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pr-modulebase_refactor
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21741 Commits

Author SHA1 Message Date
TSC21 342b1c5ded microRTPS: client: properly set task/thread naming 2020-07-31 14:13:10 +01:00
TSC21 162e0c7675 microRTPS: client: reserve the minimum required stack to the send/receive tasks 2020-07-31 14:13:10 +01:00
TSC21 0124ca6e41 microRTPS: add debug verbose option '-v'; use while loop for reads; ease the RTTI check on timesync 2020-07-31 14:13:10 +01:00
TSC21 2f4eff4c38 microRTPS: add possibility to set HW or SW flow control; improve verbosity aesthetics 2020-07-31 14:13:10 +01:00
TSC21 b2845c60d3 microRTPS: move buffer size to transport 2020-07-31 14:13:10 +01:00
Daniel Agar 9b12647ac4 px4io: delete broken test and unnecessary limit 
- delete broken px4io test and if_test
 - delete px4io limit (a fixed 400 Hz limit was always set at boot)
 2020-07-30 10:29:07 -04:00
Koby Aizer 60d767406a PAW3902: document that the driver is also compatible with PAW3903 module 2020-07-30 10:05:49 -04:00
Matthias Grob a6777e2650 Subscription: correct doxygen comment 2020-07-30 09:56:01 -04:00
Daniel Agar e4fa7597f4 logger: SDLOG_PROFILE remove estimator replay from default to minimize log rate 
- log full sensor_combined by default for now
 - small decrease to input_rc rate (manual_control_setpoint is no longer filtered)
 - sensor_correction can be logged at full rate (low publication rate)
 2020-07-29 15:07:42 -04:00
Daniel Agar 1b30bd328e logger: decrease try subsribe interval 1000 ms -> 20 ms 2020-07-29 13:36:22 -04:00
Daniel Agar 7b46efaa6b logger: record message gaps 2020-07-29 13:36:22 -04:00
Daniel Agar f7415c3354 optical_flow/paw3902: silence info output (info -> debug) 2020-07-29 11:58:54 -04:00
pengl-aee09 18eccb0cbd PAW3902: align mode change logic with the spec 
1. The spec specifies that the mode change condition should be met for 10
   consecutive frames before changing to the next mode.
2. The spec (and comment) says that "PAW3902JF should not operate with Shutter < 0x01F4 in Mode 2" -
   however the if condition checked the reverse condition

Signed-off-by: Koby Aizer <koby.aizer@tg-17.com>
 2020-07-28 21:29:43 -04:00
bazooka joe 8a3a71caed simplify the code to calculate signal_quality 2020-07-28 23:45:38 +01:00
bazooka joe 4d1c7b734c don't set quality to 0 for lidar lite v3hp, because the strength data is valid even for short distance 2020-07-28 23:45:38 +01:00
Daniel Agar ca33bb1c01 load_mon: slightly longer cpu average (300 -> 500 ms) 2020-07-28 13:41:50 -04:00
Hamish Willee 4ade24869f parameters: move XML injection to the group level (#15403) 
So that they are also in the markdown and json output.
 2020-07-24 13:45:53 +02:00
Matthias Grob 400d97e60c math: add unit tests for everything in Functions.hpp 2020-07-24 11:31:15 +02:00
Matthias Grob 0b391fdcfc mc_att_control: add gradual3 function to cover hover thrust rescaling 2020-07-24 11:31:15 +02:00
Daniel Agar aa7735c1c0 pwm_out: limit actuator control callbacks to primary groups 
- add backup schedule at minimum PWM rate
 - fixes #15043
 2020-07-23 09:45:04 -04:00
Daniel Agar 0586079a84 mixer_module: add subscription option to limit additional actuator_control callbacks 
- optionally only register callbacks for primary control groups (if used)
 2020-07-23 09:45:04 -04:00
Mirko Denecke 2581badabd Add ifdef to invert heater pin for px4 IO firmware. 2020-07-22 10:50:47 -04:00
Lorenz Meier 3b1be7dcd3 Revert "mavlink: GLOBAL_POSITION_INT send without lat/lon availability" 
This reverts commit ad14796b5f.
 2020-07-22 10:34:18 -04:00
Daniel Agar e4f65f81f7 vtol_att_control: limit excessive scheduling 
- this is to prevent vtol_att_control running at absurdly high rates (kilohertz) from every single actuator controls publication from both the multicopter and fixed wing controllers
 - I don't really like this solution, but it works for now until there are larger VTOL architectural changes in place
 2020-07-21 11:40:04 -04:00
Daniel Agar b8b19f6166 cdev: posix remove std::map usage 
- this is to make things a little easier for platforms like QuRT (voxl snapdragon) where there are libstdc++ complications
 2020-07-21 10:17:55 -04:00
Daniel Agar 81f57bccb6 px4io: servorail_status -> px4io_status and log all flags 2020-07-21 09:56:13 -04:00
Matthias Grob 9ba2539e60 FlightTaskOrbit: reset approach if radius gets changed 2020-07-21 10:27:05 +02:00
Matthias Grob e9498064ef StraightLine: allow resetting reached flag 2020-07-21 10:27:05 +02:00
Matthias Grob 5823101f07 FlightTaskOrbit: reset reached when new parameters are set 
such that they get applied to the straight line trajectory class
and the drone starts approaching the new orbit.
 2020-07-21 10:27:05 +02:00
Matthias Grob 8e4509c0a9 FlightTaskOrbit: simplify tangential yaw_setpoint and pi wrap 2020-07-21 09:44:21 +02:00
Matthias Grob 4d0aadbcd0 FlightTaskOrbit: set initial heading for every new command 2020-07-21 09:44:21 +02:00
Matthias Grob abf6f4fa0a FlightTaskOrbit: move start_to_circle to more local scope & const reference parameters 2020-07-21 09:44:21 +02:00
Matthias Grob b8b46f8493 FlightTaskOrbit: use yaw setpoint from Altitude task with RC yaw mode 2020-07-21 09:44:21 +02:00
Matthias Grob 1b7349339e FlightTaskOrbit: move line break causing comments before 2020-07-21 09:44:21 +02:00
xdwgood 7ecccf01c2 tailsitter.cpp:ensure input quaternions are exactly normalized 2020-07-21 08:21:41 +02:00
Daniel Agar 2adc23fd97 sensors/vehicle_imu: initially schedule conservatively 
- this lowers the load immediately at boot while still allowing each VehicleIMU instance to properly measure the actual accel/gyro data rates
 - for lockstep builds this is ignored and VehicleIMU initially runs with every new sensor_accel/sensor_gyro publication
 2020-07-20 10:05:11 -04:00
Matthias Grob ed7732eaec rc_loss_alarm: remove unimplemented declaration 2020-07-20 09:36:47 -04:00
Matthias Grob 987826f1d4 mixer_module/tap_esc: fix usage of constrain() on input 
I changed the input constraint in #15349 but screwed up the usage
because I was convinced it's püass by reference. I'll double check
for sure next time.
 2020-07-20 09:23:42 +02:00
PX4 BuildBot 650b601206 Update submodule matrix to latest Sun Jul 19 12:40:00 UTC 2020 
- matrix in PX4/Firmware (20d5e7acd6d7be141de802ad155592e7be4c9f77): https://github.com/PX4/Matrix/commit/9a30828a0a1d79e87fd09653bb9f936d7ca0ba17
    - matrix current upstream: https://github.com/PX4/Matrix/commit/0fd99c59f1740a7aa2ead03168705b4211bf29e8
    - Changes: https://github.com/PX4/Matrix/compare/9a30828a0a1d79e87fd09653bb9f936d7ca0ba17...0fd99c59f1740a7aa2ead03168705b4211bf29e8

    0fd99c5 2020-07-14 Matthias Grob - Switch operator() to return a const reference
8a59b46 2020-07-17 kamilritz - Quaternion: Use template type instead of single hardcoded type
 2020-07-19 12:25:55 -04:00
Daniel Agar 42493b3d59 logger: add full commander and safety logging by default 
- increase battery_status rate to be useful
 2020-07-17 17:27:15 -04:00
Daniel Agar 94a5a97dcc drivers/safety_button: only publish safety at 1 Hz or immeidately on change 2020-07-17 17:27:15 -04:00
Daniel Agar c6aafed9d0 px4io: only publish safety at 1 Hz or immeidately on change 2020-07-17 17:27:15 -04:00
Daniel Agar bdb4251fa4 fw_pos_control_l1: if using air data (baro) copy every cycle 
- vehicle_air_data won't necessary have an update every iteration and these adjusted throttle values aren't stored
 - this only would have worked in the past because the vast majority of systems were using the ms5611 barometer with a publication rate that's faster than the controller
 2020-07-17 17:14:45 -04:00
Daniel Agar ad14796b5f mavlink: GLOBAL_POSITION_INT send without lat/lon availability 
- the altitude and velocity portions of this message are still relevant
without GPS lat/lon
 2020-07-17 10:46:06 -04:00
Julian Oes 9d97148ce8 commander: fix takeoff and land CI test 
This fixes the takeoff and land CI test where we do a takeoff and land
without RC connected.

In my opinion it does not make sense to go into RC lost failsafe if
a datalink is still available.
Of course, this can be dangerous if someone has a companion computer
connected which gets detected as "data link" but actually has no
connection to the ground station.
 2020-07-17 10:30:13 -04:00
Daniel Agar 9a1ca00285 fw_pos_control_l1: replace sensor_baro with vehicle_air_data 
- controllers shouldn't be accessing raw sensor data directly
 2020-07-17 09:42:19 -04:00
Daniel Agar 1394b5d7bc sensor_baro add separate timestamp_sample field 
- the timestamp is uORB message publication metadata
 2020-07-17 09:42:19 -04:00
Daniel Agar 19059a80bd sensors: throttle vehicle_air_data publication (SENS_BARO_RATE) 
- don't bother running baro aggregator if SYS_HAS_BARO disabled
 2020-07-17 09:42:19 -04:00
bresch 67ae40e922 FlightTaskAuto: fix yaw reset issue during takeoff 
During takeoff, Navigator is sending a constant yaw value.
However, there is always a reset at 1.5m of the yaw estimate in EKF2
that is not handled by Navigator that produces a glitch in the rate
controller. Given that in FlightTask, the yaw
is already computed and properly corrected in case of an estimator reset
event, we just ignore the yaw value sent by navigator during takeoff.
 2020-07-17 10:51:01 +02:00
Daniel Agar 8020d6407f load_mon: remove obsolete rate comment in description 2020-07-16 15:11:53 -04:00