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28114 Commits

Author SHA1 Message Date
Jake Dahl b01849ce56 fixed a problem where the heater was getting stuck on. This was due to the next on time being calculated as a negative time, thus causing it to not get rescheduled in the work_queue. Also removed some includes in the header file 2018-11-01 00:05:10 +01:00
Beat Küng 52fc56a61f gps: explicitly set SPI bus speed to 1MHz 
Required on RPi, the default seems to be too high.
 2018-10-30 20:36:25 -04:00
Beat Küng bec43b0b28 mc_att_control: run rate controller first and increase fmu prio by one 
The rate controller is now run directly after a gyro publication, and
as soon as it publishes the actuator controls, the output driver (fmu/...)
runs.

Test on a Pixracer:
Reduces fmu control latency from 219us to 134us.
If we run the rate controller last (same order as before, just increase
the prio), the latency is 201us.

CPU load is unchanged.

The drawback is that the attitude to rate setpoint generation is delayed
by one cycle (4ms), but it will be reduced to 1ms as soon as we run at
1kHz.
 2018-10-30 20:20:25 -04:00
Beat Küng 95cc6a06f3 mc_att_control: separate attitude controller from rate controller update 
This will allow to run the rate controller faster than the attitude
controller.
 2018-10-30 20:20:25 -04:00
Beat Küng fc997dd0d5 mc_att_control: reduce minimum required dt 
2ms is not enough to run at 1kHz
 2018-10-30 20:20:25 -04:00
Beat Küng d552c2a362 refactor mc_att_control: move publications into separate methods 
improves readability & reduces duplicated code
 2018-10-30 20:20:25 -04:00
David Sidrane 71f809a20c px4_micro_hal:Add STM32 stm32_gpiosetevent 2018-10-30 19:29:15 -04:00
Hamish Willee 44f650fdc9 Add additional info to FW_LND_USETER (#10777) 2018-10-30 10:14:52 -04:00
Daniel Agar cf4b19d153 delete unused FMU_pass mixer 2018-10-30 09:18:39 -04:00
Lukas Woodtli a7d297ed57 Fix division by zero and cast of to big floats to int 2018-10-28 16:54:36 +01:00
Lukas Woodtli 6caf0d114d Fix division by zero and cast of too big floats to int 2018-10-28 16:54:36 +01:00
Mara Bos 96a33d1afc Enable __attribute__((format)) on px4 logging functions. 
This makes the compiler warn about invalid format strings.
 2018-10-27 12:44:51 +02:00
Mara Bos 10c20b38ad Fix many format strings. 
Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
  (Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)
 2018-10-27 12:44:51 +02:00
Beat Küng dc62454f0a px4fmu-v2_default: disable sf1xx distance sensor 
Due to limited flash space
 2018-10-26 08:02:42 +02:00
Beat Küng db7cbf1770 aerofc, crazyflie, omnibus: remove vtol module 2018-10-26 08:02:42 +02:00
Beat Küng 86673ecfcb navigator: remove dependency on vtol module by using the C param API 
This is the quickest way to achieve the desired result.
Long-term we might do something else.
 2018-10-26 08:02:42 +02:00
Beat Küng ee5c18a737 SDLOG_MISSION param: update description 2018-10-26 08:02:42 +02:00
Beat Küng c5d8abff00 log_writer_file: rename argument to avoid shadowing warning 2018-10-26 08:02:42 +02:00
Beat Küng 2642915a76 logger: enable mission log by default 
To get it field-tested. This can be reverted for a release...
 2018-10-26 08:02:42 +02:00
Beat Küng 3a462c2ba7 refactor logger: move debug buffer printf into separate method (DBGPRINT) 2018-10-26 08:02:42 +02:00
Beat Küng 234ec7f2a2 logger: add mission log to frontend, configurable via SDLOG_MISSION 
- mission logs are stored in a separate directory mission_log
- It's disabled by default
- Does not increase RAM usage if disabled (if enabled, only 300 bytes)
- Log rotate does not apply to the mission logs
 2018-10-26 08:02:42 +02:00
Beat Küng 4fc1c5c4f5 LogWriterFile: split long header messages that exceed the buffer length 
Some message formats are longer than the 300 bytes. We can split the writes
because we have to wait until they are written anyway.
 2018-10-26 08:02:42 +02:00
Beat Küng 28ac7679e0 logger: change message id from uint16_t to uint8_t 
256 subscriptions are enough for now.
Reduces RAM usage by 300 bytes.
 2018-10-26 08:02:42 +02:00
Beat Küng d6e820fe67 logger: add mission file to LogWriterFile backend 
Not used yet, it should not affect anything, except for slight RAM
increase.
 2018-10-26 08:02:42 +02:00
Beat Küng b86c7d2e8f Logger: only write subscribed topic format definitions 
Previously the formats of all known uorb messages were written.

- reduces header size by about 13KB
- reduce ulog_message_format_s size to reduce required stack size.
  Largest message format is about 1000 bytes.
 2018-10-26 08:02:42 +02:00
Beat Küng 0745ba9052 refactor logger: move some code inside run() into separate methods 2018-10-26 08:02:42 +02:00
Beat Küng 5eafa1b34b refactor logger: move some independent methods into separate util file 2018-10-26 08:02:42 +02:00
Beat Küng b65871b433 fix reposition: set acceptance radius 
Previously the acceptance radius was 0, so the FlightTaskAutoLine was
randomly changing yaw and sometimes going into a random direction.
There is still something else wrong in there, but avoids the reposition
problem.
 2018-10-25 17:05:27 +02:00
David Sidrane 3e9e55150d px4nucleoF767ZI-v1: use board_hardfault_init API 2018-10-25 07:52:37 +02:00
David Sidrane 0658d4e2e5 px4fmu-v4pro:use board_hardfault_init API 2018-10-25 07:52:37 +02:00
David Sidrane 161288ef71 px4fmu-v4:use board_hardfault_init API 2018-10-25 07:52:37 +02:00
David Sidrane 0cd2d8f4aa px4fmu-v2:use board_hardfault_init API 2018-10-25 07:52:37 +02:00
David Sidrane 9b4b831b22 px4-same70xplained-v1:Does not use hardfault_log 2018-10-25 07:52:37 +02:00
David Sidrane 4cda5513b9 omnibus-f4sd:use board_hardfault_init API and indicate on BLUE LED 2018-10-25 07:52:37 +02:00
David Sidrane e0431911f9 nxphlite-v3:No Support for BBSRAM nor hardfault 2018-10-25 07:52:37 +02:00
David Sidrane 4353476b01 mindpx-v2:use board_hardfault_init API 2018-10-25 07:52:37 +02:00
David Sidrane 365c5d3ea7 crazyflie:use board_hardfault_init API 2018-10-25 07:52:37 +02:00
David Sidrane 082aa81ee9 av-x-v1:use board_hardfault_init API 2018-10-25 07:52:37 +02:00
David Sidrane 1e35fe189a auav-x21:use board_hardfault_init API 2018-10-25 07:52:37 +02:00
David Sidrane 1856c4760d aerocore2:Make sure errors light LED 2018-10-25 07:52:37 +02:00
David Sidrane 68ce4cf11d aerofc-v1:Does not support bbsram no board_hardfault_init 2018-10-25 07:52:37 +02:00
David Sidrane 177251cc21 px4fmu-v5:use common board_hardfault_init 2018-10-25 07:52:37 +02:00
David Sidrane 74695f3cfb stm32:add stm32 and stm32f7 board_hardfault_init 2018-10-25 07:52:37 +02:00
David Sidrane 2f6a297f3d board_common:Add API for hardfault init 2018-10-25 07:52:37 +02:00
Beat Küng 294af5daad LowPassFilter2p: fix _cutoff_freq <= 0 (disabled filter) 
If the filter was disabled, the apply() would always return 0.
 2018-10-24 20:43:42 +02:00
Daniele Pettenuzzo d2e2b5e8ce add pmw3901 optical flow support for fmu-v5 (#10750) 2018-10-24 10:25:41 -04:00
David Sidrane 99294b2040 fmu:Add Range checking for PWM5 modes 2018-10-23 08:15:28 +02:00
Daniel Agar d832b4fe28 rc.mavlink AV-X reduce companion baudrate 2018-10-23 08:15:11 +02:00
CarlOlsson d0c69efff9 gpio_led: fixed typo 2018-10-22 09:26:06 -04:00
CarlOlsson 6499a4ffc7 board_config: fixed typo 2018-10-22 09:26:06 -04:00