17b48102f4
Update i2c mapping and i2c clock source
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i2c4 was mapped incorrectly and i2c4 clock source wasn't present.
2021-03-05 21:28:11 +01:00
7525722b1a
Add support for specifying spawn location in Gazebo multi sim
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This commit adds support for specifying the spawn location of vehicles
in the Gazebo multi-vehicle simulator script (frame:number:x:y).
Behavior when x and y are not specified remains the same as before.
2021-03-05 21:26:54 +01:00
daf744c678
MRO Control Zero F7 OEM Fixes ( #16977 )
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* Update i2c 4 pinmap on F7 OEM
Update i2c 4 pinmap
* Fix i2c Internal to External on F7 OEM
Fix i2c Internal to External on F7 OEM
* Add Can2 Silent Pin
Add Can2 Silent Pin
2021-03-05 21:26:15 +01:00
66beffa2f3
Enable pre-arm checks in HIL modes
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by airframe parameters HIL mode will still disable:
- usb check
- power checks
- safety switch
2021-03-05 21:23:31 +01:00
b4b424bf7d
tecs: also fix the bug in update_vehicle_state_estimates()
2021-03-05 19:44:20 +01:00
0f461f7f60
TECS: Fix internal state init if dt is large
2021-03-05 19:44:20 +01:00
114e85d260
MultiCopterPositionControl: hotfix emergency failsafe
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that prevents the vehicle from crashing with invalid setpoints or
states.
This broke with #16869 when the scheduling of the position control module
and the setpoint generation got independent. The failsafe mechanism assumed
the setpoint is overwirtten by the possibly infeasible input on every loop
iteration which is not the case anymore. As a result the failsafe reset its
histeresis based on the failsafe setpoint from the last loop iteration.
Keeping the failsafe_setpoint separate solves this issue. Note that
these setpoints to the bare minimum to keep the vehicle safely in the air
and do not suffer from sideffects ignoring the EKF reset.
2021-03-05 11:29:36 -05:00
fddcb73802
sensors/vehicle_angular_velocity: dynamic notch filter support ESC RPM (untested)
2021-03-05 10:56:54 -05:00
573034aa8e
Jenkins hardware print ORB_ID(sensor_selection)
2021-03-05 10:56:54 -05:00
d5d5b7d82e
sensors/vehicle_angular_velocity: add perf counters
2021-03-05 10:56:54 -05:00
19de1e57e3
gyro_fft promote to modules and include on all boards
2021-03-05 10:56:54 -05:00
00b3b3678b
sensors/vehicle_angular_velocity: gyro dynamic notch filters updated from onboard FFT
2021-03-05 10:56:54 -05:00
ed6269b9a5
STMx7 LSE backports
2021-03-05 10:10:19 -05:00
077afdf9aa
commander: extend reliant on opt flow to ALTCTL (degraded from POSCTL)
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If you're flying in manual position control mode and lose position the state machine will put you in altitude control mode. Extending the reliant on optical flow relaxed position validity thresholds allows you to potential get back into position control mode with flow alone.
2021-03-05 10:07:36 -05:00
d0c9a5fc93
OFFBOARD mode architecture overhaul ( #16739 )
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- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
2021-03-05 09:39:46 -05:00
5233737a86
adjust some limits to prevent divide-by-zero
2021-03-05 10:42:19 +01:00
9f6c882d2a
boards: crazyflie v2.1 Default to EKF2 with no MAG
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Co-authored-by: TheLegendaryJedi <goncalo.atanasio@gmail.com >
2021-03-04 19:30:17 -05:00
5bbc66f3af
ManualControl: name, message, comment, const qualifier improvements
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addressing review from @bresch, @julianoes and @JonasVautherin
2021-03-04 10:41:21 +01:00
2f39651f77
ManualControl: use current sample for timeout check
2021-03-04 10:41:21 +01:00
a43a829fdf
Commander: gate manual control setpoint processing on new data
2021-03-04 10:41:21 +01:00
935423b563
ManualControl: start to distinguish rc arming methods
2021-03-04 10:41:21 +01:00
c16b48fd2c
Commander: Replace manual_control_setpoint use
2021-03-04 10:41:21 +01:00
49c240f49e
Commander: simplify rc arming disabling logic
2021-03-04 10:41:21 +01:00
ca3bfb5ea1
ManualControl: simplify multicopter manual thrust logic
2021-03-04 10:41:21 +01:00
a796903e21
ManualControl: fix arm button use case
2021-03-04 10:41:21 +01:00
37ea78a7ff
Commander: move rc arming to ManualControl class
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Separating the different arming methods is the next step.
2021-03-04 10:41:21 +01:00
00a4133042
ManualControl: make members private again
2021-03-04 10:41:21 +01:00
ee2d408edc
Commander: move rc availability to ManualControl
2021-03-04 10:41:21 +01:00
0e1f1a9f57
Commander: use parameters directly in ManualControl
2021-03-04 10:41:21 +01:00
dda895c94b
Commander: split out rc override logic into ManualControl
2021-03-04 10:41:21 +01:00
a4da15edf5
Commander: RC override back to stick change
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Instead of deflection mainly because:
- Spring loaded throttle -> bad user experience
- Stale RC data -> Vehicle not savable
2021-03-04 10:41:21 +01:00
3d87982bba
Commander: reintroduce last stick position
2021-03-04 10:41:21 +01:00
cdadfabccc
Bring back RC throttle override with a parameter to disable it
2021-03-04 10:41:21 +01:00
b7ff54b034
add label option for various airframes using same model ( #17003 )
2021-03-04 09:29:38 +01:00
bc8d9af23e
Add Lazy FPU
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Reported that LAZYFPU interact with the MTD (FRAM) driver.
https://github.com/PX4/PX4-Autopilot/issues/16548
2021-03-03 14:43:40 -05:00
0047e518aa
Add Lazy FPU to Defconfig
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Reported that LAZYFPU interacts with the MTD (FRAM) driver.
2021-03-03 14:43:17 -05:00
28b89b024f
MulticopterPositionControl: fix Takeoff ramp use
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- guard against NAN speed_up limit as input to ramp see #14339
- allow negative speed_up limit for ramp to work
2021-03-03 18:53:56 +01:00
0eb327743e
move min/max distance to ground limits to FlightTask ManualAltitude
2021-03-03 18:53:56 +01:00
ecd5e57ab5
remove debug
2021-03-03 18:53:56 +01:00
0ada59e57b
ekf reset remove NAN checks
2021-03-03 18:53:56 +01:00
7a7d316a32
Update src/modules/mc_pos_control/PositionControl/CMakeLists.txt
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-03-03 18:53:56 +01:00
87f835710b
Update src/modules/flight_mode_manager/FlightModeManager.hpp
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-03-03 18:53:56 +01:00
c891db19f9
Update src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-03-03 18:53:56 +01:00
266ea377da
move takeoff state machine flight_mode_manager -> mc_pos_control
2021-03-03 18:53:56 +01:00
823c6078d9
Add rtps build to workflows
2021-03-03 04:55:53 -08:00
72a3c05ffc
nxp_fmuk66-e:Add rtps build
2021-03-02 15:49:03 -05:00
6542c6e58b
nxp_fmuk66-e:Add rtps build
2021-03-02 15:49:03 -05:00
c9a2d0ed34
IMU_GYRO_RATEMAX set system default to 400 Hz
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- MC default is still 800 Hz
2021-03-02 10:08:49 -05:00
16af63e99c
v6x: fix icm20649 rotation
2021-03-02 05:27:31 -08:00
b257f9d1fd
actuator: add support for MAV_CMD_DO_SET_ACTUATOR
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Adds support for using the MAVLink command MAV_CMD_DO_SET_ACTUATOR to
update the actuator values on control group 3 aux{1, 2, 3}. A simple
deconfliction with rc_update is implemented: when a MAVLink command is
sent, RC is disabled for that channel until a major stick movement is
detected.
2021-03-02 12:41:02 +01:00
Ryan Johnston
bbworld
Nicolas MARTIN
CarlOlsson
Matthias Grob
Daniel Agar
David Sidrane
David Jablonski
Gonçalo Atanásio
Julian Kent
SungTae Moon
Nico van Duijn
Kalyan Sriram