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4465c4fbf6379745af58de328d8f4bdd11347a11
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Author SHA1 Message Date
Paul Riseborough
4465c4fbf6 ekf2: Publish and log EKF warning and information events (NEW msg estimator_event_flags) 
* msg: Add estinator information and warning events message (estimator_event_flags)
 * ekf2: publish information and warning events
 * logger: log estimator_event_flags
 * update ecl submodule to latest

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-03-07 16:16:48 -05:00
Peter van der Perk
18a8d89fa4 PNP fixed allocation scheme 
Fixed register scheme
Incrased wq:uavcan stack since it overflowed when sending register response
 2021-03-07 21:49:05 +01:00
Peter van der Perk
28c76663cd UAVCANv1 Move PNP from UAVCAN.cpp to NodeManager.cpp 2021-03-07 21:49:05 +01:00
Kevin Dominic Merkel
d5e468a19e change typhoon_h480 roll-/pitchrate P gain to reduce oscillations (#17044) 2021-03-07 18:18:00 +01:00
Daniel Agar
35488337d3 mc_pos_control: add OFFBOARD takeoff intent 2021-03-07 11:04:17 +01:00
Daniel Agar
22abe1619b Update submodule mavlink v2.0 to latest Sat Mar 6 00:39:07 UTC 2021 2021-03-05 21:00:39 -05:00
PX4 BuildBot
1eff1aa83c Update submodule sitl_gazebo to latest Sat Mar 6 00:39:04 UTC 2021 
- sitl_gazebo in PX4/Firmware (263b00b65f): bebb9a95f0
    - sitl_gazebo current upstream: c7524aa977
    - Changes: bebb9a95f0...c7524aa977

    c7524aa 2021-02-28 Jaeyoung-Lim - Fix MAVSDK SITL tests
f4d5594 2021-02-28 JaeyoungLim - Increase rover model realtime factor (#715)
 2021-03-05 21:00:07 -05:00
Daniel Agar
263b00b65f ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage 
- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
 2021-03-05 18:25:14 -05:00
David Sidrane
12a4b0334f px4_fmu-v6u:Use Auto LSE Drive setting 2021-03-05 15:40:09 -05:00
David Sidrane
2af106d888 px4_fmu-v6x:Use Auto LSE Drive setting 2021-03-05 15:40:09 -05:00
David Sidrane
d94ff14e6b px4_fmu-v5x:Use Auto LSE Drive setting 2021-03-05 15:40:09 -05:00
David Sidrane
f44a299e3b px4_fmu-v5:Use Auto LSE Drive setting 2021-03-05 15:40:09 -05:00
David Sidrane
c2a5b5ed88 holybro_durandal-v1:Use Auto LSE Drive setting 2021-03-05 15:40:09 -05:00
Ryan Johnston
9d0a8928bd Update chip type 
Update chip type from NI to II.
 2021-03-05 21:28:36 +01:00
Ryan Johnston
0958b30804 Fix i2c4 bus 
Fix i2c4 bus (and subsequent CI errors)
 2021-03-05 21:28:11 +01:00
Ryan Johnston
2bf508061a Update i2c bus 
Change internal bus 2 to external.
 2021-03-05 21:28:11 +01:00
Ryan Johnston
17b48102f4 Update i2c mapping and i2c clock source 
i2c4 was mapped incorrectly and i2c4 clock source wasn't present.
 2021-03-05 21:28:11 +01:00
bbworld
7525722b1a Add support for specifying spawn location in Gazebo multi sim 
This commit adds support for specifying the spawn location of vehicles
in the Gazebo multi-vehicle simulator script (frame:number:x:y).
Behavior when x and y are not specified remains the same as before.
 2021-03-05 21:26:54 +01:00
Ryan Johnston
daf744c678 MRO Control Zero F7 OEM Fixes (#16977) 
* Update i2c 4 pinmap on F7 OEM

Update i2c 4 pinmap

* Fix i2c Internal to External on F7 OEM

Fix i2c Internal to External on F7 OEM

* Add Can2 Silent Pin

Add Can2 Silent Pin
 2021-03-05 21:26:15 +01:00
Nicolas MARTIN
66beffa2f3 Enable pre-arm checks in HIL modes 
by airframe parameters HIL mode will still disable:
 - usb check
 - power checks
 - safety switch
 2021-03-05 21:23:31 +01:00
CarlOlsson
b4b424bf7d tecs: also fix the bug in update_vehicle_state_estimates() 2021-03-05 19:44:20 +01:00
CarlOlsson
0f461f7f60 TECS: Fix internal state init if dt is large 2021-03-05 19:44:20 +01:00
Matthias Grob
114e85d260 MultiCopterPositionControl: hotfix emergency failsafe 
that prevents the vehicle from crashing with invalid setpoints or
states.

This broke with #16869 when the scheduling of the position control module
and the setpoint generation got independent. The failsafe mechanism assumed
the setpoint is overwirtten by the possibly infeasible input on every loop
iteration which is not the case anymore. As a result the failsafe reset its
histeresis based on the failsafe setpoint from the last loop iteration.

Keeping the failsafe_setpoint separate solves this issue. Note that
these setpoints to the bare minimum to keep the vehicle safely in the air
and do not suffer from sideffects ignoring the EKF reset.
 2021-03-05 11:29:36 -05:00
Daniel Agar
fddcb73802 sensors/vehicle_angular_velocity: dynamic notch filter support ESC RPM (untested) 2021-03-05 10:56:54 -05:00
Daniel Agar
573034aa8e Jenkins hardware print ORB_ID(sensor_selection) 2021-03-05 10:56:54 -05:00
Daniel Agar
d5d5b7d82e sensors/vehicle_angular_velocity: add perf counters 2021-03-05 10:56:54 -05:00
Daniel Agar
19de1e57e3 gyro_fft promote to modules and include on all boards 2021-03-05 10:56:54 -05:00
Daniel Agar
00b3b3678b sensors/vehicle_angular_velocity: gyro dynamic notch filters updated from onboard FFT 2021-03-05 10:56:54 -05:00
David Sidrane
ed6269b9a5 STMx7 LSE backports 2021-03-05 10:10:19 -05:00
Daniel Agar
077afdf9aa commander: extend reliant on opt flow to ALTCTL (degraded from POSCTL) 
If you're flying in manual position control mode and lose position the state machine will put you in altitude control mode. Extending the reliant on optical flow relaxed position validity thresholds allows you to potential get back into position control mode with flow alone.
 2021-03-05 10:07:36 -05:00
Daniel Agar
d0c9a5fc93 OFFBOARD mode architecture overhaul (#16739) 
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
 - FlightTaskOffboard not needed at all
 - bypass position_setpoint_triplet entirely (start removing extraneous fields)
 - simplify offboard_control_mode to map to supported control modes
 2021-03-05 09:39:46 -05:00
David Jablonski
5233737a86 adjust some limits to prevent divide-by-zero 2021-03-05 10:42:19 +01:00
Gonçalo Atanásio
9f6c882d2a boards: crazyflie v2.1 Default to EKF2 with no MAG 
Co-authored-by: TheLegendaryJedi <goncalo.atanasio@gmail.com>
 2021-03-04 19:30:17 -05:00
Matthias Grob
5bbc66f3af ManualControl: name, message, comment, const qualifier improvements 
addressing review from @bresch, @julianoes and @JonasVautherin
 2021-03-04 10:41:21 +01:00
Matthias Grob
2f39651f77 ManualControl: use current sample for timeout check 2021-03-04 10:41:21 +01:00
Matthias Grob
a43a829fdf Commander: gate manual control setpoint processing on new data 2021-03-04 10:41:21 +01:00
Matthias Grob
935423b563 ManualControl: start to distinguish rc arming methods 2021-03-04 10:41:21 +01:00
Matthias Grob
c16b48fd2c Commander: Replace manual_control_setpoint use 2021-03-04 10:41:21 +01:00
Matthias Grob
49c240f49e Commander: simplify rc arming disabling logic 2021-03-04 10:41:21 +01:00
Matthias Grob
ca3bfb5ea1 ManualControl: simplify multicopter manual thrust logic 2021-03-04 10:41:21 +01:00
Matthias Grob
a796903e21 ManualControl: fix arm button use case 2021-03-04 10:41:21 +01:00
Matthias Grob
37ea78a7ff Commander: move rc arming to ManualControl class 
Separating the different arming methods is the next step.
 2021-03-04 10:41:21 +01:00
Matthias Grob
00a4133042 ManualControl: make members private again 2021-03-04 10:41:21 +01:00
Matthias Grob
ee2d408edc Commander: move rc availability to ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob
0e1f1a9f57 Commander: use parameters directly in ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob
dda895c94b Commander: split out rc override logic into ManualControl 2021-03-04 10:41:21 +01:00
Matthias Grob
a4da15edf5 Commander: RC override back to stick change 
Instead of deflection mainly because:
- Spring loaded throttle -> bad user experience
- Stale RC data -> Vehicle not savable
 2021-03-04 10:41:21 +01:00
Matthias Grob
3d87982bba Commander: reintroduce last stick position 2021-03-04 10:41:21 +01:00
Julian Kent
cdadfabccc Bring back RC throttle override with a parameter to disable it 2021-03-04 10:41:21 +01:00
SungTae Moon
b7ff54b034 add label option for various airframes using same model (#17003) 2021-03-04 09:29:38 +01:00