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20374 Commits

Author SHA1 Message Date
bresch
dab17d628d PreFlightChecker: update unit tests 2019-12-24 13:18:47 -05:00
bresch
8080615191 PreFlightChecker: add spike limit argument for innovation check and 
increase optical flow test limits.
 2019-12-24 13:18:47 -05:00
PX4 BuildBot
b6b8a9a76e Update submodule matrix to latest Tue Dec 24 12:39:27 UTC 2019 
- matrix in PX4/Firmware (0aa62a3bfff12d854d6a8e378a518bd8646a9f4b): 4f3565da94
    - matrix current upstream: e81483a808
    - Changes: 4f3565da94...e81483a808

    e81483a 2019-12-18 kritz - Catch quaternion canonical corner cases (#116)
 2019-12-24 13:15:42 -05:00
RomanBapst
4c35b3aadc navigator: do not use fixed wing acceptance readius if in rotary wing mode 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-12-24 12:52:10 -05:00
Daniel Agar
0e70578052 commander: move most static variables and parameters to class 2019-12-23 23:38:10 -05:00
Daniel Agar
386673e6c3 fix flt_cutoff_min -> flt_cutoff_max 2019-12-23 23:47:34 +01:00
Daniel Agar
93d392ff80 Update src/modules/rc_update/rc_update.cpp 
Co-Authored-By: Beat Küng <beat-kueng@gmx.net>
 2019-12-23 23:47:34 +01:00
Daniel Agar
607cb97758 Update src/modules/rc_update/rc_update.cpp 
Co-Authored-By: Beat Küng <beat-kueng@gmx.net>
 2019-12-23 23:47:34 +01:00
Daniel Agar
57fc98812d rc_update: cleanup parameter usage 2019-12-23 23:47:34 +01:00
Lorenz Meier
acd18adc18 Tests: Speed up boot 
The previous boot configuration took at minimum one second to boot. This is in particular significant in tests when the system is often started and stopped
 2019-12-23 23:08:05 +01:00
Lorenz Meier
9ac68abd5c Fix float accuracy in ControlMathTest 
The test was testing the result of 3D float vector operations with binary equality of the floating point numbers, which is not a valid assumption to make for floating point math. This change switches to proper comparisons with float accuracy and compares vectors using the norm of their difference.
 2019-12-23 22:29:09 +01:00
Silvan Fuhrer
e6b18fe2da mission feasibility checker: move checks for VTOL landing into separate function 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-12-23 21:47:16 +01:00
Julian Oes
3a37d0b560 navigator: improve if structure for vtol/mc/fw 2019-12-23 21:47:16 +01:00
Julian Oes
f9aa12eaa9 navigator: don't allow Land together with RTL item 
This is a check to protect a user from upload a mission which includes a
land_start marker as well as a RTL mission item.

This works around the problem that we experienced where the navigator
would switch to mission mode on RTL and start with land_start, and then
continue to the RTL item. At this point, navigator would send the
vehicle_command for RTL to commander which would deny it because it is
already in RTL mode. Thus navigator won't (re)set any items to actually
do RTL and it means the vehicle will just head to whatever setpoint it
received last.
 2019-12-23 21:47:16 +01:00
Julian Oes
f8c10b706a navigator: check fixedwing mission for VTOL 
A VTOL mission can also contain a fixedwing landing. Therefore, I think,
it makes sense to run the fixedwing checks as well, however, don't check
for a landing start necessarily.
 2019-12-23 21:47:16 +01:00
Matthias Grob
de95e3d274 commander: remove manual mode before geofence handling 2019-12-23 12:18:27 -05:00
Jin Chengde
34121e655b FW runway takeoff: add negative for min to support tricycle landing gear 
- if we used tricycle landing gear, we need the wheel to  touch the ground to control the direction
 2019-12-23 11:47:11 -05:00
dino
49cb21016a Ddded cli check for ism330dlc startup to prevent hardfault if no options are given. 2019-12-20 16:40:18 +01:00
Julian Kent
e4a526e3b2 Don't sleep in middle of mavlink message reception 2019-12-19 11:43:03 -08:00
Christian Clauss
6dc55f97d4 More fixes for Python 3 compatibility (#13008) 
* More fixes for Python 3 compatibility

* Workaround if the six module is not pip installed

* Lose the semicolons
 2019-12-19 02:05:55 -08:00
Daniel Agar
7fd4db1881 commander: skip all mag checks if SYS_HAS_MAG is 0 2019-12-18 11:54:40 -08:00
Matthias Grob
a46add9a93 PositionControl: isolate skip controller, leave away unnecessary include 2019-12-18 15:57:48 +01:00
Matthias Grob
8441bdb9b5 PositionControl: remove complicated internal control flags 2019-12-18 15:57:48 +01:00
Matthias Grob
83e51ad192 PositionControl: remove speed_xy constraint since it's anyways unused 2019-12-18 15:57:48 +01:00
Matthias Grob
a4a9d50a97 ControlMath: refactor thrustToAttitude calculation 2019-12-18 15:57:48 +01:00
Matthias Grob
1a5b06d0cf FlightTasks: refactor NAN initializations, spacing 2019-12-18 15:57:48 +01:00
Matthias Grob
ab4473319a Takeoff: add proper unit test 2019-12-18 15:57:48 +01:00
Matthias Grob
42dbddb156 mc_pos_control: adopt to module internal include convention 2019-12-18 15:57:48 +01:00
Matthias Grob
2303071df4 PositionControl: simplify constraint conditions 2019-12-18 15:57:48 +01:00
Matthias Grob
121d743049 PositionControl: clear setter interface naming, order, description 2019-12-18 15:57:48 +01:00
bazooka joe
eac7b43f3e Remove rescaling Lat and Lon on VEHICLE_CMD 
relevant to VEHICLE_CMD_DO_REPOSITION and VEHICLE_CMD_NAV_TAKEOFF
its done on mavlink_receiver already
 2019-12-18 09:48:30 +01:00
Beat Küng
e10a4c5002 refactor logger: move subscription initialization into separate class 2019-12-17 21:22:30 -08:00
Beat Küng
738ceab0ee Logger: dynamic number of subscriptions 
Keep a fixed-size array of 250 requested topics on the stack, then allocate
an array with LoggerSubscription with the exact required size.
 2019-12-17 21:22:30 -08:00
Beat Küng
2757647897 refactor logger: reduce required size of WrittenFormats 
by keeping only recursive topics in there. The rest is checked by looking
at previous _subscriptions.

Reduces stack size requirements when increasing MAX_TOPICS_NUM.
 2019-12-17 21:22:30 -08:00
David
020215f146 commander: don't allow arming during VTOL transition 2019-12-17 12:21:11 -08:00
Timothy Scott
7abadabc19 Added support for MAV_CMD_REQUEST_MESSAGE for mavlink streams 2019-12-16 06:45:53 -08:00
JaeyoungLim
94e05362e1 Make cellular status logging default 2019-12-14 21:56:12 +11:00
Daniel Agar
de9e4dda4c battery: delete unused armed 2019-12-12 09:48:45 -05:00
Timothy Scott
11bbc8ae34 Code cleanup 2019-12-12 04:39:53 -08:00
Silvan Fuhrer
1617997dde VTOL: instantly do VTOL mode changes if landed and disarmed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-12-11 20:10:25 -05:00
bresch
d6ffdc09b8 FlightTaskManualPosition: use new Matrix available functions to cast 
from a vector of 4 elements to Vector2f and from Vector2f to Vector3f.
 2019-12-11 17:21:57 +02:00
bresch
d0bdd80129 FlightTaskManualPosition: Remove MPC_ACC_HOR_ESTM parameter. This was 
used back in time when no soothing was done to avoid large steps when
the estimator stops sending a maximum velocity (e.g.:GPS gained during
optical flow flight). Since smoothing is applied later, this is not
required anymore.
 2019-12-11 17:21:57 +02:00
Matthias Grob
a3d30fc970 mc_pos_control/FlightTask: apply nit-pick review findings 2019-12-11 14:03:16 +01:00
bresch
82b4e766a5 AutoMapper2: re-introduce gradual vertical speed limitation during landing between alt1 and alt2 2019-12-11 14:03:16 +01:00
bresch
4d0786d5b4 FlightTask: use centralized _dist_to_ground computed in FlightTask instead of 
recomputing it in AutoMapper, AutoMapper2 and AutoLine
 2019-12-11 14:03:16 +01:00
bresch
4ba672a7ba ManualPosition: Limit horizontal speed during landing 2019-12-11 14:03:16 +01:00
David Jablonski
944bf54d84 Use correct params for DO_MOUNT_CONTROL 
If MAV_MOUNT_MODE is GPS_POINT, the mavlink documentation recommends to
use params4-6. In the current implementation params1-3 were used
instead.
 2019-12-11 09:00:17 +01:00
PX4 BuildBot
4e75f54fcf Update submodule matrix to latest Tue Dec 10 00:39:17 UTC 2019 
- matrix in PX4/Firmware (478a27ee8843a9bd91a0254f6b01a6a9c01946a4): a8009a36a3
    - matrix current upstream: 4f3565da94
    - Changes: a8009a36a3...4f3565da94

    4f3565d 2019-12-09 kritz - Add asserts (#115)
2f63981 2019-12-06 kritz - Add several functions that are useful for coavriance matrices: (#114)
5cbcf60 2019-12-05 kritz - Set Matrix's col amd row to single value (#113)
ef442fa 2019-12-05 kritz - Getter function for the diag elements of slice (#112)
de6a2d3 2019-12-04 kritz - Slice assign value (#111)
 2019-12-09 20:42:39 -05:00
Daniel Agar
b4fa915c86 uORB_tests: fix queue simulation and cleanup initializations 2019-12-09 16:50:33 -05:00
David Sidrane
1298f6840f px4io:Lower Police light activation 2019-12-09 16:23:16 -05:00