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Author SHA1 Message Date
Lorenz Meier
5e7ff47aac Navigator: Improve code readibility 
This diff does not contain any functional changes but just makes the code more readable and adds comments.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
417d172a72 Navigator: Warn only for non-zero missions 
Previously a zero-length mission that failed checks
(e.g. because a mandatory element was not present) would lead to a
warning.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
39e473f988 Gazebo plane model: Enable tighter turns 
This helps to fly smaller / faster test missions.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
027e52d402 Camera trigger: Improve code readability 
This helps to trace the code, no functional changes.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
8a6d444467 Enable Gazebo mock optical flow 2020-03-14 17:50:40 +01:00
Lorenz Meier
f1f185d209 Mission feasibility checker: Handle mission with zero elements silently 
A mission with zero elements is invalid but should not lead to a warning. Previously a fixed wing aircraft without a mission did emit warnings about a missing land item.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
09595f88fc Mission block: Style improvement 
Boolean logic improvement to avoid double assignment of true
 2020-03-14 17:50:40 +01:00
Lorenz Meier
76b3c18625 Add dedicated survey camera plane model 
This is to allow us to test triggering properly in SITL
 2020-03-14 17:50:40 +01:00
Lorenz Meier
320cc8bae6 POSIX SITL: Enable trigger control in plane model 
This allows to test plane survey missions with the camera trigger included in SITL.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
5936844595 Update to latest mission API 2020-03-14 17:50:40 +01:00
Lorenz Meier
b405c7e9bd Navigator: Add ability to wait for a position gate with executing the mission 
This enables the navigator to wait for a specific gate coordinate to pass orthogonally to the current trajectory. This is particularly helpful for payload / camera handling in missions and avoids a dependency of payload handling on navigation waypoints.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
ed8cb1c5a7 MAVLink: Add support for new gate command 
This enables the vehicle to be able to wait with executing the next item until a position has been passed.
 2020-03-14 17:50:40 +01:00
Lorenz Meier
8842977d80 Camera trigger: Handle trigger distance handling better 2020-03-14 17:50:40 +01:00
Lorenz Meier
cb63fcdcc4 Vehicle command: Add mission item to gate mission execution on line orthogonal to current trajectory 2020-03-14 17:50:40 +01:00
BazookaJoe1900
5e343b104e logger: using ModuleParams (#14316) 
and some cleanups on main()
 2020-03-13 11:31:43 +01:00
Daniel Agar
0eca583ecf sensors: move baro aggregation to new sensors/vehicle_air_data 2020-03-12 19:06:34 -04:00
Daniel Agar
093e9ba1ce mc_rate_control: use vehicle_angular_acceleration topic instead of differentiating 
* mc_rate_control: use vehicle_angular_acceleration topic
* IMU_DGYRO_CUTOFF change default to 30 Hz
* improve IMU_DGYRO_CUTOFF param documentation (updated from MC_DTERM_CUTOFF)
 2020-03-12 15:07:03 -04:00
Daniel Agar
2b03aa3d1b px4_fmu-v2: disable vtol_att_control to save flash 2020-03-12 14:10:39 -04:00
Matthias Grob
2dccc0dcfc posix.h: remove duplicate stdint.h include 2020-03-12 17:49:37 +00:00
TSC21
69b38c9ced RTPS: add IDs to 'orb_test' related multitopics 2020-03-12 11:10:50 +00:00
PX4 BuildBot
2da38ae81c Update submodule matrix to latest Thu Mar 12 00:38:40 UTC 2020 
- matrix in PX4/Firmware (db0c95ed5620e8ffad3dd3281b511cf5f9ee7848): 649c837b6b
    - matrix current upstream: 4873dc1c1e
    - Changes: 649c837b6b...4873dc1c1e

    4873dc1 2020-03-04 kritz - Analytic inverse implementation (#122)
 2020-03-12 00:01:38 -04:00
Daniel Agar
a89b69b0ea vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz) 
* attitude_estimator_q: get velocity from local position (if available)
 2020-03-11 23:57:43 -04:00
Daniel Agar
5d33b9e999 delete Outback Challenge (OBC) AUTO_RTGS (datalink loss) and AUTO_RCRECOVER (rc loss) 2020-03-11 22:45:55 -04:00
Daniel Agar
0ce9e113ff boards: stm32f4/f7 enable SPI_DMATHRESHOLD=32 2020-03-11 22:08:37 -04:00
Beat Küng
179c89b6bd board configs: extend board_dma_map.h with a table 2020-03-11 22:08:37 -04:00
Daniel Agar
aeff85322d px4_fmu-v2: leave SPI DMA disabled for now (flash space) 2020-03-11 22:08:37 -04:00
Daniel Agar
c8509892a6 intel_aerofc-v1: add board_dma_map.h and enable SPI1 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
8c2ba5f39f mro_x21-777: add board_dma_map.h and enable SPI1 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
38a10fc7fc mro_x21: add board_dma_map.h and enable SPI1 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
f309e3a5ba mro_ctrl-zero-f7: add board_dma_map.h and enable SPI1/SPI5 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
5660ea0fd2 av_x-v1: add board_dma_map.h and enable SPI1/SPI2 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
98108bc4da airmind_mindpx-v2: add board_dma_map.h and enable SPI1 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
e24fcee214 modalai_fc-v1: add board_dma_map.h and enable SPI1/SPI2 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
01b90fefaf uvify_core: add board_dma_map.h and enable SPI1 DMA 
- synced with px4_fmu-v4
 2020-03-11 22:08:37 -04:00
Daniel Agar
772ddd7f5e px4_fmu-v2/v3: add board_dma_map.h and enable SPI1/SPI4 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
bd16c2b4f6 px4_fmu-v5x: add board_dma_map.h and enable SPI{1,2,3} DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
6ed4b6978e px4_fmu-v5: add board_dma_map.h and enable SPI1 DMA 2020-03-11 22:08:37 -04:00
Daniel Agar
6834f089cc px4_fmu-v4pro: cleanup board_dma_map.h 2020-03-11 22:08:37 -04:00
Daniel Agar
147e37ac88 px4_fmu-v4: cleanup board_dma_map.h 2020-03-11 22:08:37 -04:00
Daniel Agar
f9794e99f8 move hover_thrust_estimator to new module (mc_hover_thrust_estimator) 
* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.

* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2020-03-11 21:20:54 -04:00
David Sidrane
4b9e6964f4 uavcan:Support runtime setting of CAN interfaces 2020-03-11 20:36:58 -04:00
David Sidrane
82ab1413fc px4_fmu-v5:Add Manifest Entries for UAVCAN interfaces 2020-03-11 20:36:58 -04:00
Daniel Agar
46a09b711f boards: increase STDIO buffer size where we can afford it 2020-03-11 17:19:44 -04:00
Daniel Agar
9cd8bb4f88 sensors: move to WQ 
Running the sensors module out of the same WQ thread as the estimator, position, and attitude controllers is a bit safer and prevents potential priority and starvation issues. There is a very small increase in latency (~50 us) between sensors and ekf2 execution (on average). This also saves a little bit of memory (~ 3 kB) and cpu (~1-1.5% depending on the board).
 2020-03-11 11:34:04 -04:00
TSC21
2b8eb736e1 microRTPS: timesync: fix comment indentation 2020-03-11 15:13:07 +00:00
TSC21
21f0d99145 microRTPS: RtpsTopics: code specialization simplification 2020-03-11 15:13:07 +00:00
TSC21
e9bc675bfa microRTPS: agent: simplify Publisher code specialization 2020-03-11 15:13:07 +00:00
TSC21
296714a00a microRTPS: agent: simplify Subscriber code specialization 2020-03-11 15:13:07 +00:00
TSC21
99f96437c3 microRTPS: timesync: add getters and setter to generalize interface 2020-03-11 15:13:07 +00:00
TSC21
7612879ffd microRTPS: use FastRTPS version instead of FastRTPSGen version to generate conditional code 2020-03-11 15:13:07 +00:00