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29714 Commits

Author SHA1 Message Date
bresch 427b2e6636 Geofence - Do not trigger geofence failsafe while in low battery 
failsafe action.
Also move geofence flags from static variables declared into the if
statement to private members of the class.
 2019-06-04 08:35:56 +02:00
pedro-roque a707403eaf mc_att_ctrl: added yawrate control from offboard. 
This commit adds Roll Pitch Yawrate Thrust (RPYrT) setpoint control to the
PX4 stack, enabling the UAV to follow specific yawrates sent from
offboard. It also introduces individual body_rate flags, along the
lines of mavros.

Tested on a MoCap enabled flight arena in KTH Royal Institute of
Technology, Stockholm. The MAV receives RPYrT setpoints from an
external PID controller to stabilize around position setpoints.
The UAV is also externally disturbed to assess the stability to
external unmodeled events.

Fixed Kabir comments.

Removed deprecated ignore_bodyrate.

Fixed integration test.
 2019-06-04 08:26:09 +02:00
Matthias Grob ac002db25c MAVLink/Commander: @Pedro-Roque's offboard yawrate handling 2019-06-04 08:26:09 +02:00
Daniel Agar 579cbbb42c mavlink move to new lightweight uORB::Subscription 2019-06-03 17:06:21 -04:00
Daniel Agar 2c63e335e9 uORB::Subscription subscribe directly to uORB device node object 2019-06-03 17:06:21 -04:00
Daniel Agar 2d1c60bc85
SITL offboard ATT test reduce Z boundary requirement 
- fixes #12155
 2019-06-03 12:31:12 -04:00
rfauvet 755eccbe60 simulator: fixing missing declaration 
The "len" variable was not defined and gave me an error, declaring it as "int" fixed it
 2019-06-03 10:02:36 -04:00
mcsauder 8966ad59c7 Add distance sensor id to the the MavlinkStreamDistanceSensor class and format whitespace in mavlink_messages.cpp. 2019-06-01 14:23:49 -04:00
Daniel Agar 32fb2bae8c InvenSense MPU9250 move to PX4Accelerometer and PX4Gyroscope helpers 2019-05-31 21:43:30 -04:00
Daniel Agar cd45d8fc68 fxas21002c split out main and header 2019-05-31 18:20:32 -04:00
Daniel Agar b57dff8594 fxas21002c move to PX4Gyroscope and cleanup 2019-05-31 18:20:32 -04:00
Daniel Agar c8ea198a78
uavcan cmake FATAL_ERROR if platform isn't set 
- this indicates a build system error
 2019-05-31 12:20:50 -04:00
Daniel Agar 43e3fc707d
simulator move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer, PX4Barometer helpers (#12081) 2019-05-30 21:07:26 -04:00
Daniel Agar 4a4d323a97
Update submodule mavlink v2.0 to latest Thu May 30 13:05:26 UTC 2019 (#12127) 
- mavlink v2.0 in PX4/Firmware (a10b1afb54): 4b80386684
    - mavlink v2.0 current upstream: 60df261372
    - Changes: 4b80386684...60df261372
 2019-05-30 21:01:47 -04:00
Daniel Agar f85c15e247 board common create generic dma allocator (from fat_dma_alloc) 2019-05-30 19:31:40 -04:00
Daniel Agar bf12583d80 fw_pos_control_l1 replace FW_LND_THRTC_SC param description < character 
- fixes #12124
 2019-05-30 18:03:03 -04:00
Daniel Agar e4926373e6 INA226 move to new WQ and cleanup 2019-05-30 10:22:15 -07:00
Daniel Agar a10b1afb54 vtol_att_control vtol_type enum -> enum class 2019-05-30 09:04:08 -04:00
bresch d13dfdcd24 AutoLineSmoothVel - Remove duplicate of _yaw_sp_prev update. This is done in the Auto FlightTask, _limit_yaw_rate 2019-05-30 11:14:44 +02:00
bresch a7cf981c8c AutoLineSmoothVel - Reduce jerk if acceleration, velocity and desired velocity are small to help the optimizer to converge towards zero 2019-05-30 11:14:44 +02:00
bresch 3499b6ff89 AutoLineSmoothVel - Do not generate heading from trajectory if the velocity vector is smaller than 10cm/s 
This is done to avoid generating large yaw changes when the velocity
vector is small; for example when switching into loiter or reaching the
last waypoint.
 2019-05-30 11:14:44 +02:00
Daniel Agar 21c791e959 listener exit with ctrl-c, escape, or q 2019-05-30 10:53:06 +02:00
Julian Oes 2ac8841f35 vtol/fw/mc: fix VTOL enum shadowing 
This changes the enums used for various VTOL states to enum classes
which makes them type-safe and should avoid shadowing.

This change was motivated by a Clang warning about shadowing of the
enum const TRANSITION_TO_FW which was declared twice, once in
vtol_type.h and once in standard.h.

This change only removes the shadowing but presumably these enums could
be cleaned up and consolidated further.
 2019-05-29 23:51:10 -04:00
Daniel Agar 4b3f68f90c cmake and Tools/setup.sh default to python3 2019-05-29 20:48:22 -04:00
Daniel Agar f593e3de9c AK09916 move to new WQ, PX4Magnetometer, and cleanup 2019-05-29 13:59:08 -04:00
Daniel Agar a523e18c13 ST L3GD20 move to PX4Gyroscope helper 2019-05-29 13:56:18 -04:00
Martina Rivizzigno 119ccc4256 ObstacleAvoidance: fix comment 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 61f69ed139 ObstacleAvoidance: use convention for paramter name 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 1e8582974c do not update desired setpoints and waypoints if the oa is disabled 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 0963dc9af1 ObstacleAvoidance: fix bug in requesting update of the mission item. 
During takeoff you're always in the condition within xy acceptance radius
and more than altitude radius away from the takeoff waypoint
 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 9e8575b71b do not overwrite with obstacle avoidance yaw setpoints if external yaw 
handling is enabled
 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 44b8b4f79f send velocity setpoint to enable proper takeoff/land 2019-05-29 15:16:33 +02:00
Julian Oes b135503447 wqueue: check before dereferencing 
This was found by coverity.
 2019-05-29 08:57:46 -04:00
Julian Oes 29915cbc6d BlockingQueue: default initialize _data 
This was reported by coverity.
 2019-05-29 08:57:46 -04:00
Julian Oes 4d7a1afd92 Revert "Revert "simulator: remove hack for diff_pressure noise"" 
This reverts commit 2142459027.
 2019-05-29 08:56:33 -04:00
Beat Küng ed9d25a75a logger: add arming/disarming via AUX1 RC channel logging mode 2019-05-29 11:41:22 +02:00
Beat Küng 721f9f901f log_writer_file: fix race condition for fast consecutive stop & start calls 2019-05-29 11:41:22 +02:00
Beat Küng 03332aaa20 PX4Accelerometer,PX4Gyroscope: set_sample_rate requires a filter update 2019-05-29 09:15:52 +02:00
Beat Küng 6da78c956e SYS_COMPANION: remove this parameter 
It was already deprecated.
 2019-05-29 09:15:52 +02:00
Beat Küng 6e2b70cbcd posix: restore original SEGV signal handler upon first entry of our handler 
The current SEGV handling on posix is not useful: as soon as our handler
is left, it's triggered again, infinitely.
This patch changes to restore the original handler, so the OS can create
a core dump, etc.
 2019-05-29 08:30:52 +02:00
Mohammed Kabir b334b75886 Move optical flow drivers to own subdirectory 2019-05-28 23:23:38 -04:00
Daniel Agar 6627c60e5b
load_mon move from NuttX LPWORK to PX4 work queue lp_default 2019-05-28 09:40:36 -04:00
Beat Küng 5d6cc7d033 ekf2: reduce GPS initialization time for SITL from 10s to 0.5s 
Speeds up SITL startup.
 2019-05-28 10:45:38 +02:00
Daniel Agar f7ff82c754
Bosch BMI055 IMU cleanup 
- move to PX4Accelerometer and PX4Gyroscope helpers
 2019-05-27 18:03:32 -04:00
Daniel Agar 03924704d5 Jenkins SITL tests temporarily disable tiltrotor 2019-05-27 15:23:08 +02:00
TSC21 bd87bee632 px4_posix.h: add px4_exit() 2019-05-27 15:22:37 +02:00
Matthias Grob 8a84472795 Hysteresis: switch unit test file name to convention 2019-05-27 09:57:50 +02:00
Julian Oes b29e5e3adb hysteresis: remove dependency/side effect on time 2019-05-27 09:57:50 +02:00
Julian Oes 7b9562e3b1 hysteresis: move out of systemlib, move to gtest 
This moves the hysteresis test out of the systemlib and makes it its own
small library. Since it still depends on hrt_absolute_time this does not
link yet. My attempt to get all link dependencies together failed.
 2019-05-27 09:57:50 +02:00
Daniel Agar b849991494
Update submodule mavlink v2.0 to latest Mon May 27 00:38:40 UTC 2019 
- mavlink v2.0 in PX4/Firmware (61367199aca6aa135462db93c8c8063946876ad4): 5700013402
    - mavlink v2.0 current upstream: 4b80386684
    - Changes: 5700013402...4b80386684
 2019-05-27 00:13:12 -04:00