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12901 Commits

Author SHA1 Message Date
David Sidrane cd8b759fed Adding esc35-v1 board and bootloader 2016-12-21 08:34:21 +01:00
David Sidrane d09cd77777 Adding hardfault logging application 2016-12-21 08:34:20 +01:00
David Sidrane c417a1be7b Adding USVCAN bootloader support 2016-12-21 08:34:20 +01:00
David Sidrane ced8c6a2ef Changes to boards/common for upstream NuttX directory changes 2016-12-21 08:34:20 +01:00
David Sidrane 2f0a0e1c30 Added nuttx/arch API 2016-12-21 08:34:20 +01:00
David Sidrane ddb033aa12 Temp fix - Needs to move to micro hal 2016-12-21 08:34:20 +01:00
David Sidrane dcc2d1c3d1 I2C changes for upstream NuttX per trasaction freq control 2016-12-21 08:34:20 +01:00
David Sidrane 0177e250f4 STM32 Serial Number location is defined in NuttX 2016-12-21 08:34:20 +01:00
David Sidrane fd7d399958 Upstream Nuttx restructured directories use micro_hal 2016-12-21 08:34:20 +01:00
David Sidrane d8580d39b9 Honor Micro hal and new Nuttx Loging API 2016-12-21 08:34:20 +01:00
David Sidrane ddb9bc3242 Honor micro hal 2016-12-21 08:34:20 +01:00
David Sidrane 9db89ea4cf Added Micro Hal and configue for Upstream NuttX 2016-12-21 08:34:20 +01:00
David Sidrane d6098c8226 Adding Nuttx Build infrastructure 2016-12-21 08:34:20 +01:00
David Sidrane cb9517486d Upgrade to uavcan to support Nuttx 7.18+ {enter/leave}_critical_section 2016-12-21 08:34:20 +01:00
Lorenz Meier 1e625d024c Updated ECL to include a minor compile fix 2016-12-21 08:11:05 +01:00
Dennis Mannhart 42093a5ee1 remove PX4_WARN if zero bytes are received 2016-12-20 14:38:28 +01:00
Dennis Mannhart bf6328001d move sleep to then end of the loop 2016-12-20 14:38:28 +01:00
Dennis Mannhart 833ee4ba7f deleted poll function since not supported in qurt 2016-12-20 14:38:28 +01:00
Julian Oes d62520e26b Update DriverFramework and build lib/rc 2016-12-20 14:38:28 +01:00
Julian Oes d8b6a1df9f Revert "spektrum_rc: fix ugly pointers in function args" 
This reverts commit ef3bc1431215dca15383b293101fe75fc27492f2.
 2016-12-20 14:38:28 +01:00
Julian Oes 402e2ec611 spektrum_rc: fix ugly pointers in function args 2016-12-20 14:38:28 +01:00
Julian Oes 45ff2d026d dsm: only close valid fds 2016-12-20 14:38:28 +01:00
Julian Oes 3b937ffab4 Remove save file created by mistake 2016-12-20 14:38:28 +01:00
Julian Oes f184e642c9 dsm: fix definition 2016-12-20 14:38:28 +01:00
Julian Oes fb42db41d2 spektrum_rc: raise poll timeout to 50ms/20Hz 2016-12-20 14:38:28 +01:00
Julian Oes a57c8d2a7c spektrum_rc: make usage clear 2016-12-20 14:38:28 +01:00
Julian Oes de9cb46a56 spektrum_rc: move and clean up (untested) 2016-12-20 14:38:28 +01:00
Julian Oes 97fe56a4e7 dsm: add deinit function 
This implements closing of the serial port which previously was not
taken care of.
 2016-12-20 14:38:28 +01:00
Julian Oes c0fcffae76 spektrum_rc: make it compile 2016-12-20 14:38:28 +01:00
Lorenz Meier c14f1fbaec Add initial structure for Snapdragon Spektrum input 2016-12-20 14:38:28 +01:00
David Sidrane 4d17467590 Interim fix avoid using params before initialized 
This is a Interim fix to avoid using params before initialized.

The Long term fix will be:
1) Not play the startup tone on start but allow tones to be generated from other invocations (i.e error conditions)
2) Add a command to tone alam to have it read a parameter, after parameter initialization, in the init script. If that parameter is on then sound the startup tone and further tones will be enabled. If it is off all further tones will be disabled.

The new parameter will not be of the class circuit breaker (not named ) as is is not an absolute control of the tone alarm.
 2016-12-20 14:16:04 +01:00
Matthias Grob f9da41fcf2 fixed rebase errors in arm switch implementation 2016-12-20 09:46:36 +01:00
Matthias Grob 0dbdde3404 Arming: made flags more understandable, added error message for rejected disarm 2016-12-20 09:46:36 +01:00
Matthias Grob f6282f5b3d Arm button fix: include the arm switch into the structure of all the checks for RC arming 2016-12-20 09:46:36 +01:00
Matthias Grob 94c8371ffe Arm button fix: toggle arming state only once per arm button press 2016-12-20 09:46:36 +01:00
Matthias Grob 8a75827d6a fixed all comments of arm button review 2016-12-20 09:46:36 +01:00
Matthias Grob aa984edd90 added an rc switch for arming and disarming with the option to use it as a button 2016-12-20 09:46:36 +01:00
Matthias Grob 537f72073d minor: uppercase typo and unused header 2016-12-20 09:46:36 +01:00
Lucas De Marchi 03be988ebe aerofc: fix defining PX4FMU_V4 macro 
We were defining both macros. Fix it by using changing to AEROFC_V1.
Also remove a leftover from board rename.
 2016-12-20 08:51:14 +01:00
Lucas De Marchi 9468e7779a aerofc: use same macro name as px4fmu boards 2016-12-20 08:51:14 +01:00
Lucas De Marchi eaa2cf7d99 aerofc: fix LED names 
There are no blue/red LEDs and these names just causes confusion with
the "always-on LEDs".
 2016-12-20 08:51:14 +01:00
Lorenz Meier 83b177c5ad DC mixer: Fix geometry for Iris 2016-12-19 20:39:48 +01:00
Lorenz Meier 92c35f26be Tests: Correct use of unsubscribe 2016-12-19 20:39:03 +01:00
Lorenz Meier 313ff2a6f2 UAVCAN: Correct use of unsubscribe 2016-12-19 20:39:03 +01:00
Lorenz Meier 1d98c8f202 MAVLink app: Correct use of unsubscribe 2016-12-19 20:39:03 +01:00
Lorenz Meier 3532b48411 TAP ESC: Correct use of unsubscribe 2016-12-19 20:39:03 +01:00
Lorenz Meier 97ce9edcac FMU: Tighter compile checks and correct use of unsubscribe 2016-12-19 20:39:03 +01:00
Lorenz Meier dfed9a3f13 Fix nullptr access in mixer group. This was only ever an issue on booboot and not in flight. 2016-12-19 20:36:05 +01:00
Lorenz Meier 6e32d0b52b Update ECL to include data validator fixes 2016-12-19 20:34:52 +01:00
Lorenz Meier c91f827072 sensors app: Always run validator so it gets updated and can detect timeouts 2016-12-19 20:34:52 +01:00
Lorenz Meier 143086ba2c HMC5883: Harden shutdown logic 2016-12-19 20:34:52 +01:00
Lorenz Meier 5759fd5726 GPS app: Increase stack to ensure 300 bytes headroom 2016-12-19 20:34:52 +01:00
Lorenz Meier fe5cc5622b Failover logging in sensors app: Trim down strings 2016-12-19 20:34:52 +01:00
Lorenz Meier b91b0463d2 Update ECL lib to include failover fix for one sensor case 2016-12-19 20:34:52 +01:00
Lorenz Meier cc7db94edc Sensors app mag voter: Increase stale value detection threshold to accomodate low-noise mag setups 2016-12-19 20:34:52 +01:00
Lorenz Meier 077f22ece7 HMC5883: Make driver stoppable to simplify system validation 2016-12-19 20:34:52 +01:00
Lorenz Meier 0e93b75ced Update ECL library to include configurable stale sample counts 2016-12-19 20:34:52 +01:00
Lorenz Meier 8297e979ff ECL: Update to include whitespace fixes 2016-12-19 20:34:52 +01:00
Lorenz Meier c62c3c98bf uORB devices: Guard more against invalid handles fed to publish routine 2016-12-19 20:34:52 +01:00
Lorenz Meier ca59d4cddb Simulator: Initialize ground truth topic handle 2016-12-19 20:34:52 +01:00
Lorenz Meier df613361b9 LPE: Increase stack to allow enough safe margin 2016-12-19 20:34:52 +01:00
Dennis Mannhart e2ded396c8 Snapdragon pwm (#5940) 
* px4 pwm driver for snapdragon

* added driver to cmake file

* applied review changes and adjusted format

* adjustement to review 2

* run formatting

* added timeout initialization
 2016-12-16 18:41:45 +01:00
Mark Whitehorn bad2dc80a4 change default THR_MDL_FAC to zero (disabled) 2016-12-16 18:12:17 +01:00
Mark Whitehorn e5f4f50a52 add param_find for THR_MDL_FAC 2016-12-16 18:12:17 +01:00
Roman 5b0a1d4b2a updated DriverFramework: activated dlpf in mpu6050 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-16 00:15:25 +01:00
Mark Whitehorn 381a565ce3 add THR_MDL_FAC parameter handling to FMU 2016-12-15 23:39:53 +01:00
Roman d221313dfb implemented mapping between desired thrust and applied pwm in 
multirotor mixer.

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-15 23:39:53 +01:00
Dennis Mannhart 22733b1501 mc_pos_control: dont run alt-control when landing 2016-12-15 10:17:03 +01:00
Julian Oes ef7ade52b1 mc_pos_control: stay landing even after freefall 
This fixes the following case:
1. VTOL in auto mission descends to land
2. _in_landing is set to true correctly
3. _lnd_reached_ground is set to true because it's detected, motors idle.
4. The vehicle might drop for a few centimeters and _acc_z_lp goes back
   up above 4m/s^2, so freefall is detected.
5. The motors spin up again, and _in_landing and _lnd_reached_ground are
   both reset to false.
6. Since we're floating at a few centimeters, we can't actyally get to
   _vel_z_lp > 0.5, and therefore _in_landing is never triggered after.
7. Thus we never finish the landing.

This is fixed by only resetting _lnd_reached_ground to false but
leaving _in_landing true.
 2016-12-15 10:17:03 +01:00
Julian Oes 70fec788d9 mc_pos_control: allow takeoff in offboard mode 2016-12-15 10:17:03 +01:00
Julian Oes 072ba51064 mc_pos_control_main: changes got lost in rebase 2016-12-15 10:17:03 +01:00
Julian Oes b285827f52 mc_pos_control: remove leftover printf 2016-12-15 10:17:03 +01:00
Julian Oes 65b8bcae12 mc_pos_control: always require takeoff setpoint 
Problem: The drone started taking off in LOITER (HOLD) mode even if on
ground and did not do a proper takeoff jump. The effect was mostly a
hovering close above ground or tilting/flipping because of integrator
wind-up.

Solution: Stay at minimum throttle until a takeoff setpoint is issued.
 2016-12-15 10:17:03 +01:00
Julian Oes c64b8c7095 mc_pos_control: always use fabsf and not fabs 2016-12-15 10:17:03 +01:00
Julian Oes e01eaf172a Add body/NED frame for offboard velocity control 
This adds the possibility to use offboard velocity control in the body
frame and not just the NED (world) frame.

The frame is set in the set_position_target_local_ned message and passed
on to mc_pos_control in the position_setpoint topic.
 2016-12-15 10:17:03 +01:00
Julian Oes e3aecc0762 state_machine_helper: remove unused const var 2016-12-15 10:17:03 +01:00
Julian Oes 5b132aef70 mc_pos_control: hold position at offboard vel 0 
If velocity offboard control is used, it makes sense to lock/hold
position if the velocity input is 0. If this is not done, we will slowly
drift because nothing is integrating to keep the UAV at its position.
 2016-12-15 10:17:03 +01:00
Julian Oes 0b02a6e0f7 state_machine_helper: warn about offboard lost, not RC 
When offboard input stops and we're in OFFBOARD mode, we should complain
about offboard being lost and not RC because we probably never even had RC.
 2016-12-15 10:17:03 +01:00
Julian Oes 454cd33a5e mc_pos_control: move stuff where it belongs 2016-12-15 10:17:03 +01:00
Julian Oes 0b37272d75 mc_pos_control: further reshuffling 
Should not have any functional change
 2016-12-15 10:17:03 +01:00
Julian Oes 61fff54cbe mc_pos_control: copy triplet in one place only 2016-12-15 10:17:03 +01:00
Julian Oes 432824d603 mc_pos_control: move attitude setpoint to function 
Again, no functional change, just refactor.
 2016-12-15 10:17:03 +01:00
Julian Oes c200e581c3 mc_pos_control: move control into functions 
This is only a refactor with no functional change
 2016-12-15 10:17:03 +01:00
Julian Oes 3ac056924c navigator: increase stack 
The stack size was generally ok but seemed to get exhausted in the case
of a waypoint which is too far away and therefore exercises some more
code in the mission feasability checker.

Generally, we should have more margin in the navigator stack size
because there are a bunch of different code paths that can happen.
 2016-12-15 09:05:02 +01:00
Julian Oes a096b97455 Revert "navigator: increase stack" 
This reverts commit 6a6e9d02a3.
 2016-12-15 09:05:02 +01:00
Mark Whitehorn 08d36fe2af move initial pwm trim update to pwm_ioctl load case 2016-12-15 00:13:59 +01:00
Julian Oes 6a6e9d02a3 navigator: increase stack 
The stack size was generally ok but seemed to get exhausted in the case
of a waypoint which is too far away and therefore exercises some more
code in the mission feasability checker.

Generally, we should have more margin in the navigator stack size
because there are a bunch of different code paths that can happen.
 2016-12-15 00:12:54 +01:00
Julian Oes 8a6af658f3 navigator: don't omit printf value 
There was a mismatch between the printf arguments and what was defined
in the fmt.
 2016-12-15 00:12:54 +01:00
Roman 34d253e4d0 bebop2: let PX4_ROOTFSDIR point to the internal mmc card 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-12-15 00:11:13 +01:00
Julian Oes 1c2194c600 gps: fix cli parsing 
The gps driver did not give feedback if a non-existing verb was used
such as `gps foo`. Also, the goto out was ugly and the usage always
marked as an error when it's really an info. This cleans it up a bit.
 2016-12-15 00:10:27 +01:00
Julian Oes 12c5ed39ae gps: fix faking so that ekf2 initializes 
This changes the faked GPS values in order to get ekf2 to initialize.
 2016-12-15 00:10:27 +01:00
Michael Schaeuble ed2d28d5dc Use time-stamped integrator in Posix MPU6050 driver 2016-12-15 00:09:07 +01:00
Julian Oes f6c573e882 mavlink: don't send uninitialized bytes 
Valgrind did not approve uninitialized bytes from either home or
vehicle global position to be sent.
 2016-12-14 22:08:26 +01:00
Beat Küng 66925bc065 voted_senors_update: fix style after rebase 2016-12-14 19:57:54 +01:00
Beat Küng d4da626e78 sensors: move sensors with voting into a separate class 2016-12-14 19:57:54 +01:00
Beat Küng f9b3b5a799 sensors: break off parameters initialization into separate source file 2016-12-14 19:57:54 +01:00
Beat Küng c5e485bdd7 sensors: break off RC handling into its own class 2016-12-14 19:57:54 +01:00
Beat Küng 4e2d0500a1 sensors: use orb_publish_auto where possible 2016-12-14 19:57:54 +01:00
Lorenz Meier 4b0647d9c0 Condition the GPS check always on the commander GPS prearm check param (#6055) 2016-12-14 15:30:24 +01:00
Daniel Agar 17990cf5dc geofence fix combined simple and polygon logic 
- require being inside both fences, not either
 2016-12-14 08:49:13 +01:00