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px4-firmware
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40,817 Commits 514 Branches 136 Tags 601 MiB
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40817 Commits

Author SHA1 Message Date
Daniel Agar ecdade3638 ekf2: mag in air reset fall back to regular resetMagHeading() if realignYawGPS() fails 2022-07-21 09:24:28 -04:00
Daniel Agar 05133aed27 ekf2: clear test ratios, flags, etc when stopping mag fusion 2022-07-21 09:24:28 -04:00
Daniel Agar 65a587e56a ekf2: mag fusion don't update all states if mag_fault or mag_field_disturbed 2022-07-21 09:24:28 -04:00
Daniel Agar a41a0e7e80 ekf2: resetMagHeading() split out simple init case 2022-07-21 09:24:28 -04:00
Daniel Agar 9efadad06a ekf2: move checkMagFieldStrength() to magFieldStrengthDisturbed() const method 2022-07-21 09:24:28 -04:00
Daniel Agar a7f573e150 ekf2: delete isStrongMagneticDisturbance() 2022-07-21 09:24:28 -04:00
Daniel Agar e6e27e694e ekf2: delete isYawResetAuthorized() 2022-07-21 09:24:28 -04:00
Daniel Agar 0f1f6daa1a ekf2: delete isMagBiasObservable() 2022-07-21 09:24:28 -04:00
Daniel Agar d160229f47 ekf2: delete isYawAngleObservable() 2022-07-21 09:24:28 -04:00
Daniel Agar b0c979f745 ekf2: add copyright header to EKFGSF_yaw and utils 2022-07-21 09:24:28 -04:00
Daniel Agar 4fee059696 ekf2: simplify mag yaw reset request when transitioning to mag enabled 2022-07-21 09:24:28 -04:00
Daniel Agar f254b55523 ekf2: add mag fusion timestamps 2022-07-21 09:24:28 -04:00
Jukka Laitinen e3e067d640 stub_keystore: Allow using also with other that SW_CRYPTO driver 
Remove "depends on DRIVERS_SW_CRYPTO"

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-07-21 08:08:14 +02:00
Jukka Laitinen 026bd073b5 Don't error on CONFIG_CRYPTO_RANDOM_POOL not defined 
px4_secure_random can be implemented also outside NuttX for some platform

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-07-21 08:08:14 +02:00
Thomas Stastny d6fb1114ff rtl: fix printout of rtl delay time 2022-07-20 14:15:12 +02:00
Thomas Stastny 1ec62c4063 rtl: let fixed-wing RTL all the way to the loiter/delay state 
also fix home vs destination alt discrepancy on RTL
 2022-07-20 14:15:12 +02:00
Daniel Agar 2f3cb97872 sensors/vehicle_magnetometer: don't advertise vehicle_magnetometer instance if mag has been disable 
- if using multi-EKF across all magnetometers then an instance of
vehicle_magnetometer is advertised immediately for every sensor_mag
instance
 - this can become problematic if EKF2 multi-mag is enabled, but with
only 1 IMU (EKF2_MULTI_MAG) because you will be stuck with no magnetometer data
 2022-07-20 01:18:19 -04:00
Daniel Agar e5be0e776e ekf2: if multi-mag disabled (EKF2_MULTI_MAG <= 1) properly re-enable sensors hub selection (SENS_MAG_MODE) 
- this prevents potential misconfiguration if trying to disable ekf2 multi mag
 2022-07-20 01:16:55 -04:00
Daniel Agar 8ccd8fbed1 px4io: minimal backup scheduling regardless of dynamic mixing 
- even if there's no configured output we still need to run to grab RC
data
 2022-07-20 01:15:36 -04:00
Daniel Agar 8f8615e6c2 delete CBRK_RATE_CTRL 2022-07-20 01:14:53 -04:00
Beat Küng 67107f4978 .clang-tidy: exclude some warnings 
Some are too verbose, others don't apply to the code base
 2022-07-20 01:14:04 -04:00
Beat Küng 84b0a889a4 cmake: add clion support 2022-07-20 01:14:04 -04:00
Beat Küng f22dc80ecc system: add missing includes (added indirectly via visibility.h for normal builds) 2022-07-20 01:14:04 -04:00
Beat Küng ea136e73be ekf2: remove unused variables 2022-07-20 01:14:04 -04:00
Thomas Schneider cd66a262ee Robustify RTPS bridge stream parsing. 2022-07-20 01:13:47 -04:00
Peter van der Perk 089fbdccc9 UAVCANNODE NuttX SocketCAN driver 
Change init mode for CAN driver so it get executed in a single context
 2022-07-20 01:12:43 -04:00
Peter van der Perk 47aaa38d5f Added DroneCAN SocketCAN driver Skeleton 2022-07-20 01:12:43 -04:00
Daniel Agar 14df1ee917
boards: px4_fmu-v5x_rtps disable systemcmds/gpio to save flash 2022-07-20 01:05:28 -04:00
Daniel Agar 2ece92abd0
sagetech_mxs: module.yaml remove invalid default 2022-07-20 01:00:15 -04:00
Daniel Agar ace80e2b9d fw_att_control: add simple backup scheduling if vehicle_attitude unavailable (or stops) 2022-07-20 00:53:37 -04:00
jasta 1603883dc9 Configure SCALED_PRESSURE so temperature data is available to QGroundControl 2022-07-20 00:49:11 -04:00
jasta a110032dc0 Fix typo in SCALED_PRESSURE*_HPP defines 
This was preventing SCALED_PRESSURE* from being added to the list of
streams, so even if it was configured it still wouldn't work.
 2022-07-20 00:49:11 -04:00
Thomas Stastny 413ce8a3c4 fw pos ctrl: absorb fw_lnd_rel_ter into fw_lnd_useter parameter 2022-07-19 22:37:09 -04:00
Thomas Stastny de3ac12ecd fw pos ctrl params: clarify landing parameters, change defaults 
FW_LND_USETER defaulted to 1 and FW_LND_ABORT terrain based bits all enabled. why? because using a distance sensor is critical to detecting when to flare, and we want to force the user to actively disable these safety settings if they so choose, so that they understand the implications.
 2022-07-19 22:37:09 -04:00
Thomas Stastny 26cb55ec2c fw pos ctrl: takeoff and landing nudging enabled by default 2022-07-19 22:37:09 -04:00
Thomas Stastny 121cc1fce8 fw pos ctrl: rework landing abort status 
abort boolean and reasons no longer separated, single status field with corresponding abort triggers
 2022-07-19 22:37:09 -04:00
Thomas Stastny 694d36050a fw pos ctrl: update landing parameter descriptions 2022-07-19 22:37:09 -04:00
Thomas Stastny 888e72661f fw pos ctrl: add option to fix the glide slope reference altitude 
- new param, FW_LND_TER_REL
- fixing the glide slope helps keep the landing glide behavior steady (avoiding bumps in the altitude setpoint from e.g. trees)
- flare is still triggered via the distance sensor, if enabled by FW_LND_USETERR
 2022-07-19 22:37:09 -04:00
Thomas Stastny c60b215574 fw pos ctrl: allow negative landing glide slope relative altitude 
when the vehicle did not track the slope well (e.g. at an offset above the track) and the altitude setpoint flattening on intersection with terrain, the throttle would spool up to smoothly intersect the newly flattened altitude setpoint, this could happen before the flare altitude was reached, which is bad. now the steady state glide behavior will be maintained, and flare can trigger at the appropriate time
 2022-07-19 22:37:09 -04:00
Thomas Stastny 4953fdd1ab fw pos ctrl: variable min calibrated airsp in auto airspeed adjuster 2022-07-19 22:37:09 -04:00
Thomas Stastny 6612d4696d fw pos ctrl: fix glide slope calculation, from geometry, not param 2022-07-19 22:37:09 -04:00
Thomas Stastny d73b2e8625 fw pos ctrl params: update flaring param values and docs 2022-07-19 22:37:09 -04:00
Thomas Stastny 7283cd7c9d fw pos ctrl: fix virtual waypoint calculation typo 2022-07-19 22:37:09 -04:00
Thomas Stastny 8f5b274e72 fw pos ctrl: refactor terrain estimate and land abort 
- improve terrain estiamte documentation
- add landing abort condition bitmasked parameter to choose abort conditions
- refactor terrain estimate getter with landing abort logic
- log abort status and inform user
- log flaring status
 2022-07-19 22:37:09 -04:00
Thomas Stastny c98153e044 fw pos ctrl: enumerate landing nudging options, add to param documenation 2022-07-19 22:37:09 -04:00
Thomas Stastny 9fab914687 fw pos ctrl: use max function for landing approach entrance rel alt 2022-07-19 22:37:09 -04:00
Thomas Stastny 217efcb12d fw pos ctrl: set idle throttle in landed conditions 
also set the default idle throttle to zero as most PX4 applications use electric motors
 2022-07-19 22:37:09 -04:00
Thomas Stastny ceb432aacb mission feasibility checker: use param_find() to check fixed-wing land angle 2022-07-19 22:37:09 -04:00
Thomas Stastny 4b0a8565fe fw pos ctrl: lower underspeed detection bound for landing airspeed 2022-07-19 22:37:09 -04:00
Thomas Stastny 41b0a6c62c fw pos ctrl: open up desired max sink rate limits for landing slope 
- the target_sink_rate param could possibly constrain the maximum commanded sink rate to something less than that of the landing glide slope, which would make it impossible to track. this commit allows opening up the desired max sink rate up to the performance limits of the aircraft, if necessary, for the landing case
 2022-07-19 22:37:09 -04:00