dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity
29,579 Commits 514 Branches 136 Tags 234 MiB
Commit Graph

29579 Commits

Author SHA1 Message Date
Beat Küng ea31f34d09 mc rate controller: add I term reduction factor 
Reduce the I gain for high rate errors to reduce bounce-back effects after
flips. Up to 200 degrees the gain is almost not reduced (<25%), so this
will only take noticeable effects for large errors (setpoint changes),
where we actually want to have an effect.

This allows to increase the MC_*RATE_I parameters w/o negative effects
when doing flips (i.e. bounce-back after flips).

The 400 degrees limit and the x^2 are empirical.

The better the rate tracking in general (high P gain), the less this is
required (because of the lower tracking error). At the same time it also
does not harm, as the i_factor will always be close to 1.
 2019-06-22 13:23:19 +02:00
JaeyoungLim 4c4bcc5fdb Mavlink: Fill in thrust field correctly for offboard rates setpoints on fixed wing (#12311) 
* Fill in thrust field for rates sp
 2019-06-20 17:17:32 +02:00
PX4 Build Bot 4831a4b0cf Update submodule ecl to latest Tue Jun 18 20:37:33 EDT 2019 
- ecl in PX4/Firmware (4673dd0a0c9b90fcab84a26e75812a5c7172d1af): 0f49eb34a0
    - ecl current upstream: a036cf82cc
    - Changes: 0f49eb34a0...a036cf82cc

    a036cf8 2019-06-14 Paul Riseborough - EKF: Remove use of of quaternion self product operator and fix delta rotation sign
0e946f2 2019-06-14 Paul Riseborough - EKF: Remove use of quaternion self product operator and fix delta rotation sign error
ad7f7af 2019-05-21 CarlOlsson - ekf: correct quaternion multiplication order
d6351bd 2019-05-21 CarlOlsson - EKF: update comment
7612fa4 2019-05-30 Paul Riseborough - EKF: Don't start using GPS for height until all validity checks have passed
cef2ba5 2019-05-08 Roman - implemented Kahan summation algorithm for adding process noise to delta angle- and delta velocity bias variance
 2019-06-19 11:38:49 +10:00
SalimTerryLi e0f3fc8d00 Mavlink receiver SET_ATTITUDE_TARGET fill the correct throttle field by checking its frametype in offboard mode (#12149) 2019-06-18 02:06:41 +02:00
Julian Oes 46c00ca6a4 vscode: add PX4_SIM_SPEED_FACTOR 
This env variable can be changed to adapt the simulation speed.
 2019-06-18 01:56:49 +02:00
Julian Oes 1cee945a22 vscode: use lockstep 
This changes the VSCode debugging to use lockstep. For lockstep, the
rate needs to be 250 Hz.
 2019-06-18 01:56:49 +02:00
Julian Oes e1671571c8 jMAVSim: use PX4_SIM_SPEED_FACTOR, not cli arg 
In order to be consistent between Gazebo and jMAVSim we should be using
the env variable PX4_SIM_SPEED_FACTOR in the same way. This enables
vscode to set the speed using the env variable.
 2019-06-18 01:56:49 +02:00
Julian Oes fea284f728 vscode: start gzclient GUI for Gazebo simulation 2019-06-18 01:55:21 +02:00
alessandro 2deab6c607 commander: refactored state-machine strings 
- Follow-up changes to https://github.com/PX4/Firmware/pull/11796
 2019-06-17 20:09:05 +02:00
Daniel Agar 136962d125
uORB Subscription callbacks with WorkItem scheduling on publication (#12207) 2019-06-17 16:26:06 +02:00
Beat Küng beaba44e5b mc mixer: prioritize roll/pitch over yaw for full airmode 
Improves roll/pitch tracking in situations of large yaw demands.
 2019-06-17 13:17:18 +02:00
mcsauder 8811c8315c Modify the update_params() comment to better reflect what is taking place in mavlink_receiver.h. 2019-06-17 09:41:30 +02:00
mcsauder 742c22d099 Rename _param_sub to _param_update_sub and initialize. Re-define and re-implement the update_params() method and only call if parameters have been updated. 2019-06-17 09:41:30 +02:00
mcsauder c92b8b03cd Move variable initialization from constructor to declarations in MavlinkReceiver class, alphabetize var lists. Added update_params() method to ensure that parameters subscribed to are updated routinely. 2019-06-17 09:41:30 +02:00
Patrick Brünn b402c9697d hardfault_log: fix NULL terminator truncation 
building "make omnibus_f4sd_default" with gcc 8.2.1 failes with:
hardfault_log.c:315:7: error: 'strncat' specified bound 30 equals destination size

gcc8 introduced -Wstringop-truncation, which will warn about NULL terminator
truncation.

This patch fixes two similar issues:
- strncpy() makes no sense if we want to copy without NULL terminator
- strncat() needs space to append the NULL terminator

fixes #12283
 2019-06-17 08:15:34 +02:00
Daniel Agar 7c4bf6ddae
Mavlink ODOMETRY (331) support MAV_FRAME_BODY_FLU 2019-06-16 13:23:57 -04:00
Daniel Agar 09e09863b5
Update submodule mavlink v2.0 to latest Sun Jun 16 00:37:57 UTC 2019 
- mavlink v2.0 in PX4/Firmware (067eb41d23252cbc5725f98e63ea56a2951da317): 70c1b4ef2d
    - mavlink v2.0 current upstream: 18cf6ff2fc
    - Changes: 70c1b4ef2d...18cf6ff2fc
 2019-06-15 23:22:45 -04:00
Daniel Agar 115b8f83ef
Update submodule sitl_gazebo to latest Sun Jun 16 00:37:52 UTC 2019 
- sitl_gazebo in PX4/Firmware (648e7de249): f2593dbcc2
    - sitl_gazebo current upstream: 95adbb11f8
    - Changes: f2593dbcc2...95adbb11f8

    95adbb1 2019-06-08 David Jablonski - fix gstreamer package finding for ubuntu
 2019-06-15 23:21:12 -04:00
Mark Sauder f1c66749e3 vl53lxx: migrate variable initialization from constructor list to declaration uniform initialization (#11896) 
* Format whitespace
 * Alphabetize/group/order variables and methods.
 * Deprecate IOCTL usage and simplify a few methods.
 2019-06-15 23:18:46 -04:00
David Sidrane f96c47ae1b stm32f7 bootloader update support (#11394) 
* micro_hal: F7 add flash
* micro_hal: F7 non up_progmem functions
* bl_update: Add F7 Support
 2019-06-15 21:46:46 -04:00
JaeyoungLim d7d0bd2764 Mavlink: Enable gimbal control using SET_ACTUATOR_CONTROL_TARGET while controlling the vehicle offboard (#12146) 
* Stop ignoring setpoints when actuator setpoints are for the gimbal
 2019-06-15 21:35:41 -04:00
Daniel Agar 106ee280c5
land_detector initiate cycle immediately 
- fixes #12190
 2019-06-15 21:30:09 -04:00
Kabir Mohammed ce784d1ef0 Sensordots Mappydot+ driver (#12147) 
* Add MappyDot+ driver capable of utilizing multiple sensors on a single i2c bus.
 2019-06-15 21:13:51 -04:00
Mark Sauder eaa3d4a24f tfmini: migrate driver class member variable initialization to declarations (#11893) 
* format whitespace
 * alphabetize/group/order var/method declarations 
 * added a default port to start the tfmini driver without requiring arguments.
 2019-06-15 21:01:36 -04:00
Daniel Agar 4e360064d9
commander refactor and cleanup offboard control mode 2019-06-15 20:45:26 -04:00
Daniel Agar 648e7de249 drivers/px4io move to uORB::Subscription 2019-06-15 20:14:10 -04:00
Daniel Agar 1657b5030a wind_estimator always copy attitude and local position data 2019-06-15 19:42:48 -04:00
Daniel Agar a175c4407d
Jenkins add rover SITL test 2019-06-15 17:55:44 -04:00
Daniel Agar e7add33c12 Jenkins HIL print fmu status and pwm info 2019-06-15 16:59:04 -04:00
Daniel Agar 5f20d3cf3b Jenkins HIL increase boot timeout for stackcheck build 
- px4_fmu-v5_stackcheck remove extra drivers (to try and get the system
usuable)
 2019-06-15 16:59:04 -04:00
Daniel Agar e6799e90ad Jenkins HIL disable buzzer and remove redundant px4_fmu-v5 test 2019-06-15 15:06:02 -04:00
Daniel Agar 81c914a092 Jenkins HIL test run various commands to inspect system 2019-06-15 14:29:00 -04:00
Daniel Agar d30e30a2a6 Jenkins HIL run more tests 2019-06-15 11:31:01 -04:00
Daniel Agar 4910bed45b mavlink send_statustext_critical() remove redundant print 2019-06-15 10:14:41 -04:00
Daniel Agar 8e0e846e6e Jenkins hardware target different V5 variants 2019-06-14 14:48:44 -04:00
David Sidrane 6eb4cf0ceb Add CUAV 5+ and Nano to fmu-v5 manifest 
* rcS: Set SYS_USE_IO for Nano
 2019-06-14 13:19:41 -04:00
Daniel Agar bf08b60b8f vscode launch.json add nxp_fmuk66-v3 2019-06-14 11:35:12 -04:00
Daniel Agar 5e058ae290 vscode launch.json add black magic probe debug config 2019-06-14 10:31:42 -04:00
Daniel Agar fe2dff649c vscode launch.json (debug configurations) cleanup naming and sort list 2019-06-14 10:31:42 -04:00
Matthias Grob 146a3866c0 Testing: hotfix to recover test coverage CI 
CMAKE_TESTING should automatically be enabled
but I hoped to do that in the test.cmake
target specific options and not in the main
CMakeLists. I have to see if I can make that
order work. Here the hotfix to make CI work
again.
 2019-06-14 06:54:10 -07:00
Daniel Agar 61512f063a vscode debug linux vs osx handle external console properly 2019-06-14 08:27:37 -04:00
Daniel Agar fd18a6c0e6 vscode improve fmu-v2/v3/v4/v4pro/v5 debug targets 2019-06-14 08:27:37 -04:00
bresch 83d90410ff Jerk-limited auto mode - use MPC_ACC_HOR instead of MPC_ACC_HOR_MAX 
as written in the parameter desctiption
 2019-06-14 09:56:56 +02:00
Daniel Agar a4a130fe53 tests free test containers in IntrusiveQueue and List 2019-06-13 10:47:27 -04:00
Daniel Agar aee8f13289 List fix remove() and update testing 2019-06-13 10:47:27 -04:00
Daniel Agar 1623de8bd0 IntrusiveQueue add remove method, iterators, and update test 2019-06-13 10:47:27 -04:00
Timothy Scott 327354705b Fixed filename 2019-06-13 10:04:26 +02:00
Timothy Scott c4bb6b53e8 Changed soft stop check 2019-06-13 10:04:26 +02:00
Timothy Scott 21760a5856 Changed constant name to UNMANNED_GROUND_VEHICLE 2019-06-13 10:04:26 +02:00
Timothy Scott 714c90b9db Updated code style to fix confusing if conditions 2019-06-13 10:04:26 +02:00