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pr-modulebase_refactor
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21741 Commits

Author SHA1 Message Date
Daniel Agar 700961daf2 ModuleBase add common base type and cleanup 2020-11-10 14:03:58 -05:00
Daniel Agar d33a48eb24 systemcmds/topic_listener: remove excludes 
- this is a bit wasteful, but we can afford it for now everywhere listener is enabled
 2020-11-10 13:46:48 -05:00
Nicolas Martin 1965cd38ba arm auth: add parameters migration 
should be reverted in v1.13
 2020-11-10 09:03:59 +01:00
Nicolas MARTIN 8b96ff57d7 arm auth: split COM_ARM_AUTH in 3 parameters 
new params are:
- COM_ARM_AUTH_ID
- COM_ARM_AUTH_MET
- COM_ARM_AUTH_TO
 2020-11-10 09:03:59 +01:00
Nicolas MARTIN 6579544fca arm_auth: use ack reception timestamp to compute authorization timeout 2020-11-10 09:03:59 +01:00
Nicolas MARTIN e89c21155a arm_auth: check authorization timestamp to skip old commands 2020-11-10 09:03:59 +01:00
David Sidrane defa437b88 Add HY-SRF05 ultrasonic sensor driver 
* nxp_fmuk66-e: Use srf05 distance sensor
 * nxp_fmuk66-v3: Use srf05 distance sensor
 2020-11-08 13:25:58 -05:00
PX4 BuildBot 5ce0b5a32c Update submodule matrix to latest Sat Nov 7 19:38:27 EST 2020 
- matrix in PX4/Firmware (0c3c9bea0f8466d0c14326d134fd0fa06f480cf5): https://github/commit/ce6b10b99af722a4e653387d40019a8428d2a54f
    - matrix current upstream: https://github/commit/a504b6e88152d88dba936bc74e449f2f281b84e2
    - Changes: https://github/compare/ce6b10b99af722a4e653387d40019a8428d2a54f...a504b6e88152d88dba936bc74e449f2f281b84e2

    a504b6e 2020-11-04 Mitchell-Lee-93 - precision of tol for float has been changed
 2020-11-08 12:35:27 +01:00
stou-sandalski 6b23e28971 Fix for missing battery voltage from UAVCAN power modules (#16138) 
It seems that battery.voltage_* is no longer used and QGC is getting voltage data from the cell voltage array instead.
 2020-11-08 12:34:41 +01:00
Adam Blazczak 149ac16bb4 add support for secondary GPS interface 
Useful for navio2 or px4_raspberrypi when attaching a secondary (UART) GPS through one of the USB ports; the default navio2 onboard GPS is running on spi.

Example usage:
gps start -d /dev/spidev0.0 -i spi -e /dev/ttyACM0 -j uart -p ubx
 2020-11-05 08:59:11 +01:00
Daniel Agar 142452f80c replay: print parameter changes and error on mismatch 2020-11-04 11:47:01 -05:00
Beat Küng e6ad321ab2 gps: add GPS_{1,2}_PROTOCOL param to select protocol, default to u-blox 
u-blox is the most widely used GPS, so module detection should be a bit
faster in general.
 2020-11-04 10:26:49 -05:00
Beat Küng ab43a94224 gps: keep track of RX data rate 2020-11-04 10:26:49 -05:00
Beat Küng c5c521f5e0 gps: add support for u-blox heading with 2 F9P devices 2020-11-04 10:26:49 -05:00
Julian Kent d7fa5c68aa Add support for alpha/beta/rc on the vendor version (#16112) 
* Add support for versioning the vendor version

* Make regex only allow either alpha/beta/rc, or vendor versions
 2020-11-04 13:48:19 +01:00
David Sidrane e0f6c220b1 hardfault_log:Sanity check stack before dumping it 2020-11-04 08:44:38 +01:00
Silvan Fuhrer 99833eb001 FW Position Control: remove duplicated position_sp_triplet update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-03 15:47:57 +01:00
Daniel Agar ba5ef28f23 uORB_tests: add uORB::SubscriptionMultiArray tests 2020-11-03 09:10:54 -05:00
Avionics Anonymous 437a1c6db1 Use ModuleParams instead of old param funcs 2020-11-02 23:29:50 +01:00
Avionics Anonymous cc96468fad Extend UAVCAN light control 
Adds automatic control of more light types via UAVCAN. Publishes
commands for beacon, strobe, nav, and landings lights. Each is
automatically controlled based on arming state and this behavior is
configurable per light type via params. For example, nav lights can be
set to be always on while beacons turn on when the system is prearmed
and strobes turn on only when armed.
 2020-11-02 23:29:50 +01:00
Silvan Fuhrer 67a0e1993a FW Position controller: add option to swap throttle and pitch stick 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-11-02 22:49:05 +01:00
Martin Povišer ad0de67df7 dshot: fix build error 
Fixes

  src/drivers/dshot/dshot.cpp:1408:9: error: declaration of
  'struct DShotOutput::custom_command(int, char**)::Command' shadows
  a previous local [-Werror=shadow]
 2020-11-02 13:52:42 -05:00
Daniel Agar 817285ec64 commander: gyro calibration use MedianFilter 2020-11-02 12:58:46 -05:00
Daniel Agar d14deb0e5a FFT add simple median filter 2020-11-02 12:58:46 -05:00
Daniel Agar 4578b8cdcc Update submodule ecl to latest Mon Nov 2 09:57:32 EST 2020 
- ecl in PX4/Firmware (f87b19f31b9918f73d336d10e68d39c659037582): https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd
    - ecl current upstream: https://github/commit/a21092804a784d012939f96cc633e7da5f5e8cde
    - Changes: https://github/compare/48a8992caf7a95e09a5e17235133894c072b96bd...a21092804a784d012939f96cc633e7da5f5e8cde

    a210928 2020-11-01 Daniel Agar - EKF: remove virtual getters from estimator_interface
 2020-11-02 12:44:14 -05:00
Beat Küng d83da4ded4 fix SubscriptionMultiArray: end() iterator needs to point past the end 
And ensure not to dereference.
 2020-11-02 09:00:04 +01:00
Daniel Agar a1ef4d1469 ekf2: only advertise immediately in multi-EKF mode 2020-11-01 15:48:35 -05:00
PX4 BuildBot 1dd3283fbb Update submodule ecl to latest Sat Oct 31 20:37:40 EDT 2020 
- ecl in PX4/Firmware (6bb56ae2b3debb76669a04adb7c64bac74bb87f4): https://github/commit/d85e24d3ca767b48bdbb1594b564d30df5777769
    - ecl current upstream: https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd
    - Changes: https://github/compare/d85e24d3ca767b48bdbb1594b564d30df5777769...48a8992caf7a95e09a5e17235133894c072b96bd

    48a8992 2020-10-30 Daniel Agar - EKF: move small simple getters to header
defb35d 2020-10-29 Daniel Agar - EKF: pass imuSample by const reference
 2020-10-31 21:11:44 -04:00
Daniel Agar 6b9dde59d6 update ecl to latest 
- fmu-v5 debug and stackcheck builds now need to be CONSTRAINED_FLASH to fit
 - delete unused holybro_durandal-v1_stackcheck build (also CONSTRAINED_FLASH)
 2020-10-29 18:56:52 -04:00
Daniel Agar ecb462f325 ekf2: EKF2.cpp using matrix Eulerf, Quatf, Vector3f 2020-10-29 10:22:57 -04:00
Daniel Agar d1af095c0b ekf2: don't store vehicle_status_s 2020-10-29 10:22:57 -04:00
Daniel Agar d27573b797 ekf2: don't store vehicle_land_detected_s 2020-10-29 10:22:57 -04:00
Daniel Agar 7757aeda94 ekf2: don't store sensor_selection_s copy 2020-10-29 10:22:57 -04:00
Daniel Agar db5235b074 ekf2: avoid storing message copies 2020-10-29 10:22:57 -04:00
Daniel Agar 3f9f2c6fdf ekf2: multi ekf supports up to 4 IMUs 2020-10-28 20:50:58 -04:00
Daniel Agar 2c874f1cd9 ekf2 selector fix SITL lockstep 
- ekf2 selector don't register lockstep until first attitude publication
 - sensors module register lockstep component
 - enable multi-EKF2 in SITL
 2020-10-28 09:42:41 -04:00
Thies Lennart Alff 82988b1912 airframes: added BlueROV2 (heavy configuration) airframe (#16004) 2020-10-28 11:07:31 +01:00
Daniel Agar 69986affbf commander: calibration restore sleep after CAL_QGC_DONE_MSG/CAL_QGC_FAILED_MSG 2020-10-27 18:54:16 -04:00
Nicolas Martin 171bd6d784 positionControl: add check on sign before sqrtf 2020-10-27 18:52:23 -04:00
SalimTerryLi 05f1efd1a4 load_mon: get mem_usage by reading /proc/meminfo on Linux 2020-10-27 18:49:25 -04:00
Daniel Agar 91da194bd7 sensors/vehicle_gps_position: only register callbacks once topic published 
- this avoids creating unnecessary uORB device nodes for GPS instances that might never exist
 2020-10-27 18:40:57 -04:00
Daniel Agar df2f26ebdf rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned 
- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
 - helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
 2020-10-27 12:33:39 -04:00
Daniel Agar d5e68bc05a mathlib: NotchFilter delete unused update method 2020-10-27 12:30:59 -04:00
Mathieu Bresciani 050c9dcd3d HTE: fix variance prediction (#16016) 
In the predition step, the process variance was erroneously
multiplied by dt instead of dt^2. The default values are adjusted
accordingly to keep the same tuning for the default loop rate of 50Hz
 2020-10-27 16:56:32 +01:00
Daniel Agar f36f8928e3 distance_sensor/vl53l1x: fix code style 2020-10-27 11:43:11 -04:00
Alexey 2e98c64853 drivers/distance_sensor: new driver for ST VL53L1x 
Co-authored-by: Alexey Matveev <>
 2020-10-27 11:26:53 -04:00
Daniel Agar 0f411d6820 Multi-EKF support (ekf2) 
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
    - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
 - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
 - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
 - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
 - ekf2 single instance mode is still fully supported and the default

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2020-10-27 10:56:11 -04:00
Daniel Agar d5245a22d3 logger: limit default estimator_optical_flow_vel logging 2020-10-26 14:10:25 -04:00
bresch 109ed18a3a Flow: adjust default optical flow delay based on pmw3901 
This is the correct value for the most common optical flow sensor
 2020-10-26 14:10:25 -04:00
bresch 142724748a pmw3901: Adjust scale factor to match gyro data 2020-10-26 14:10:25 -04:00