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Author SHA1 Message Date
honglang
8b1d2b8551 change fmu-v5's uavcan timer5 to timer6 2021-06-07 20:07:03 +02:00
achim
00229c4fd2 drv_pwm_output.h: increase highest max pwm limit from 2150 to 2500 
- servo linkages in vtol often need further travel of the servos to cover the full tilt travel
 2021-06-07 09:13:39 -04:00
Daniel Agar
578c003c13 ekf2: selector handle uninitalized test ratios 
- choose the best instance regardless of tilt or yaw alignment
 2021-06-07 08:56:37 -04:00
Matthias Grob
ed62ae0e4f mavlink: add actuator_armed header to heartbeat 2021-06-07 08:55:49 -04:00
Julian Oes
446598d003 mc_pos_control: omit initial warning 2021-06-07 08:54:19 -04:00
Daniel Agar
4f850c7cd0 sensors: preserve all valid calibration parameters even if sensor currently missing 
- mark calibration slots active for first N sensors found
 - calibration procedure don't bother resetting unused slots
 2021-06-07 08:50:32 -04:00
Daniel Agar
2ccd86102b ekf2: add command line option to manually select instance 2021-06-07 08:47:17 -04:00
achim
66dbc1e25f Update rc.board_arch_defaults 
logger doesn't start at all up to 4k buffer
 2021-06-05 11:46:30 -04:00
achim
fd2161b6bf Update rc.board_arch_defaults 
logger doesn't start at all up to 4k buffer
 2021-06-05 11:46:10 -04:00
achim
1ab7943940 Update rc.board_arch_defaults 
Logger doesn´t start at all with 4k buffer
 2021-06-05 11:45:53 -04:00
Daniel Agar
4f8f1a5f7e mavlink: streams HEARTBEAT fix code style 2021-06-04 20:43:25 -04:00
Daniel Agar
d31a45a62d github actions SITL test run standard_vtol with address sanitizer 2021-06-04 13:27:42 -04:00
Matthias Grob
faabe2d431 mavlink: make sure heartbeat reports flight termination 2021-06-04 12:48:22 -04:00
achim
6fb1ba7583 Update rcS 
remove sd index file spoofing
 2021-06-04 11:43:17 -04:00
Matthias Grob
70050ae4f5 mc_pos_control_params: correct MPC_POS_MODE docs since 1 is depracated 2021-06-04 09:32:03 -04:00
Peter van der Perk
9756c70491 UAVCANv1 Iteration, dynamic subscribers and decoupling (#17624) 
* Update to use libcanard callback
Reworked param system with lambda

* Use callback instead of lambda saves 500 bytes of flash

* [UAVCANv1] Added ServiceRequest class, subscribers decoupled

* PX4 UAVCANv1 portID param default CANARD_PORT_ID_UNSET (65535U)

* [UAVCANv1] uORB sensor_gps modify timestamp for now untill we've got timesync working

* UAVCANv1 update parameter definition to use -1 as unset
 2021-06-04 09:30:17 -04:00
Daniel Agar
470c3cfa6e mavlink: streams HEARTBEAT fix vehicle_control_mode copy 2021-06-04 15:19:34 +02:00
CUAVmengxiao
98fb373590 mavlink: 14S battery support 2021-06-04 09:15:40 -04:00
RomanBapst
ad9288536b TECS: enable direct height-rate control 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
RomanBapst
f6de99d42e FixedWingPositionControl: control only height rate when using pitch stick 
in manual altitude controlled modes

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
Silvan Fuhrer
3d87bfcc0a rename FW_T_CLIMB_R_SP to FW_T_CLMB_R_SP 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-06-04 14:51:27 +02:00
RomanBapst
19449a4e75 FixedWingPositionControl: use target climb/sink rate parameters as maximum 
rates in manual altitude controlled modes

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
RomanBapst
a5cc449e69 tecs: propagate altitude setpoint based on target climb/sink rate 
- avoids tecs always climbing and sinking and max rates and allows to fine tune these rates
- avoid numerical calculation of feedforward velocity using derivative, this
 was prone to jitter in dt

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
RomanBapst
4b7416c05b FixedWingPosControlL1: added target climb and sink rate parameters 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
Travis Bottalico
861e15be4c - update CDCAM_PRODUCTID to match bootloader 2021-06-03 21:38:53 -04:00
bresch
8ad0f36f48 pwm: specific fail/disarm parameters should default to global value 2021-06-03 21:26:13 -04:00
Daniel Agar
db1657fa84 sensors/vehicle_magnetometer: apply current compensation regardless of arming state 
- simplify update on mag compensation type change
 2021-06-03 10:08:19 -04:00
Julian Oes
60235f8474 mavlink: properly initialize vehicle_command queue 
This makes sure that the vehicle_command topic is properly
initialized from the beginning.

orb_exists returns -1 or 0 and not a bool as one would expect.
 2021-06-03 08:53:39 -04:00
Hamish Willee
00cc1323ea gpio.cpp: Add backticks around gpio command docs 2021-06-03 12:37:48 +02:00
alexklimaj
3e9b295c22 Add watchdog_init to ark boards to ensure watchdog pauses during debugging 2021-06-03 00:54:57 -04:00
Daniel Agar
284375efc3 px4io: only update PWM MAX/MIN/DIS/FAIL/REV once 
- Updating PWM params on param change was interfering with VTOL
parameter settings (e.g. PWM_MIN is set by VTOL at init, and
was then overwritten here after an arbitrary param change).
 2021-06-03 00:52:05 -04:00
Silvan Fuhrer
697d713faf pwm out: disable PWM parameter update on param change 
Only update PWM params on initialisation.
Updating PWM params on param change was interfering with VTOL
parameter settings (e.g. PWM_MIN is set by VTOL at init, and
was then overwritten here after an arbitrary param change).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-06-03 00:52:05 -04:00
Daniel Agar
c6d5bd868e boards: px4_fmu-v6x_default disable LPE to save flash 2021-06-02 09:12:24 -04:00
honglang
5672af4299 CUAV X7pro and Nora: use icm42688p instead of bmi088 2021-06-02 09:11:37 -04:00
Julian Oes
1b67187770 navigator: protect against 0 acceptance radius 
This seems to slip in e.g. as part of the VTOL_LAND command.
 2021-06-02 07:28:19 +02:00
Julian Oes
ab23a44b99 navigator: fix acceptance radius for multicopter 
This fixes a regression introduced in
https://github.com/PX4/PX4-Autopilot/pull/16646
which meant that the acceptance radius was no longer used at all for
multicopter, and instead only the NAV_ACC_RAD param was used.

With this change we use the acceptance radius of the mission item again
if it is actually set (and not NAN) which we did not do before, and we
only do that for multicopter.
 2021-06-02 07:28:19 +02:00
Daniel Agar
5f775b508f boards: enable CONFIG_OTG_ID_GPIO_DISABLE on all F7/H7 2021-06-01 15:19:15 -04:00
David Sidrane
32e92ba817 Revert:Pull downs - bad levels cause motor spins 2021-06-01 15:18:47 -04:00
Beat Küng
dfa5964719 Accelerometer: fix thermal calibration index 2021-06-01 10:01:36 -04:00
Daniel Agar
d430e13401 sensors: wait for real sample rate to initialize LowPassFilter2p 2021-06-01 08:58:10 -04:00
Daniel Agar
438b0abc7a mathlib: Biquad filters use internal fields for parameter update 2021-06-01 08:58:10 -04:00
Daniel Agar
9661eddef8 mathlib: LowPassFilter2p initialize b0 to 1 for safety 2021-06-01 08:58:10 -04:00
Daniel Agar
e52c0ceca5 Update submodule mavlink v2.0 to latest Tue Jun 1 00:39:07 UTC 2021 2021-05-31 21:11:01 -04:00
RomanBapst
b06b46b224 log raw airspeed derivative, pitch setpoint and airspeed innovation for TECS 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-31 23:56:23 +02:00
Daniel Agar
806b462935 px4_work_queue: increase UART stack 2021-05-31 14:49:40 -04:00
Daniel Agar
5831494164 boards: px4_fmu-v2_default disable gyro_calibration module to save flash 
- this doesn't impact regular gyro calibration
 2021-05-31 12:11:53 -04:00
Daniel Agar
90e106ede3 boards: cuav_x7pro_test disable LPE to save flash 2021-05-31 10:26:45 -04:00
Daniel Agar
5493d96d17 mathlib: merge LowPassFilter2p, LowPassFilter2pArray, and LowPassFilter2pVector3f 
- fix reset for direct form 2
 - push NAN checks out to filter users
 2021-05-31 10:26:45 -04:00
Daniel Agar
2a792ca201 gyro_fft: add simple SNR requirement and reduce number of peaks 2021-05-31 10:26:45 -04:00
Daniel Agar
3269ee8df1 sensors/vehicle_angular_velocity: accumualted notch filtering and reset improvements 
- apply sensor scaling immediately to keep things simple (FIFO vs regular)
 - inline filter helpers (minor performance improvement)
 - dynamic notch filtering
    - reorder by axis (applied per axis)
    - don't remove notch filters immediately if ESC or FFT data times out
    - constrain notch filter frequency and bandwidth to safe range (minimum bandwidth for flaot precision, Nyquist, etc)
 - add safe constraint on dt
 2021-05-31 10:26:45 -04:00