- landed, maybe_landed, or ground_contact required before the safety
button is able to disarm
- this reduces the risk of a faulty safety button triggering in regular
flight
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
* parameter and logic to commander for triggering failsafe from external automatic trigger system.
* logic to startup script for enabling ATS. Added uORB publishing to pwm_input module.
* Refactored out CDev usage from pwm_input and ll40ls. Refactored out ll40ls specifics from pwm_input and cleaned up dead code.
Innovation ratios have no unit: it is a ratio of to squared base unit.
For example:
[COM_ARM_EKF_VEL] = [vel_innov]**2 / ([GATE_SIZE]**2 * [VEL_VAR])
= [m/s]**2 / ([1]**2 * [m/s]**2)
= [1]
- instead of resetting existing calibration on start and having to wait
until the estimator converges, keep existing calibration applied and
subtract it.
- reduce calibration time from 5s to 500ms, and check for motion during
that time.
- repeat if there was motion
- fix an uorb resource leak
- if less than 6 sides are calibrated, keep the existing calibration and
update the offsets and scales
- if 2 sides are calibrated, estimate the offsets only (as this is enough
if a full calibration was done already, and the problem is not
constrained enough to estimate scales and offsets)
So it is independent from the number of configured sides.
Previously, each side would take longer if less than 6 sides were
calibrated.
Also fixes a bug: calibration_sides was used before it was updated, leading
to different behavior on consecutive calibrations with <6 sides.
Fixes a serious bug in combination with the HMC5883 driver (also used for
HMC5983): this driver estimates a scale in MAGIOCCALIBRATE and applies it.
The calibration routine does the calibration with that scale applied, and
then overwrites it, without considering it in any way.
Most other mag drivers only do some measurements and perform some checks
in MAGIOCCALIBRATE (but the result is just ignored).
It's not required to take that many samples, 1 second is enough.
This is confirmed by looking at the standard deviation over 10 calibrations:
it is in the same order as with 20 seconds (the effect of temperature
increase has a bigger effect).
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
* PreFlightCheck: remove unused reportFailures flag
* Commander: pull all pre flight checks together on the PreFlightCheck class
* PreFlightCheck: separate checks into their own files
This fixes the battery failsafe for the following corner cases:
- Battery failsafe set to Return but we can't do RTL because we don't
have a global position or home position. In this case we now switch to
Land. Land might end up in Descend in the failsafe state machine
later.
- Battery failsafe set to Land but we can't land because we don't have a
local position. In this case we switch to land anyway and then fall
back to descend in the failsafe state machine later.
The "fix" involves ignoring using the main_state_transition and
implementing the guards in place. This is a hack for now but should
cover the corner case until a more thorough refactor.
The different failsafe state machines have involved over time from
requirements and learnings based on developed solutions and products.
The implementations in various places will need to get consolidated in
the future.
Tested in SITL for Return and Land with and without GPS.
When flying POSCTL and ALTCTL the throttle stick is usually spring
loaded and therefore centered. Therefore, it makes more sense to check
for above center instead of above low.
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
