205d4400eb
add baro_bias_estimate to RTPS list
2021-07-20 04:56:33 -07:00
8fbbf56c4d
microRTPS: fix setting UART communication flags
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bitwise not should be used instead of logical not
2021-07-20 12:34:58 +02:00
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
e39e3b3418
events interface: chance uORB 'sequence' to 'event_sequence'
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The reason is that sequence is an IDL reserved keyword, which results on failure when parsing with FastRTPSGen.
2021-07-09 13:24:13 +02:00
e3972d563a
cmake: ensure generated source files exist before extracting events
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Only needed for Makefile-based builds:
gmake[3]: *** No rule to make target 'src/modules/flight_mode_manager/FlightTasks_generated.hpp', needed by 'events/px4.json'. Stop.
2021-07-07 21:38:09 -04:00
38f3b8d356
mavlink & system: add events interface
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- sending protocol
- uorb event message & template methods for argument packing
- libevents submodule to send common events and handle json files
- cmake maintains a list of all (PX4) source files for the current build
(PX4 modules + libs), which is used to extract event metadata and
generate a json file
2021-07-07 21:38:09 -04:00
1b5e65df04
gyro_fft: change default length 1024 -> 512 to decrease latency
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- change default FFT length (1024 -> 512)
- this doubles the update rate because half the number of samples are required for each
- decrease number of peaks (4 -> 3)
- so far 3 seems to be sufficient on most vehicles
- increase median filter window (3 -> 5)
- decrease SNR requirement (likely needs to be configurable)
2021-07-06 21:54:18 -04:00
a5ee28883a
gyro_fft: track FFT peaks and median filter frequency
2021-07-06 12:32:25 -04:00
b824f33ae9
battery: publish measured values also when battery not connected
2021-07-01 14:24:38 +02:00
9c0c85c9e2
battery_status: naming consistency current_filtered_a -> current_average_a
2021-07-01 14:24:38 +02:00
4741ec25ce
microRTPS: increase base message ID space to 179
2021-06-25 13:05:24 +02:00
0c5f2d3b8c
microRTPS: add missing header for PRIu32 and PRIu16 macros
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Co-authored-by: squizz617 <seulbae@gatech.edu >
2021-06-21 16:36:44 +02:00
084a992572
microRTPS: agent: only allow to whitelist the localhost when using FastDDS as the rmw
2021-06-21 16:36:44 +02:00
79f7986715
apply ROS2 default memory management and publish mode QoS policies; make sure that SharedMemory is only used with FastDDS as the rmw
2021-06-21 16:36:44 +02:00
d3a23cee40
microRTPS: agent: fix double free memory problem on SIGINT
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It fixes also some minor issues when exiting the agent, including the printed stats
2021-06-21 16:36:44 +02:00
6d5f12d2a2
microRTPS: client: add TX rate limiter
2021-06-21 16:36:44 +02:00
ac2b38603c
microRTPS: client: add missing "-p" option for the UART poll timeout and use microsecs for the send/rcv thread sleeps
2021-06-21 16:36:44 +02:00
0cc79f3e48
microRTPS: client: show diagnostic of current bandwidth usage on the 'status' option
2021-06-21 16:36:44 +02:00
d6ee15596d
microRTPS: client: show diagnostic of average bandwidth usage on the 'status' option
2021-06-21 16:36:44 +02:00
40462bfc1f
microRTPS: client: reduce name set by pthread_setname_np since Linux requires names (with NUL) to fit in 16 chars, otherwise returns ERANGE (34)
2021-06-21 16:36:44 +02:00
773d81f208
microRTPS: client: fix send per allocated topic
2021-06-21 16:36:44 +02:00
f2fad6d966
microRTPS: by default, when FastDDS >= 2.0, enable Shared Memory transport for the agent participants when the localhost network is enabled
2021-06-21 16:36:44 +02:00
320b414511
microRTPS: client: match the code style from the PX4 Firmware
2021-06-21 16:36:44 +02:00
63571b3e3f
microRTPS: agent: match the code style from the PX4 Firmware
2021-06-21 16:36:44 +02:00
323ce797f8
microRTPS: allow communications only in the localhost network when ROS_LOCALHOST_ONLY env variable is set
2021-06-21 16:36:44 +02:00
578e426e9e
microRTPS: set trajectory_waypoint to be sent only, as this is outgoing data with vehicle_trajectory_waypoint_desired
2021-06-21 16:36:44 +02:00
026d36dee8
microRTPS:Use inttypes
2021-06-16 17:07:47 +02:00
64db89ab20
px_generate_uorb_topic_helper: Use inttypes
2021-06-16 17:07:47 +02:00
e828ba4288
commander: send parachute command on termination ( #17564 )
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* commander: send parachute command on termination
This sends the DO_PARACHUTE command to parachute component.
* commander: fix lying comments and printf
* commander: use one flag for termination triggered
This merges the duplicate flags _flight_termination_triggered and
_flight_flight_termination_printed.
* commander: correct variable name
* commander: always send tune with parachute
* commander: fix target_component for parachute cmd
The previous changes were wrong in that all commands were now sent to
the parachute component which doesn't make any sense. Of course only the
parachute command should be sent there.
2021-06-15 11:50:30 +02:00
514845592b
en-/disable mc position controller using explicit control mode flag
2021-06-09 18:10:22 +02:00
b06b46b224
log raw airspeed derivative, pitch setpoint and airspeed innovation for TECS
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-05-31 23:56:23 +02:00
2a792ca201
gyro_fft: add simple SNR requirement and reduce number of peaks
2021-05-31 10:26:45 -04:00
f9fe0e3746
ROS2/microRTPS: Add support for ROS2 Galactic and ROS2 Rolling ( #17664 )
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microRTPS: generate_microRTPS_bridge: add support for ROS2 versions
* Galactic
* Rolling
2021-05-27 09:32:16 -07:00
e4f235001b
fix timesync for timestamp sample (including SFINAE detection)
2021-05-16 13:15:37 -04:00
3b27864e53
vehicle_status: added field for geofence violation
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-05-10 10:46:49 +03:00
269ce07cb5
land detector: log more states in order to facilitate debugging ground contact state
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-05-04 16:43:33 +02:00
ab10e68a40
update Quadchute trigger from mavlink PR 1569
2021-05-03 21:44:27 +03:00
bf9758247b
add VEHICLE_VTOL_STATE_QC and remove hardcoding
2021-05-03 21:44:27 +03:00
71bd35fcaa
mavlink: keep track of seq for any component
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Instead of only keeping track of the sequence ID of specific "supported"
components, we now keep track of any sysid/compid of an incoming
message. Before this change, unknown components (such as jMAVSim) would
completely screw up the mavlink message stats and create confusion (at
least in my case).
With this change we currently keep track of up to 8 other components.
Once we reach the limit, we will print a warning.
2021-05-02 13:45:39 -04:00
371fa98579
Commander/preflight checks: Add monitoring to ESC failures
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-04-22 13:46:08 +02:00
29e07b1e52
MulticopterPositionControl: publish stricter tilt limit during takeoff
2021-04-20 18:18:21 +02:00
3b72f3b641
Create publish_status() method in the heater driver, add a status field to indicate if the temperature setpoint has been met within 2.5C, breakout update_params() method from the Heater::Run() method and simplify logic.
2021-04-16 08:09:51 -04:00
7053919a9f
fixed micrortps_agent usage description
2021-04-13 21:28:27 +02:00
45b9e18195
UAVCANv0: add CUAV smart battery support
2021-04-11 21:27:31 -04:00
39c96a8884
gps add device_id
2021-04-08 08:27:07 +02:00
5c5ec1a0ea
Receive telemetry_status, send vehicle_trajectory_waypoint_desired
2021-03-31 13:26:00 +02:00
b5a64f957e
Update RTPS messages to match what is needed for PX4/Avoidance
2021-03-31 13:26:00 +02:00
c1cb964c2a
RTPS timesync don't use MONOTONIC_RAW
2021-03-31 13:25:27 +02:00
1011382098
Clamp RTPS -> uorb timestamps to system time
2021-03-31 13:25:27 +02:00
5b08362ba3
position_controller_status message: added comments regarding NAN
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-03-31 11:23:33 +02:00
TSC21
Oleg
bresch
Beat Küng
Daniel Agar
Matthias Grob
David Sidrane
Julian Oes
RomanBapst
Damien SIX
Thomas
Claudio Micheli
mcsauder
Barcis, Michal
CUAVmengxiao
Julian Kent