Jukka Laitinen
714df398eb
lib/version: Don't link to drivers_board
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The needed version specific things come from px4 layer. Since version
is used both in kernel an user sides in protected build, it can't directly
link to drivers_board
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
3 years ago
Jukka Laitinen
ff4eae2c9b
Fix px4_impl_os for protected build
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For NuttX protected or kernel build, the prebuilds can't contain libraries which are
different for kernel and user-space in protected/kerenl builds
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
3 years ago
Jukka Laitinen
d94cc1e114
Add kernel/userspace and nuttx_syscall libraries to build
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Build NuttX proxies, stubs and separate user space and kernel space libraries
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
3 years ago
Daniel Agar
49d9d1c987
ekf2: only set fault status bad_acc_clipping if clipping frequently
3 years ago
Daniel Agar
f499749c23
ekf2: mag field strength check respect requirements
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- requires valid mag data (_mag_data_ready)
- respect mag_fusion_type (including MAG_FUSE_TYPE_INDOOR)
3 years ago
CUAVmengxiao
0ddf76ed7f
uavcan: Add support for BatteryInfoAux message
3 years ago
CUAVmengxiao
425d03d909
msg: Add full_charge_capacity_wh
3 years ago
zhaoxiaowei
996b01acbc
uavcannode need link conversion
3 years ago
Roman Dvořák
c8349811d1
Enable logging of mavlink tunnel messages
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Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
3 years ago
Daniel Agar
ae3070bbf1
ekf2: make filter update period configurable
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- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
- actual filter update period will be an integer multiple of IMU
3 years ago
Daniel Agar
3f25349eb9
commander: don't reject VEHICLE_CMD_DO_SET_ACTUATOR
3 years ago
Oleg Kalachev
2945ce7c87
ekf2: fuse optical flow when magnetometer is disabled
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Co-authored-by: bresch <brescianimathieu@gmail.com>
3 years ago
bresch
82e88a9547
[AUTO COMMIT] update change indication
3 years ago
bresch
d20e46567e
ekf2: improve flow for terrain unit test
3 years ago
bresch
1502d77df2
ekf: refactor fake position control logic
3 years ago
Matthias Grob
42404ade77
FlightTaskOrbit: Use cruise speed and manual acceleration for radius and velocity changes
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instead of arbitrary fractions of the maximum radius and velocity.
3 years ago
Matthias Grob
7c55229db7
FlightTaskOrbit: Fix altitude adjustment by stick
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This is done by inheriting from FlightTaskManualAltitudeSmoothVel again.
The altitude change by command is taken care of by switching
to the apporach when the altitude difference is big enough and
switching back once the altitude is close enough.
The altitude of the command is not perfectly reached but this can
only be done smoothly when the Orbit has full control over the
altitude smoothing. The independent altitude smoothing is not kept
because it was lacking stick handling like altitude lock and smooth
transitions when opening and closing the vertical position loop.
3 years ago
Matthias Grob
d73d8f390b
FlightTaskOrbit: Fix vertical speed limit
3 years ago
Matthias Grob
38de07186d
FlightTaskOrbit: include acceleration and jerk in approach setpoint publishing
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I think they were forgotten and it leads to side effects:
- The acceleration feed-forward does not get executed
- The acceleration setpoint is NAN when initializing the altitude
smoothing when arriving at the circle
3 years ago
Matthias Grob
b9fb8490ba
FlightTaskOrbit: initialize position smoothing with previous setpoints instead of current state
3 years ago
Matthias Grob
e0337a484b
FlightTaskOrbit: remove unnecessary _sanitizeParams() in activation
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the parameters are anyways sanitized on every update so even if activate()
sets unfeasible one's they get adjusted on the first update.
3 years ago
Matthias Grob
661496ab24
FlightTaskOrbit: improved naming in applyCommandParameters()
3 years ago
Matthias Grob
8525a8e520
FlightTaskAuto: fix typo pos(i)tion
3 years ago
Thomas Debrunner
4671a741dc
FlightTaskOrbit: Do not switch out of circle orbit control logic on radius change.
3 years ago
Beat Küng
bbc2b703c3
mavsdk_tests: update catch2 to 2.13.8
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Fixes this issue on Fedora: https://github.com/catchorg/Catch2/issues/2178
3 years ago
Daniel Agar
8d03e71c16
drivers/magnetometer/bosch/bmm150: init and self test improvements
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- if self test fails consistently proceed with startup, but report failure
3 years ago
Daniel Agar
8217e0f335
drivers/magnetometer/bosch/bmm150: add self test fail perf counter to status
3 years ago
Daniel Agar
5ded1aedcb
sensors/vehicle_angular_velocity: add IMU_GYRO_DNF_HMC to configure number of ESC RPM notch filter harmonics
3 years ago
SungTae Moon
4c6e746360
uorb graph: fix the link problem for multi topics ( #19062 )
3 years ago
Jaeyoung-Lim
ee98a3336d
Spawn at different height for multivehicle simulation
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This commit fixes the spawn location of the multivehicle gazebo sitl script
3 years ago
Daniel Agar
07e6c274d5
uavcan/uavcannode: bridge LogMessage and PX4 ORB_ID(log_message_s)
3 years ago
PX4 BuildBot
ed28b216c7
Update submodule sitl_gazebo to latest Sat Jan 22 12:38:57 UTC 2022
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- sitl_gazebo in PX4/Firmware (6203ad25c7
): 27298574ce
- sitl_gazebo current upstream: 831aa36fea
- Changes: 27298574ce...831aa36fea
831aa36 2021-10-09 Shaochang Tan - fix imu noise model.
3 years ago
PX4 BuildBot
6203ad25c7
Update submodule mavlink to latest Sat Jan 22 00:39:17 UTC 2022
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- mavlink in PX4/Firmware (a16a8dceb1b2d234ae963c74621c147f521abce9): 3d8092006e
- mavlink current upstream: 51abf3c82b
- Changes: 3d8092006e...51abf3c82b
51abf3c8 2022-01-21 Julian Oes - Component information: add note (#1785 )
f5694b29 2022-01-19 Julian Oes - component_info: re-use protocol capabilities (#1786 )
3 years ago
Beat Küng
92769bd2b2
dshot: remove BOARD_DSHOT_MOTOR_ASSIGNMENT & handle timer channel gaps
3 years ago
Daniel Agar
4de9c598fa
bmm150: retry probe up to 3 times
3 years ago
David Sidrane
a11fe60135
imxrt:ADC extend timeout
3 years ago
Daniel Agar
7cb8ed3a1f
sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats
3 years ago
JaeyoungLim
0607982b23
Publish orbit status also when the waypoint is a loiter waypoint ( #19048 )
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* Publish orbit status also when the waypoint is a loiter waypoint
* Remove redundant orbit status publishing
3 years ago
Beat Küng
bcd057ac3e
uORB: fix copy-paste mistake in orb_print_message_internal
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Could have led to invalid memory access.
3 years ago
bresch
a2260e53da
ekf2: replace yaw failure detection criteria
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The existing logic using the angle between velocity vectors failed to
determine a yaw failure in practice because the state velocity is often
too small compared to its uncertainty to be used. In all the failures
reported, the yaw emergency estimator converged properly and yaw reset
would have fixed the issue.
A much simpler check using the yaw difference between the main EKF
and the emergency estimator is now used to tell if the vel/pos update
failure is most likely caused by a wrong heading.
3 years ago
Daniel Agar
446729566d
platforms/nuttx: px4io_serial always cleanup DMA before next bus exchange
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- this really shouldn't be necessary, but worst case it's harmless and
much better than potentially falling out of the sky
3 years ago
Jaeyoung Lim
0dea56f88b
Use current_sp for publishing orbit status
3 years ago
Jaeyoung-Lim
dec5e7e9c8
Publish orbit status whenever the vehicle is in loiter
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This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint
3 years ago
Thomas Stastny
19c98b8841
npfg: fix typo in Vector2f indexing
3 years ago
bresch
e89e3c1b0c
ekf2: extract logic to test yaw emergency estimate quality
3 years ago
bresch
ea80c5027e
ekf2: split yaw estimator state getter into several functions
3 years ago
dagar
476c1e5c09
[AUTO COMMIT] update change indication
3 years ago
bresch
ffebd8e771
ekf2: initialize cos tilt variable assuming no tilt
3 years ago
Daniel Agar
92a5bbe97f
ekf2: improve ring buffer sizing and dynamically allocate
3 years ago
Daniel Agar
36605bfff6
sensors: lower SENS_MAG_RATE default
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- reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4)
3 years ago