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18241 Commits
Author SHA1 Message Date
chfriedrich98 f35b92a487 rover: replace RX_MAX_THR_YAW_R with a correction factor RO_YAW_RATE_CORR 2025-06-18 08:35:48 +02:00
chfriedrich98 3e8f054a1c ackermann: rename DriveModes to AckermannDriveModes 2025-06-18 08:35:48 +02:00
chfriedrich98 eed966a1c6 rover: reduce speed based on course error 2025-06-18 08:35:48 +02:00
chfriedrich98 5a430f0ba6 rover: streamline rover steering setpoint 2025-06-18 08:35:48 +02:00
Hamish Willee 4a5c00d0e4 EKF2_GPS_POS_X/Y/Z have same long description (#25068) 2025-06-17 21:07:09 -08:00
Matthias Grob d7ab21b8d6 Add battery_info message with serial number compatible with UAVCAN, MAVLink and drivers 
I'm starting the separate battery info message because no char[32] should be published and logged
at high rate and we need a separate battery info message for static information as discussed.
 2025-06-17 09:05:22 +02:00
Qiaosen LiuandJacob Dahl 59710b15ae params: COM_RC_LOSS_T: clarify safe adjustment of RC loss timeout (#25062) 
* params: COM_RC_LOSS_T: clarify safe adjustment of RC loss timeout

* Update src/modules/commander/commander_params.c

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2025-06-16 18:50:43 -08:00
Julian Oes 0180ad3a63 mavlink: implement extended MISSION_CURRENT 
The message MISSION_CURRENT got extensions regarding mission state in
https://github.com/mavlink/mavlink/pull/1869

This is an attempt to actually populate those fields.
 2025-06-17 13:37:47 +12:00
Silvan FuhrerandRamon Roche e0663cd6ad Sensor params: improve board rotation parameter description and meta data (#25037) 
* Sensor params: add @decimals and @min, @max to SENS_BOARD_ params

Signed-off-by: Silvan <silvan@auterion.com>

* Sensor params: Improve parameter description

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
 2025-06-16 14:59:03 -08:00
Silvan FuhrerandRamon Roche a6863f0930 FW mode manager: open up / remove some arbitrary params constraints (#25036) 
* performance model: remove arbitrary min/max parameter constraints

Signed-off-by: Silvan <silvan@auterion.com>

* FW mode manager: open up/remove unnecessary param @max constraints

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
 2025-06-16 14:58:38 -08:00
QiTao Weng 75e4047f2a Fix ADSB heading angle obtained from driver by removing +pi. Adjusted downstream accordingly 2025-06-13 15:28:25 +02:00
Alexander Lerach 6f81998e27 hardfault: add option to stream via mavlink 2025-06-13 13:32:00 +02:00
Pedro Roque 6d15019717 feat: spacecraft tooling for commander and VehicleStatus (#24716) 
* feat: spacecraft tooling for commander and VehicleStatus

* fix: format

* fix: remove iostream

* feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

feat: spacecraft tooling for commander and VehicleStatus

fix: format

fix: remove iostream

feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

* feat: update mavlink to latest

* fix: get away without specifying spacecraft vehicle

* fix: removed unnecessary definition

* fix: format
 2025-06-12 21:48:48 +02:00
Matthias Grob 6b2b20bd6e imu_gyro_parameters: lower default angular acceleration filter from 30Hz to 20Hz 
to avoid noise getting into the derivative term of the PID rate control loop on integration flights.
 2025-06-12 17:15:12 +02:00
chfriedrich98 d348bf4828 mecanum: centralize mode management, resets and checks 2025-06-11 14:17:23 +02:00
chfriedrich98 f0c15af426 mecanum: update position controller 2025-06-11 14:17:23 +02:00
chfriedrich98 5e9322899b mecanum: seperate actuator control 2025-06-11 14:17:23 +02:00
Mahima Yoga c9658f28e9 commander: use existing class state to track mission progress (#24947) 
Replaced the local variable landed_amid_mission with the class member _mission_in_progress for consistency and to reduce redundancy.
No functional change.
 2025-06-09 18:17:13 -08:00
bresch 457ce90541 ekf2: run simplified GNSS checks after initial fix 
This prevents stopping GNSS fusion on slightly degraded solution when
tight checks are set
 2025-06-06 15:59:56 +02:00
Silvan Fuhrer ff87361ffa Navigator: RTL reverse: when landing set next to invalid 
This makes sure that there is no weird line following logic executed
by the flight task when the vehicle should just come down vertical
for landing.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-06-06 15:47:35 +02:00
Matthias Grob c7ef12545c mc_att_control_params: lower default roll and pitch attitude gains from 6.5 to 4 
6.5 is a relatively high value that was used mostly on smaller, low inertia vehicles ~250-500mm diagonal. There it works great but on larger, higher intertia vehicles this leads to problems.
 2025-06-05 19:28:53 +02:00
Matthias Grob fdc4766da6 Make sure vehicle_thrust_setpoint is always published before vehicle_torque_setpoint 
After f0b05ea7cf
the control allocator only has a callback on the torque setpoint and even though this should work
I'm paranoid and would like to avoid surprises by always publishing the thrust before torque
then the samples that were published together are also allocated together.
 2025-06-05 08:46:30 +02:00
Matthias Grob 84cb748080 esc_calibration: simplify the logic and consider battery only connected if there's no message timeout and the connected flag is set 2025-06-04 17:11:33 +02:00
Don Gagne 7018e1b74b Fix reporting of connected battery 2025-06-04 17:11:33 +02:00
bresch e487d59521 Vehicle_odometry: protect angular_velocity field against aliasing 
Accumulate delta-angles between each publication to get the correct
angular velocity between two attitudes
 2025-06-04 09:01:33 +02:00
bresch 0e32b155f3 ekf2: simplify names of scoped variables 2025-06-03 09:22:32 +02:00
bresch c33d79cfb4 ekf2: move gnss_checks to their own class 2025-06-03 09:22:32 +02:00
bresch 2dbce4d958 ekf2: replace defines with enum class 2025-06-03 09:22:32 +02:00
bresch 5332010b13 ekf2: move on ground GNSS checks to separate function 2025-06-03 09:22:32 +02:00
Silvan 66fe3aa2b3 ControlAllocator: only run allocator on torque updates, not thrust 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-06-02 09:26:13 -07:00
Silvan f0b05ea7cf ControlAllocator: only use torque, not thrust sp as callback item 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-06-02 09:26:13 -07:00
Silvan Fuhrer cff5ecfd88 ICE: allow throttle setpoint to be set to NAN to stop motor without disarming 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-06-02 16:50:30 +02:00
Silvan Fuhrer ed15258abb ICE: small cosmetic changes and make message definition clearer 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-06-02 16:50:30 +02:00
GuillaumeLaine 17cadf7739 dds_topics: set more sensible ROS2 publication rate limits 2025-06-02 12:01:40 +02:00
Mahima Yoga 2110da73ad Commander: don't reset Home position if landed during a (uncompleted) mission. (#24902) 2025-06-02 10:50:03 +02:00
Marco Hauswirth 8d3c94c947 Baro offset calibration based on GNSS height (#24859) 
* apply offset to baro sensors based on gnss measurements when gnss is selected as hgt-ref

* always calibrate baro with gnss if new param SENS_BAR_AUTOCAL is set accordingly

* always do baro-gnss calibration when AUTOCALIB is set, but ensure epv is small enough and gnss data is consistent with baro

* avoid update and reset in the same step

* minor change of constexpr usage
 2025-06-02 08:38:11 +02:00
chfriedrich98 38bcc50127 differential: centralize mode management, resets and checks 2025-05-28 09:03:27 +02:00
chfriedrich98 d5dc0a7eb8 differential: update position control 2025-05-28 09:03:27 +02:00
chfriedrich98 ac80958cc5 differential: seperate actuator control 2025-05-28 09:03:27 +02:00
Roman BapstandSilvan b26dd4d3f3 Commander: Introduce global_position_relaxed (#24280) 
To separate accuracy requirements for VTOL hover and cruise.

- global_position_relaxed refers to having a valid horizontal velocity aid source 
in the estimator and a set global reference position, but poses no requirements 
on the accuracy of the provided position estimate. 
- Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode, 
only require the relaxed global position going forward
- COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW)
- rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low
---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
 2025-05-28 08:16:10 +02:00
Mahima Yoga 4abe2d1dab Navigator: allow executing a disarm command during a mission 2025-05-27 13:26:30 +02:00
GuillaumeLaine e1167f0888 dds_topics: rate limit BatteryStatus ROS2 publication to 1 Hz 2025-05-27 13:21:56 +02:00
GuillaumeLaine 238dffcd1b uxrce_client: add option to set polling rate limit per topic 2025-05-27 13:21:56 +02:00
Jacob Dahl 3bbe3e5268 logger: add new mask for high rate sensors 2025-05-27 08:09:28 +02:00
chfriedrich98 0d9cb1f048 ackermann: only control relevant setpoints in manual modes 2025-05-26 15:56:24 +02:00
chfriedrich98 a129a29793 ackermann: split modes into seperate folder 2025-05-26 15:56:24 +02:00
chfriedrich98 47a9b552f8 ackermann: centralize mode management, resets and checks 2025-05-26 15:56:24 +02:00
chfriedrich98 cd486b2da6 ackermann: update position control 2025-05-26 15:56:24 +02:00
chfriedrich98 45540455fe ackermann: separate actuator control 2025-05-26 15:56:24 +02:00
Silvan ea94bc11eb DDS topics: add FW highlevel interfaces 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00