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18241 Commits
Author SHA1 Message Date
Silvan Fuhrer 303b879748 VTOL/Commander: rename transition_failsafe to vtol_fixed_wing_system_failure 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-13 19:02:21 +03:00
Silvan Fuhrer 2d4be68e00 VTOL: reset quad-chute failsafe flag when user triggeres a new transition to FW 
This failsafe flag is currently used for not allowing to re-transition to FW, as well
as disabling pusher assist in hover. Till now it was only possible to reset it with
a commanded transition to MC, which many ground station interfaces didn't allow
as the system, after a quad-chute, already was in MC mode.
Hereby it is changed to reset when a new transition to FW is triggered (either via
RC switch or MAVLink command). It is the users responsibility to assess the situation
after a quad-chute happened to try to transition to FW again, manually proceed/land
the vehicle in MC, or let it finish the defined behavior after a quad-chute.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-13 19:02:21 +03:00
Silvan Fuhrer 8a680a3153 VTOL: fix quad-chute max altitude limit 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-13 19:02:21 +03:00
bresch 3d50a7ce44 CAL_MAG_SIDES: do not save with factory cal 2023-01-13 10:48:01 -05:00
bresch 3d73e273e6 MAG_SIDES: don't spam user to not change parameter 
otherwise this will always show up on every boot if factory calibration
was done in an earlier release
 2023-01-13 10:48:01 -05:00
bresch ced41febb7 hide legacy read-only parameter under Developer category 2023-01-13 11:40:56 +01:00
Matthias Grob a7c03de434 StickAccelerationXY: apply jerk limit after drag 2023-01-13 10:19:43 +01:00
Eric Katzfey 2a315f86ca Qurt specific drivers for testing and some updates to the startup process (#20917) 
* Added a couple of Qurt specific drivers for testing and some updates to Qurt startup code
 2023-01-12 20:17:30 -05:00
Mathieu Bresciani 767fcb2774 sensors: prefix mag config param SENS instead of CAL (#20723) 
* sensors: prefix mag config param SENS instead of CAL
* mag sides: keep CAL_MAG_SIDES required by QGC
 2023-01-12 09:42:36 -05:00
Daniel Agar 0f9bc351f1 ekf2: fix global_pos alt_reset_counter publish (#20906) 
- fixes #20900
 2023-01-11 14:15:07 -05:00
Eric Katzfey 89180ac0f9 Fixed Kconfig and px4board files for voxl2 2023-01-11 09:53:18 -05:00
David Jablonski c6239ce8c2 replay: fix replay msg ids larger than 128 (#20865) 2023-01-11 09:13:53 -05:00
Silvan Fuhrer bc9abf8c36 Commander: always update parameters, not just if disarmed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-11 10:01:08 +01:00
Beniamino Pozzan af336719e6 gz_bridge: fix world selector environment variable 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-01-08 00:15:35 -05:00
Daniel Agar 618288cca9 SITL Gazebo classic make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 97c8a60d67 SITL gz make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar ae4cb24100 SITL flightgear make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 1abe35c220 SITL jsbsim make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 75125da34c SITL sihsim make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 95a6eba36c SITL jmavsim make airframes simulator specific 
-cleanup and simplify jmavsim SITL launch and debug
 2023-01-07 17:00:35 -05:00
Daniel AgarandPX4 BuildBot f520d4b3be Update submodule mavlink to latest Sat Jan 7 12:38:21 UTC 2023 
- mavlink in PX4/Firmware (8bc88ed526044a864427a4b65135c3baffabb2ef): https://github.com/mavlink/mavlink/commit/0c7792edfeee7cf08e531cb4ce5b4f01854e5724
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/74dee05f0cd121ae27e021d011a04b161c9d0440
    - Changes: https://github.com/mavlink/mavlink/compare/0c7792edfeee7cf08e531cb4ce5b4f01854e5724...74dee05f0cd121ae27e021d011a04b161c9d0440

74dee05f 2023-01-04 Beat Küng - component_metadata: add translation schema (#1934)
0267c4cf 2023-01-04 Bob Long - common.xml: add fuel_pressure ext. to EFI_STATUS (#1938)
c64818e8 2023-01-04 Mathieu Mirmont - common.xml: fix typos in AIS_TYPE enumerate (#1939)
2306bf79 2023-01-04 Hamish Willee - Update pymavlink (#1940)
0077129b 2022-10-06 Peter Hall - Development: update airspeed message
fbf84c64 2022-10-05 Peter Hall - gitignore: add /.vscode
817c44d8 2022-12-15 Mathieu Mirmont - Add the MAV_TYPE_VTOL_TILTWING aircraft type (#1933)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-01-07 10:55:05 -05:00
Julian Oes 243caac44a mavlink: filter command_acks by target 
When we receive a command_long or command_int message to
answer, it arrives with a source sysid/compid, so this means we can send
the command_ack back on the appropriate MAVLink instances instead of all
of them.

This commit filters outgoing command_ack messages, so they are only sent
on the MAVLink instances where the sysid/compid has been seen in the
past.

This means that a command_ack is likely still sent on multiple links for
a setup with redundant links.

This should also prevent command_acks from being blasted on Iridium links
when it's not required.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-07 10:39:08 -05:00
murata,katsutoshi d821404e4f commander: failsafe define enums for actions (#20880) 2023-01-07 10:10:57 -05:00
bresch 49f8bcfc69 ekf2: purge old ekf2 derivation 2023-01-06 18:35:19 -05:00
Hamish Willee 1551e2f15c MIS_TKO_LAND_REQ - improve English for value 4 2023-01-06 09:43:16 +01:00
Julian Oes 7e3dcd7be4 sensors: fix overlapping ifdef 
This fixes the case where vehicle_angular_rate is no longer started when
airspeed is not enabled.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-05 21:09:14 -05:00
bresch 26122886ae ekf2: drag fusion - improve parameter description 
The user should refer to the online documentation for tuning guidelines
and not the parameter description.
 2023-01-05 12:03:24 -05:00
bresch 06ef39d05e ekf2: MC drag fusion - interpolate between X an Y "b" coefficients 
Use the current sideslip angle to generate a drag coefficient that is a
mixture of X and Y coefficients, creating an elliptic distribution.
 2023-01-05 12:03:24 -05:00
bresch 420f5ef2b7 ekf2: migrate drag fusion derivation to SymForce 2023-01-05 12:03:24 -05:00
bresch 04f76c932e ekf2: decompose drag vector into x-y components 
The drag force is a vector.
drag_x = drag.norm() * vx / v.norm()
 2023-01-05 12:03:24 -05:00
Paul Riseborough 1a9c358858 ekf2: Add unit tests for drag fusion 2023-01-05 12:03:24 -05:00
bresch 0509f612dd ekf2: fix drag data downsampling 
setDragData needs the imu data at full speed to downsample it without
skipping samples.
 2023-01-05 12:03:24 -05:00
bresch 14bf04b9a4 SIH: add to px4_fmu-v5_default and auto start GPS sim driver 
- add simulator kconfig dependencies
 - exclude SIH (+deps) where sufficient flash isn't available
 2023-01-04 16:26:15 -05:00
JaeyoungLimandSilvan Fuhrer 21e88f64b4 Add new fixed wing rate control module (fw_rate_control) 
* Fixedwing rate control into a separate module
* Start fw_rate_control for vtol
* Move over airspeed related parameters to fw_rate_control

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-04 11:14:00 -05:00
Peter van der Perk 4c2c06060d PX4Board kconfig add dependency chain for QURT & POSIX modules 2023-01-04 09:40:17 -05:00
bresch 28d664aed5 EKF2: purge outdated matlab scripts 
Those files are no longer maintained and will just confuse new users
 2022-12-30 13:01:58 -05:00
dagar 618ce9a865 [AUTO COMMIT] update change indication 2022-12-29 16:37:34 -05:00
Daniel Agar 20a1c73cf0 ekf2: reinit baro height on sensor or calibration change 
- handle reset on delayed time horizon
 2022-12-29 16:37:34 -05:00
bresch 3e4e5c991c ekf2: add mag unit tests 2022-12-29 12:56:36 -05:00
bresch 657bd6cf72 ekf2: stop mag fusion when inhibited for too long 
Also do not try to run anything if mag is inhibited
 2022-12-29 12:56:36 -05:00
bresch c75a9058a5 EKF2: only fuse zero innovation if yaw var is large 2022-12-29 12:56:36 -05:00
Julian Oes bb591c6c29 mavlink_shell: fix stall on CubeOrange 
On CubeOrange where no console is configured by default, starting
MAVLink shell just stalls, and doesn't work.

Also, logfile download has been reported not to work, and again, seems
to work with this change.

Signed-off-by: Julian Oes <julian@oes.ch>
 2022-12-23 11:00:20 -05:00
bresch 86a3d2459a ekf2: remove old yaw estimator generated code 2022-12-23 10:28:19 -05:00
bresch 0388c161e7 ekf2: compare yaw estimator sympy vs symforce 2022-12-23 10:28:19 -05:00
bresch 7c33019510 EKF2: move yaw estimator to symforce 2022-12-23 10:28:19 -05:00
Eric Katzfey c3e70b03aa Add more to Voxl2 build and fix associated build errors (#20821) 
- Do not pull in PWM parameters when DISABLE_PARAMS_MODULE_SCOPING is TRUE since VOXL2 has no PWM nor any of the required timer_config files that go along with that
 - Replace non-standard M_PI constants with PX4 defined M_PI_F constants
 - Include missing header file for function hrt_absolute_time declaration
 - Add new PX4_SOC_ARCH_ID for the VOXL2 board
 2022-12-22 15:44:19 -05:00
Konrad f5524fa605 TECS: Combine both airspeed and airspeed derivative filters in TECS into one MIMO filter using a steady state Kalman filter. 2022-12-21 09:04:19 +01:00
Konrad 7a3e0f53c2 TECS: Replaced old tecs by cleaned up version. 2022-12-21 09:04:19 +01:00
Konrad 991689d3cd TECS: Add new tecs library in parallel to old tecs in the position control library for comparison. 2022-12-21 09:04:19 +01:00
Daniel Agar 54a32eb2f7 ekf2: EV overhaul yaw and position fusion (#20501) 
- move EV yaw and EV position to new state machines
 - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
 - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
 - yaw_align now strictly means north (no more rotate external vision aid mask)
 - automatic switching between EV yaw, and yaw align north based on GPS quality
 2022-12-20 10:23:56 -05:00