulted in coupling between thrust and other axes.

fixes #8628
 2018-01-17 00:01:00 -05:00
Daniel Agar 0e3574c44f hott automatically include hott_sensors and hott_telemetry 2018-01-16 23:46:45 -05:00
Daniel Agar c20594cd0e move all barometers to the same folder 2018-01-16 23:46:45 -05:00
Daniel Agar bad813e911 move all magnetometers to the same folder 2018-01-16 23:46:45 -05:00
Beat Küng 094fa92de0 posix main shell: do not update the prompt for unprintable chars (#8704) 2018-01-16 23:45:28 -05:00
Julien Lecoeur 0e65753568 Iris: set mixer to quad_wide 
The geometry was previously quad_deadcat in which front motors are closer to CG and thus more loaded in hover.
quad_wide is the same geometry as quad_deadcat except the CG is centered so all motors are loaded equally.
Flight logs on IRIS with deadcat mixer showed that
- all motors are equally loaded during hover (actuator_outputs 0 to 3 have similar values)
- a negative pitch offset is building up soon after takeoff (visible in actuator_controls)
 2018-01-16 16:09:15 +01:00
Simon Laube b184b61457 IO: fix px4io uploader to work reliably on F7 platform. 
- Missing get_sync() in verify function
- Allow some time to reboot before closing the serial port
  (closing the serial port drives TX low)
 2018-01-16 08:36:51 +01:00
Simon Laube 53249c53b5 IO: Move buffer allocation into the architecture dependent code files. 2018-01-16 08:36:51 +01:00
Daniel Agar cc5e00feca px4io_serial_f7 fix style 2018-01-16 08:36:51 +01:00
Lorenz Meier 15a69b881d Enable IO image buildig for FMUv5 2018-01-16 08:36:51 +01:00
Simon Laube c6c9f4dc64 IO: Implement serial driver for STM32F7 MCUs. 2018-01-16 08:36:51 +01:00
Simon Laube a26c3a0530 IO: Split STM32F4 specific code for serial interface. 2018-01-16 08:36:51 +01:00
David Sidrane e5317ed9b6 px4fmu-v5: Define UART7 for PX4IO 2018-01-16 08:36:51 +01:00
David Sidrane 2df5d23ab6 px4fmu-v5:Add px4io 2018-01-16 08:36:51 +01:00
PX4 Jenkins 49c838ffeb Update sitl_gazebo submodule Mon Jan 15 18:19:28 CST 2018 2018-01-15 19:53:36 -05:00
Daniel Agar 67f89f51ff move all distance sensor drivers to the same folder 2018-01-15 14:34:02 -05:00
Daniel Agar 576b42fea3 move all differential pressure drivers to the same folder 2018-01-15 14:34:02 -05:00
ChristophTobler 6d3dda2802 update DriverFramework to get ltc2946 fix (#8693) 2018-01-15 14:33:22 -05:00
Daniel Agar 5ab6834fed NuttX Make.defs.in ignore -Werror=logical-op 
This is a temporary workaround for equal expressions in chip/sam_xdmac.c
and can be reverted once fixed properly in NuttX. Needed for the GCC 7
upgrade in #8551.
 2018-01-15 12:57:29 -05:00
Daniel Agar 9b5ae1ef7a NuttX upgrade default compiler to GCC 7 2018-01-15 12:57:29 -05:00
Daniel Agar cd296c5f88
circleci skip astyle until versioning is resolved (#8691) 
- revert after #8689 is resolved
 2018-01-15 12:23:21 -05:00
ChristophTobler 18b83f2960 eagle posix-config: add sleep after muorb 
without this param set doesn't work -> adsp side never receives changes
 2018-01-15 14:21:27 +01:00
ChristophTobler 872cba12d4 update ecl submodule 2018-01-15 11:11:56 +01:00
ChristophTobler 3a52e7ee5d simulator mavlink: set vision pos/val valid 2018-01-15 11:11:56 +01:00
ChristophTobler 66c67f89e6 ekf2: check if vision_position pos/vel are valid before using them 2018-01-15 11:11:56 +01:00
ChristophTobler 6609e4843b mavlink receiver: set vision_position pos/vel invalid depending on covariance 2018-01-15 11:11:56 +01:00
ChristophTobler c7cf442e16 ekf2: use ev eph/v for noise parameter if bigger than noise param 2018-01-15 11:11:56 +01:00
Beat Küng 1d59d89282 posix-config iris_replay: log until SITL exits 
If a log with multiple (dis)arming events was replayed, multiple logs were
created. This changes the replay to only create a single log.
 2018-01-15 10:27:56 +01:00
Nicolas de Palezieux 45fd908784 mavlink : add support for precision landing 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux 4fecb6fe20 irlock : add support for precision landing 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux 155c55814b cmake configs : Add precision landing support 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux 90e3aeda6c logger : add support for logging precision landing messages 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux f2dbb0ad3b commander : add support for precision landing measurements 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux d9b9b4407a ekf2 : add support for precision landing measurement fusion 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux dd1d0adfef LPE : add support for precision landing measurement fusion 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux 8c0542bdb8 msgs : add support for precision landing 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux f600cfbb9f Add support for testing precision landing in SITL simulation 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux d9221bb8d2 mc_pos_control : add support for precision landing 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux aa4c6c038d navigator : add support for precision landing 2018-01-15 10:27:23 +01:00
Nicolas de Palezieux 652d295b2d Add landing_target_estimator for precision landing from @ndepal 2018-01-15 10:27:23 +01:00
Paul Riseborough b2046ffd6b Tools: fix errors in thermal calibration script 2018-01-15 08:38:54 +01:00
Anthony Lamping d375880c4b improve mavros SITL tests (#8652) 
-created a test base class to centralize redundant methods among the different tests
-added mission waypoint list topic listener (this also helps make sure the simulation is ready)
-check number of mission waypoints in FCU against mission
-increase time for mavros topics to be ready from 30 to 60 seconds
-reduce position check loop rates
-clean up logging
-support QGC plan for mission file format, see #8619
-vehicle is an arg for mission test launch file, working toward other airframes
-Jenkins: fix vtol vehicle arg value
-get MAV_TYPE param and use FW radius for pure fixed-wing mission position check
-remove unused vehicle arg from test in multiple tests launch, clearing runtime warning
 2018-01-14 21:13:45 -05:00
Lorenz Meier e970f3a2a0 MAVLink: Update library submodule 
This brings in new ROI commands and general sync.
 2018-01-14 22:53:05 +01:00
TSC21 ec1c37e1af modules: lpe: push sensor status update to object; prioritize lidar readings over sonar 2018-01-14 22:52:41 +01:00
TSC21 b512759336 modules: lpe: refactor fusion bitmask 2018-01-14 22:52:41 +01:00
Lorenz Meier 1c74887a68 Makefile: Fix CLANG-tidy calls 
The calls have not been updated as the CI target has been.
 2018-01-14 13:28:12 +01:00
ChristophTobler 9ac70ff639 update DriverFramework submodule to include LTC2946 driver 2018-01-14 12:56:49 +01:00
ChristophTobler 7c019b7da3 publish battery_status directly 
This is temporary until there is a solution that works for adc and posix power modules
 2018-01-14 12:56:49 +01:00
ChristophTobler 856a523d29 add snapdragon power module (ltc2946) to eagle flight 2018-01-14 12:56:49 +01:00