Commit Graph

28202 Commits

Author SHA1 Message Date
David Sidrane fbc143dc55 sitl:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on sitl
2018-11-19 14:32:47 -05:00
David Sidrane 05ea187b1d px4nucleoF767ZI-v1:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on px4nucleoF767ZI-v1
2018-11-19 14:32:47 -05:00
David Sidrane b37675fa76 px4fmu-v5:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on px4fmu-v5
2018-11-19 14:32:47 -05:00
David Sidrane 26026b5d39 px4fmu-v4pro:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on px4fmu-v4pro
2018-11-19 14:32:47 -05:00
David Sidrane 735830a483 px4fmu-v4:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on px4fmu-v4
2018-11-19 14:32:47 -05:00
David Sidrane 90106c1fd2 px4fmu-v2:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on px4fmu-v2
2018-11-19 14:32:47 -05:00
David Sidrane e40a0839e9 px4-stm32f4discovery:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on px4-stm32f4discovery
2018-11-19 14:32:47 -05:00
David Sidrane 03aae61395 px4-same70xplained-v1:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on px4-same70xplained-v1
2018-11-19 14:32:47 -05:00
David Sidrane 42a8a6ffac omnibus-f4sd:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on omnibus-f4sd
2018-11-19 14:32:47 -05:00
David Sidrane 1da0021be9 nxphlite-v3:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on nxphlite-v3
2018-11-19 14:32:47 -05:00
David Sidrane a12f26aee0 mindpx-v2:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on mindpx-v2
2018-11-19 14:32:47 -05:00
David Sidrane 3c6539257f crazyflie:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on crazyflie
2018-11-19 14:32:47 -05:00
David Sidrane e960978296 auav-x21:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on auav-x21
2018-11-19 14:32:47 -05:00
David Sidrane aa30560d68 aerofc-v1:Added Logical BOARD specific LED mapping
Define the logical LED that are uses on aerofc-v1
2018-11-19 14:32:47 -05:00
David Sidrane 96ba6c1174 sitl led:Support logical LED operations in commander
add support for all the LEDS to support
   BOARD_HAS_CONTROL_STATUS_LEDS
2018-11-19 14:32:47 -05:00
David Sidrane 0a1dd24af6 omnibus-f4sd:led clean up code and prevent out of bounds indexing 2018-11-19 14:32:47 -05:00
David Sidrane dc29820bd9 Document the LED colors used 2018-11-19 14:32:47 -05:00
David Sidrane 98394afcc7 board common:Define default CONTROL_STATUS LED mapping
This commit is the groundwork to fix the power LED
   blinking on V5

   Background:
   ----------
   Early boards only had an AMBER LED that was used to
   indicate a High Load condition.

   This change defines the new logical inteface
   the LED_<color> should not be used in application
   code moving forward, only the minipulator macros
   should be used.

       Logical usage             Legacy default
      ------------------------+-------------
       BOARD_OVERLOAD_LED     | LED_RED

   Later boards defined BOARD_HAS_CONTROL_STATUS_LEDS
   and added the use of a BLUE and GREEN LED that were
   used as follows:

   Logical usage             Legacy default
      ------------------------+-------------
       BOARD_ARMED_LED        | LED_BLUE
       BOARD_ARMED_STATE_LED  | LED_GREEN

   With this PR a board may now define _only_ a subset
   the leds and map them at the board level to the
   color LED it wants to use.

       Logical usage             Legacy default
      ------------------------+-------------
       BOARD_OVERLOAD_LED     | LED_RED
    when BOARD_HAS_CONTROL_STATUS_LEDS is defined
       BOARD_ARMED_LED        | LED_BLUE
       BOARD_ARMED_STATE_LED  | LED_GREEN

   If any of the BOARD_{OVERLOAD|ARMED|ARMED_STATE}_LED are not
   defined. The code output generates a null action for that
   LED.
2018-11-19 14:32:47 -05:00
Daniel Agar bba475aca1 logger limit trajectory_setpoint rate 2018-11-19 09:59:22 -05:00
Daniel Agar 26bac9594f add simple SITL shutdown test 2018-11-16 16:43:19 -05:00
Daniel Agar 48ba88eaf0
pwm_out_sim add mixer saturation status publication (#10866) 2018-11-16 16:42:20 -05:00
Paul Riseborough 3ee596284d ecl: Magnetic declination use improvements
Fixes bugs causing learned or GEO lookup declination to not be used in some circumstances.

https://github.com/PX4/ecl/pull/518
https://github.com/PX4/ecl/pull/520
2018-11-16 10:25:59 -05:00
Matthias Grob 8090734fe1 appveyor: switch cache to the entire PX4 folder
to save the time running the installer for every build
which was necessary before because the folder exceedes
the maximum of 1GB cache of the appveyor free plan
2018-11-16 10:19:58 -05:00
Daniel Agar 30fe079844 qurt px4_layer fix style 2018-11-16 09:53:28 -05:00
Daniel Agar 4278dd8fb4 posix px4_layer fix style 2018-11-16 09:53:28 -05:00
TSC21 05d9932f6c logger: limit vehicle_*_odometry topics to 30hz on default logging 2018-11-16 09:44:32 +01:00
TSC21 2c111222cf logger: fix vision topics naming 2018-11-16 09:44:32 +01:00
dkang 4901f8a1dc
add execption check after malloc 2018-11-16 08:15:26 +01:00
bresch 7779c0bd69 MPC - Update velocity integrator definition 2018-11-15 22:08:00 +01:00
bresch d852ce20e6 MPC - Increase max velocity integral gain to 3.0 2018-11-15 22:08:00 +01:00
bresch 0863e95a2c Add "Tracking Anti-Reset Windup" in velocity PID controller 2018-11-15 22:08:00 +01:00
Daniel Agar 88f6271061 Jenkins add tests on MacOS 2018-11-15 20:52:48 +01:00
Daniel Agar c2e0368370
Update submodule Mavlink v2.0 to latest Thu Nov 15 00:37:24 UTC 2018
- mavlink v2.0 in PX4/Firmware (0b3f4014bf751cde2a08abb578c10ae5606404b1): 32dcf73bb2
 - mavlink v2.0 current upstream: 408a7bedf3
    - Changes: 32dcf73bb2...408a7bedf3

408a7be 2018-11-13 PX4BuildBot - autogenerated headers for rev f3e60ba1ca
c18232f 2018-11-12 PX4BuildBot - autogenerated headers for rev 2c52b06e12
49a94c7 2018-11-09 PX4BuildBot - autogenerated headers for rev c788ca3e14
0c4b296 2018-10-29 PX4BuildBot - autogenerated headers for rev 387c0fd715
40bfa6c 2018-10-29 PX4BuildBot - autogenerated headers for rev 4590822ebd
ad2c30b 2018-10-26 PX4BuildBot - autogenerated headers for rev 38ecb35a3e
9fbf059 2018-10-24 PX4BuildBot - autogenerated headers for rev 30b63eb0c2
7915ad4 2018-10-23 PX4BuildBot - autogenerated headers for rev 2c6a8807b8
4371e84 2018-10-23 PX4BuildBot - autogenerated headers for rev 573e352318
d67e172 2018-10-22 PX4BuildBot - autogenerated headers for rev 40f83b2d4f
852935c 2018-10-16 PX4BuildBot - autogenerated headers for rev d683ddc28b
2018-11-14 20:43:53 -05:00
Mara Bos c882ca9389 On Posix: Don't shutdown (half) the connection from the client.
This triggered POLLHUP too early on Mac.
2018-11-14 17:36:29 +01:00
Julian Oes d7c34ddee4 mavlink: fix yawing to North for LOITER_TIME (#10828)
* mavlink: yaw should wrap at 2 pi, not pi
* mavlink: use newer rad/deg conversion
2018-11-13 14:32:40 -05:00
Mara Bos 9594ebf72e Use unix sockets instead of pipes for posix daemon. (#10766)
Unlike pipes, unix sockets provide bi-directional
communication with each connected client.

- No need to generate a unique uuid per client anymore.

- The client doesn't have to create its own pipe anymore.

- Since there is no risk of multiple client's writes getting mixed up,
  messages don't need to fit in a single write anymore, removing the
  limit on command length.

- Since the server can detect a connection closing, the client no longer
  needs to handle signals. When the client is killed, the connection is
  automatically closed, which will cause the server to kill the related
  px4 thread.
  Since this does not rely on handling signals and the client sending an
  additional message, this is much more reliable.

- Client is no longer a singleton.

- The protocol is simplified. Standard output is directly written to the
  socket back to the client, without wrapping it in any protocol
  message.

- Because of the simple protocol, one could now even use netcat to run a
  px4 command:

    $ echo hello | netcat -UN /tmp/px4-sock-0

Also removes a few race conditions.
2018-11-13 14:31:22 -05:00
Hamish Willee 9379c010f1 TRAJECTORY message renamed 2018-11-13 12:13:01 -05:00
Beat Küng 9a9c17b979 vehicle_attitude_setpoint: add comment that attitude sp angles can be NaN for FW 2018-11-13 09:30:18 +01:00
Beat Küng b3afa6ddac mc_pos_control: fix task activation failure for Transition 2018-11-13 09:30:18 +01:00
Beat Küng 330941c1fc FlightTaskManualAltitude: initialze yaw setpoint with NAN
Also update some comments.

In case we activate the task and don't have a locked yaw, we should
initialize the yaw setpoint with NAN to avoid any abrupt changes.
2018-11-13 09:30:18 +01:00
Beat Küng 2b7d3bd088 flight tasks: move weather vane yaw handler from Altitude to Position task 2018-11-13 09:30:18 +01:00
Beat Küng c9e52d4386 MPC_MAN_TILT_MAX: increase max limit from 90 to 180 degrees
This is especially useful for testing (the vehicle must behave correctly
even at high tilt angles).
2018-11-13 09:30:18 +01:00
Beat Küng adf1fea554 mc_att_control: fix for Rattitude mode
When switching back from rate to attitude control, the code depended on a
vehicle_control_mode topics update, but the publication frequency of that
is low. So the switch was noticeably delayed.
2018-11-13 09:30:18 +01:00
Beat Küng 36ee0297ee FlightTask.hpp: minor code cleanup 2018-11-13 09:30:18 +01:00
Beat Küng ca7acae904 mc stabilized mode: move from mc_pos_control to mc_att_control
- better in terms of dependencies:
  - the position controller code depended on position topics for yaw
  - mc_pos_control does not have to be run for Stabilized mode
- the code path is much simpler, and thus less error prone. This is
  especially important since Stabilized is often used as a fail-safe flight
  mode.
2018-11-13 09:30:18 +01:00
Beat Küng f31f63fff7 mc_att_control: use orb_publish_auto
use nullptr for instance to make sure we always get the first instance.
2018-11-13 09:30:18 +01:00
Beat Küng 00c2086dd6 mc_pos_control: simplify weathervane logic 2018-11-13 09:30:18 +01:00
Beat Küng 1946f043f1 mc_pos_control: print active flight task for 'mc_pos_control status' cmd 2018-11-13 09:30:18 +01:00
Beat Küng e7e06dfe38 fix mc_pos_control: disable flight tasks if none of them should be running
Previously when switching e.g. from stabilized from acro, the stabilized
flight task kept running and publishing setpoints.
Luckily it caused no problems, but the log showed arbitrary attitude
setpoints.
2018-11-13 09:30:18 +01:00
bresch f590137525 Fix HIL
Revert "pwm_out_sim lazily publish actuator_outputs"

This reverts commit bcad940a9f.
2018-11-12 19:21:15 +01:00