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pr-modulebase_refactor
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21741 Commits

Author SHA1 Message Date
bresch 09cc3120e2 OpticalFlow: add optical flow velocity logging 
This is important to align the flow with the IMU data and verify that
the compensation is properly done
 2020-10-26 14:10:25 -04:00
Matthias Grob 8e710294b3 FlightTaskManualAltitudeSmoothVel: fix parameter inheritance chain 2020-10-26 15:55:21 +01:00
Matthias Grob 7ba93d5452 FlightTasks: fix reActivate not calling the parent overrided method 2020-10-26 15:55:21 +01:00
FengShun eac9a6b68b Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH 2020-10-26 13:01:13 +01:00
FengShun 90c366f369 uORB::Publication*: template parameter automatically obtains the queue size according to the type 2020-10-26 13:01:13 +01:00
Nicolas Martin 948bed6b5c fix ekf2 saved mag bias comments (mGauss -> Gauss) 2020-10-26 00:43:20 -04:00
Daniel Agar 8435742dd5 logger: double actuator_controls_0 and vehicle_attitude_setpoint default log rate 2020-10-26 00:36:02 -04:00
Daniel Agar 6d2f592c16 logger: add vehicle_constraints to default set 2020-10-26 00:36:02 -04:00
Daniel Agar 614a0ac2a2 experimental/gyro_fft: improve peak detection, add start parameter 
- add new parameter `IMU_GYRO_FFT_EN` to start
 - add 75% overlap in buffer to increase FFT update rate
 - space out FFT calls (no more than 1 per cycle)
 - increase `IMU_GYRO_FFT_MIN` default
 - decrease main stack usage
 2020-10-25 23:48:21 -04:00
Daniel Agar 945c17bc3f move subsystem_info entirely into commander and remove from uORB 
* HealthFlags: define bitfield using 1<<X

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2020-10-25 10:08:15 -04:00
Daniel Agar 6285e06fe2 mc_pos_control: split out header and name consistently 2020-10-23 15:06:04 -04:00
Matthias Grob 1fb4f960cd FlightTaskAuto: Lock down yaw when waypoint is reached 
This is done to prevent yawing 180 degrees when switching
to hold mode with high velocity and the overshoot causing a 180°
yaw turn.

The yaw is unlocked on waypoint updates and the yaw
setpoint generation had to be put at the end because otherwise the
first yaw calculation is with the old waypoint and immediately
locks again.
 2020-10-23 20:54:01 +02:00
Daniel Agar 81765bc06a commander: PreFlightCheck remove HIL special cases 
- skipping these sensor checks in HIL no longer makes sense as each
sensor has a normal publication (sensor_accel/gyro/etc) regardless of
simulation
 2020-10-23 11:25:50 -04:00
Beat Küng d2644a3bf7 distance_sensor/sf0x: rename to lightware_laser_serial 2020-10-22 11:30:50 -04:00
Beat Küng a68ac95399 distance_sensor/sf1xx: rename to lightware_laser_i2c 2020-10-22 11:30:50 -04:00
Beat Küng 6d2e306d50 sf1xx: use new protocol for LW20/c 
benefits:
- read & validate product name
- sensor configuration with the output we want (raw distance data)
- get signal quality

Protocol description: http://support.lightware.co.za/sf20/#/commands

Other Lightware sensors can easily be moved over to that as well.
 2020-10-22 11:30:50 -04:00
Beat Küng c0cf144a5a ll40ls: fix rotation -> orientation 2020-10-22 11:30:50 -04:00
JaeyoungLim 46d79d3050 Remove exception of actuator scaling for airships (#16011) 
This removes the exception handling of airship type vehicles when scaling actuators for the simulator
 2020-10-22 10:37:03 +02:00
Hamish Willee d91d7e3282 parameter markdown table - remove styling 2020-10-22 08:05:41 +02:00
Daniel Agar 2201424dfd micrortps_bridge: don't reuse msg_files variable (now global) 2020-10-20 11:05:47 -04:00
Daniel Agar 1eb3c59277 systemcmds/topic_listener: use msg_files list from msg/ 2020-10-20 11:05:47 -04:00
Daniel Agar 16119f0e8c mavlink debug messages disable on CONSTRAINED_FLASH boards 
- mavlink messages DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT move to separate stream headers and don't include if CONSTRAINED_FLASH
 - mavlink receiver DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT handling excluded if CONSTRAINED_FLASH
 - msg: skip debug_array.msg, debug_key_value.msg, debug_value.msg, debug_vect.msg if CONSTRAINED_FLASH
 2020-10-20 11:05:47 -04:00
Julian Kent d9b3db1082 Check that home position is valid in RTL (#15964) 2020-10-20 10:31:44 +02:00
Beat Küng f776997a07 battery: disable secondary module by default 
Avoid a GCS showing 2 battery indicators.
Alternatively we could also check the 'connected' flag, but this is more
explicit.
 2020-10-20 09:18:47 +02:00
Beat Küng 83b81fbbef battery: fix isFloatEqual(), use matrix::isEqualF 
Fixes param migration, e.g. if BAT_N_CELLS is set, migrates to
BAT1_N_CELLS.
 2020-10-20 09:18:47 +02:00
Beat Küng 6ae17eb13c fix EscBattery: remove _battery.publish(); 
updateBatteryStatus() already publishes
 2020-10-20 09:18:47 +02:00
Daniel Agar be0f884dde commander: preflight check don't read mag device_id 2020-10-19 23:01:02 -04:00
Daniel Agar b08b83ba48 logger: logged topics support up to 4 accels/baros/gyros 2020-10-19 18:30:22 -04:00
Oleg Kalachev c302514a08 mavlink: expose kill switch status 2020-10-19 10:49:52 -04:00
Beat Küng d0fd60de8d output_limit: use add_library instead of px4_add_library 
px4_add_library adds uorb dependencies, which since cf26f24387 added libm.
This in turn led to build failures for px4_io-v2 in the form of:
__aeabi_f2d' wf_sqrt.c:(.text.sqrtf+0x54): undefined reference to
__aeabi_ddiv'
 2020-10-19 09:45:46 -04:00
FengShun d19b54481a fix: uORB topics lost messages when publications overflow 2020-10-19 08:52:55 +02:00
Daniel Agar 224be8ba24 drivers/uavcan: RGB LED support (publish uavcan::equipment::indication::LightsCommand) 
Co-authored-by: Alex Mikhalev <alexmikhalevalex@gmail.com>
 2020-10-17 12:33:09 -04:00
David Sidrane 7d6f8dc882 mtd:Allow a Board to set the partition sizes. 
To define an N way split this define the following:

        #define BOARD_HAS_MTD_PARTITION_OVERRIDE {"/fs/mtd_params", "/fs/mtd_waypoints","/fs/equal_part" }

	OR
        To define a percentage split this define the following:
        #define BOARD_HAS_MTD_PARTITION_OVERRIDE {"/fs/mtd_params", "/fs/mtd_waypoints","/fs/tiny" }
        #define BOARD_MTD_PARTITION_TABLE_SIZES {50.0f, 49.0f, 1.0f}
 2020-10-15 17:22:50 -04:00
Silvan Fuhrer 4ed3ecea41 lis2mdl: reduce update rate from 50Hz to 20Hz to reduce spikes 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-10-15 09:55:40 +02:00
Daniel Agar d985887468 ekf2: use new Param<> reset method 2020-10-15 08:32:05 +02:00
Daniel Agar 7255f5feac parameters: add param_reset_no_notification() 
- add reset() to Param<>
 2020-10-15 08:32:05 +02:00
mcsauder 047531b924 Add MavlinkStreamGPSStatus status class stream via GPS_STATUS.hpp and add PRN code to satellite_info.msg. 2020-10-14 08:26:42 +02:00
David Sidrane de6d31ef3e hardfault_log:Fix hard fault - while hard fault logging 2020-10-13 18:50:43 -04:00
Daniel Agar 8d1b99be31 mavlink: telemetry status only log simple HEARTBEAT validity 
* delete telemetry_heartbeat msg
 * delete unused _telemetry_status_mutex
 2020-10-13 13:37:10 -04:00
Daniel Agar d71ca37087 navigator: publish navigator mission item changes for logging 
- new msg navigator_mission_item for inspecting navigator mission item processing
 2020-10-13 12:12:03 -04:00
Alex Mikhalev c2af7ba961 uavcan: gnss: Implement RTCM data for RTK (#15921) 
Forwards messages on the gps_inject_data uORB topic as
uavcan::equipment::gnss::RTCMStream messages on the UAVCAN bus. This
enables differential/RTK GPS over UAVCAN to work.

Tested with CubePilot Cube Orange, Here+ base and Here3 rover.

Signed-off-by: Alex Mikhalev <alexmikhalevalex@gmail.com>
 2020-10-13 09:28:25 +02:00
Daniel Agar 34ad85557e Revert "mavlink: increase stack 2650 -> 2848 bytes (#15821)" 
This reverts commit e792c46f20.
 2020-10-12 20:58:35 -04:00
Daniel Agar 5c2cc53134 Revert "logger: log_writer_file increase stack 1170 -> 1472 bytes (#15765)" 
This reverts commit d676e65294.
 2020-10-12 20:58:35 -04:00
Daniel Agar f557fa46e8 gyro_fft improve peak finding, parameterize min/max frequencies, remove debug logging 
- add min/max frequency parameters for peak detection (IMU_GYRO_FFT_MIN, IMU_GYRO_FFT_MAX)
 - remove full FFT debug logging
 - fix Quinn's second estimator
 - log sensor_gyro_fft
 - fake_gyro use PX4Gyroscope
 2020-10-12 15:19:39 -04:00
Beat Küng ff3008c051 calibration: add SYS_FAC_CAL_MODE parameter 
If set, stores calibration parameters in separate storage /fs/mtd_caldata.
 2020-10-12 15:22:26 +02:00
Beat Küng 3e9692c5bd param_import: add mark_saved argument 
Behavior of the 'param import' command:
- if no file provided, parameters are marked as saved (differs from before)
- if a file is provided: parameters are not marked as saved
 2020-10-12 15:22:26 +02:00
Beat Küng f6e8ddfaa0 param_export: add optional filter method 2020-10-12 15:22:26 +02:00
Beat Küng c6cd0536d7 mtd: support multiple instances 2020-10-12 15:22:26 +02:00
Jacob Dahl 2b5b6b9430 fixed dps310 calibration coeffecient for c11 2020-10-12 09:35:27 +02:00
Daniel Agar 0a985638e3 simulator: add inject failure messages for logging 2020-10-10 20:03:50 -04:00