Mirrors_Framework/PX4-Autopilot
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pr-ekf2_perf_counters
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24580 Commits

Author SHA1 Message Date
Alex Klimaj 71850eeda6 mavlink: Add flow control parameters (#19254) 2022-03-10 08:22:00 -08:00
Daniel Agar b66dd5ffa6 adis16470: fix gyro scaling 2022-03-09 23:00:54 -05:00
Roman Bapst 69560bd4f4 Compensate VTOL transition time for air density (#19293) 
* vtol: compensate front transition minimum time and front transiton openloop time
for air density

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-09 08:41:30 -05:00
bresch 182980526f commander: allow rearming grace period for arming switch only 2022-03-09 08:42:21 +01:00
wangwwno1 cd5a1e510a ekf2: typo Fix: pub.advertised() -> pub.advertise() (#19302) 2022-03-09 08:39:08 +01:00
Jacob Dahl 3e21efb721 ina228: fix sign error on CURRENT reading (#19296) 2022-03-08 19:47:11 -05:00
Daniel Agar b7e0f17c6a ekf2: minor position/velocity reset cleanup 
- try to use avoid resetVelocity() call where possible
 - reset timeouts centrally
 2022-03-08 11:16:35 -05:00
Daniel Agar c10ea97967 ekf2: fusion helpers return success/fail and set pos/vel update timestamps centrally (if healthy) 2022-03-08 11:16:35 -05:00
Matthias Grob c4bc062714 helper_functions: generalize unwrapping function 2022-03-08 10:56:32 +01:00
Matthias Grob c86c2db07f helper_functions: simplify unwrap function 2022-03-08 10:56:32 +01:00
Thomas Stastny 5a3aba9c21 matrix: add angle unwrapping method 2022-03-08 10:56:32 +01:00
Matthias Grob 68a0414622 Quaternion: rename function to rotate vectors 2022-03-07 20:03:54 -05:00
Daniel Agar 5affa693f2 uavcan: increase ESC max rate 200->400 Hz 
- this should run synchronized with the rate controller and can be
limited by IMU_GYRO_RATEMAX
 2022-03-07 10:28:51 -05:00
Beat Küng 591c95ce2f mixer_module: print actual failsafe value 2022-03-04 08:02:11 -05:00
Matthias Grob 666cf2326d mission_block: handle SET_ROI_LOCATION with absolute altitude correctly (#19258) 2022-03-03 13:25:00 +01:00
Daniel Agar 49df00c319 lib/mixer_module: check thrust factor range valid and minor optimization (#19272) 2022-03-03 08:10:09 +01:00
Daniel Agar 6224e11463 Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022 (#19262) 
* Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022
* [AUTO COMMIT] update change indication

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-02-26 15:39:37 -05:00
Daniel Agar 44f0278d97 Update submodule GPSDrivers to latest Sat Feb 26 16:47:30 UTC 2022 (#19264) 
- GPSDrivers in PX4/Firmware (be9dbf6a07): https://github.com/PX4/PX4-GPSDrivers/commit/d6940d9c8ccb8ab3273c677097a29d46903021ff
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/fa275c39935e00906d7a691770d2c10f1ea95d3c
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/d6940d9c8ccb8ab3273c677097a29d46903021ff...fa275c39935e00906d7a691770d2c10f1ea95d3c

    fa275c3 2022-02-17 chalkytoast - ubx: ensure payloadRxDone does not return -1

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-02-26 15:38:43 -05:00
PX4 BuildBot d94ad5bd6d Update submodule mavlink to latest Sat Feb 26 16:47:38 UTC 2022 
- mavlink in PX4/Firmware (95358ae501e92687b00d2786bc8eadf28ff93930): https://github.com/mavlink/mavlink/commit/4ee1eebbd173a3a483b79088b58fef6ec0a4dfef
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/b568a60fca42599d9998434e606f6e38e0b5e298
    - Changes: https://github.com/mavlink/mavlink/compare/4ee1eebbd173a3a483b79088b58fef6ec0a4dfef...b568a60fca42599d9998434e606f6e38e0b5e298

    b568a60f 2022-02-24 Hamish Willee - Update pymavlink to latest (#1805)
b86834e0 2022-02-23 Hamish Willee - Component info - tidy descriptiosn (#1803)
79e9545a 2022-02-23 Hamish Willee - Remove external dialect doc and improve dialect pages (#1802)
fd7ccfbe 2022-02-23 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION - improve linking to command (#1774)
2b7de26c 2022-02-23 Hamish Willee - [Discuss.] MAV_PROTOCOL_CAPABILITY_FTP - supports FTP protocol not specific message (#1772)
a7541658 2022-02-18 Alessandro Ros - fix common.xml include in AVSSUAS (#1800)
5b4482fe 2022-02-17 Hamish Willee - RFC 0016 - Mavlink Standard Modes - Add to development.xml
 2022-02-26 15:07:42 -05:00
ShiauweiZhao 8549fadb6c add icm42670p driver kconfig 2022-02-25 12:21:06 -05:00
Jukka Laitinen 77f71e61d2 Add a generic hrt driver userspace interface 
This adds a nuttx userspace interface for hrt driver, communicating with
the actual px4 hrt driver via BOARDCTL IOCTLs

This is be used when running PX4 in NuttX protected or kernel builds

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-25 13:35:14 +01:00
Jukka Laitinen 9f049b4dca Inline ts_to_abstime and abstime_to_ts 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-25 13:35:14 +01:00
Beat Küng ddad4c31c9 control_allocator: compute thrust scaling individually per axis 
Before, adding the pusher to the same matrix as the upwards motors affected
the scaling for the upwards motors, resulting in values not equal to -1
anymore.
 2022-02-25 08:30:58 +01:00
Beat Küng 76d8d8cae6 control_allocator: generic motor configuration for standard vtols 
This adds the pusher/puller to the standard motors and makes the axis
configurable.
 2022-02-25 08:30:58 +01:00
Beat Küng b2dc9ee710 control_allocator: add title & help url to geometry UI 2022-02-25 08:30:58 +01:00
Beat Küng cbcae260e4 mavlink: update submodule 2022-02-25 08:30:58 +01:00
Beat Küng 9b629a9e95 hitl,sitl,sih: use separate actuator_outputs_sim for SYS_CTRL_ALLOC==1 
- removes the need to do type-specific rescaling of pwm to normalized values
- allows to run physical output drivers alongside HIL/SIH
 2022-02-25 08:30:58 +01:00
Charles Cross 1e32398217 Adds scheduling call to ControlAllocator initialization 2022-02-25 08:16:08 +01:00
Charles Cross aecfbef128 Enables 20Hz backup scheduling for ControlAllocator 2022-02-25 08:16:08 +01:00
Charles Cross b0352135bb Restores Dshot trigger condition and adds dynamic mixing condition 2022-02-25 08:16:08 +01:00
Charles Cross 51c055832f Changes ControlAllocator to always publish actuator controls and status 2022-02-25 08:16:08 +01:00
Charles Cross 59f9a40584 Changes Dshot commands to always trigger from updateOutputs(), unless outputs are completely off 2022-02-25 08:16:08 +01:00
Charles Cross 46f8de3a17 Changes actuator_test syscmd value arg to be a float from -1 to 1 2022-02-25 08:16:08 +01:00
Daniel Agar 8de2c80b34 mavlink: SCALED_IMU streams add temperature 
- preference for accel or gyro temperature before mag
 2022-02-23 14:05:31 -05:00
Daniel Agar 11f617ca9b ekf2: default to in air and not at rest 
- this is a more conservative default if a vehicle isn't set (no land detector running)
 - handled horizontal preflight failures in commander when disarmed
rather than overloading xy_valid and v_xy_valid flags
 - ekf2 no longer depend on arming or standby status
 2022-02-22 16:59:10 -05:00
Daniel Agar d6d529539d ekf2: consolidate and simplify gnd effect logic 2022-02-22 16:59:10 -05:00
Daniel Agar 1d7791dad6 commander: monitor GPS validity and EKF2 dead reckoning 
- ekf2: expose dead reckoning as control status flags
 - commander:
    - add GPS validity check
    - in AUTO MISSION if dependent on GPS then a loss of GPS will
 2022-02-22 09:46:21 -05:00
Julian Oes 6021b8efb3 navigator: only apply breaking for multirotors 2022-02-22 09:41:22 -05:00
Julian Oes fa6c051ae5 navigator: break smoothly when entering hold mode 
This uses the existing breaking functionality when hold/loiter mode is
activated.
 2022-02-22 09:41:22 -05:00
Julian Oes f88dd28e85 navigator: extract breaking functionality out 
This only moves the breaking functionality out from the reposition
command handling to a function, so that it can get re-used in other
places.
 2022-02-22 09:41:22 -05:00
bresch 0e0e0d8be7 [AUTO COMMIT] update change indication 2022-02-22 11:49:25 +01:00
bresch 4f0a959244 gps_hgt: add and improve unit tests 2022-02-22 11:49:25 +01:00
bresch edabfd2f0e ekf_hgt: call specific height reset function instead of generic one 
- Also use the delayed current data instead of newest that might not be
available (gps buffer is sometimes empty if the dt between samples is
larger than the delayed horizon).

- Separate "baro fault" from "baro intermittent": intermittent is a
  temporary failure and should prevent from switching to baro right now,
  but "fault" means that it should never be used anymore

- In case of height timeout, check for metrics but not for consistency
  as the filter is likely to have diverged already.
 2022-02-22 11:49:25 +01:00
bresch cba73585e1 use recorded last sensor timestamp for intermittent check 2022-02-22 11:49:25 +01:00
Daniel Agar f431b233f3 ekf2: preflight checker fix flow y innovation filter 2022-02-22 09:39:22 +01:00
Daniel Agar 710185d2ad drivers/magnetometer/rm3100: cleanup and simplify (#19238) 
* switch to continuous mode at 75 Hz 
 * add simple failure count and reset mechanism
 * add range checks and perf counts
 2022-02-21 16:48:20 -05:00
Roman Dvořák 976c994156 Extend the PCF8583 driver to support multiple instances (#19232) 
* Add some restart events into pcf8583 driver

Co-authored-by: Vít Hanousek <vithanousek@seznam.cz>
 2022-02-21 16:47:16 -05:00
Charles Cross 699f34ba83 drivers/magnetometer/rm3100: self-test procedure revision (#19207) 
* Adds retry behavior and additional checks to RM3100 BIST

Signed-off-by: Charles Cross <charles@missionrobotics.us>
 2022-02-21 11:27:42 -05:00
Beat Küng 960003a86a control_allocator: fix weak authority matrix check & update 
- use max(fabsf(val)) instead of max(val)
- use correct actuator count
 2022-02-21 11:17:00 -05:00
Daniel Agar 591b7b6934 ekf2: add new estimator_gps_status.msg 
- includes the estimator status check fail bits broken out as descriptive booleans
 - absorbs ekf_gps_drift.msg
 2022-02-21 08:58:59 -05:00