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28679 Commits

Author SHA1 Message Date
Alexander Lerach
2356cb973f
Performance & testing targets 
* Added minimal configs for performance testing

* Rename recovery to performance

* added mfg_cfg

* fix params & don't inherit from default

* rename performance -> performance-test

---------

Co-authored-by: Igor-Misic <igy1000mb@gmail.com>
 2025-02-24 16:02:46 +01:00
Ted
35d96d57f9
control_allocator: Added linearization feature for 4 servo swash plates to prevent binding (#23961) 
* control_allocator: Added linearization feature for heli swashplates to help prevent servo binding

* Apply suggestions from code review

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* update description of CA_LIN_SERVO parameter

* update variable name

* add missing semi-colon

* fix variable referenced before assignment

* add missing indentation

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* removed param unnecessary param

* removed whitespace

* remove CA_LIN_SERVO and enable feature if CA_MAX_SERVO_THROW > 0 plus Update param description.

* remove CA_MAX_SVO_THROW from actuators tab to avoid confusion during standard swashplate setup.

* added comment and fixed spelling mistake

* fix spelling mistake

* fix formatting

* reduce CA_MAX_SVO_THROW short description length to stop test failure

* ActuatorEffectivenessHelicopter: clarfification suggestions for servo linearization feature

* remove NAN check.

---------

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-02-24 12:17:11 +00:00
Hamish Willee
4ea7de449a
InternalCombustionEngineControl - doc corrections (#24359) 
* InternalCombustionEngineControl - doc corrections

* Update InternalCombustionEngineControl.cpp
 2025-02-21 08:34:08 +11:00
Silvan Fuhrer
24da87db12
FW Position Control: keep flaps in landing config during abort if below AIRSPD_MIN (#23877) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-20 09:28:27 +01:00
Silvan Fuhrer
29317d90c3
RPM capture: improve description of param RPM_CAP_ENABLE (#24368) 
* RPM capture: improve description of param RPM_CAP_ENABLE
---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-02-20 09:19:43 +01:00
Jacob Dahl
1db50cb331 mavlink: add missing fields for DISTANCE_SENSOR 2025-02-19 12:11:42 -05:00
Julian Oes
786c2a7f39
drivers/imu/invensense/mpu6000: include cstdlib for size_t 2025-02-19 12:09:54 -05:00
Eric Katzfey
98ceb0ce79 voxl_esc: Added GPIO control feature 
voxl_esc: Removed obsolete modal_io_data UORB topic
 2025-02-19 11:00:15 -05:00
Eric Katzfey
73dbecadf1
Qurt: changed the mutex for I2C for the Qurt platform from a single mutex to one for each bus. (#23531) 2025-02-19 10:59:45 -05:00
chfriedrich98
04a3c4af20
Differential Rover: Refactor and clean up, align with Ackermann rover(#24318) 
* differential: refactor code architecture

* Offboard fix

* fix accel/decel slew rate
 2025-02-18 18:26:38 +01:00
Silvan Fuhrer
3c129aefa1
Add IC engine control module (#24055) 
Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default. 

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Pernilla <pernilla@auterion.com>
 2025-02-18 17:15:32 +01:00
Perre
412d4390a6
MC Slowmode: Yawstick for gimbal control, vehicle yaw follows gimbal (#24242) 
* Yawsticks on gimbal, vehicle follows gimbal in slowmode, once vehicle has taken off

* Increase queue length to avoid automatically unadvertise queued publications with queue length 1

* Improve readability

---------

Co-authored-by: Pernilla <pernilla@auterion.com>
 2025-02-18 14:38:11 +01:00
bresch
5e06ab1430 ekf-agp: do not reset to AGP if GNSS fusion is active 2025-02-18 14:35:10 +01:00
Silvan Fuhrer
3119510f25 Remove health_component::avoidance 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Matthias Grob
ed9111ec49 Remove obstacle avoidance test with Gazebo classic and ROS 1 2025-02-18 14:33:16 +01:00
Matthias Grob
0b370ab5d3 Remove obstacle avoidance MAVLink Heartbeat check 2025-02-18 14:33:16 +01:00
Silvan
04cd247c90 FlightTaskAuto: remove isTargetModified() 
As it is no longer needed w/o avoidance.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan
a1ff1d8372 tests: remove test_bezier 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan
b916a96e00 Remove uorb topics exclusively used for avoidance 
- TrajectoryBezier.msg
- TrajectoryWaypoint.msg
- VehicleTrajectoryBezier.msg
- VehicleTrajectoryWaypoint.msg

Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan
b7b6d45e18 lib: remove bezier 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan
b34a5eb6f7 PositionControllerStatus: remove unused fields 
Remove yaw_acceptance and altitude_acceptance_radius fields as they were only
filled by now removed avoidance controller.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan
1f2dba68d2 remove avoidance library and logic 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Marco Hauswirth
d2cbe10243
Clean up temperature msg fields (#24272) 
* remove temp field from airspeed.msg, adjust temp selection

* temp-sensor hirarchy: airspeed, ext. baro, default value

* directly use diff-press or baro temp in true-airspeed  calc

* improve clarity

* add enum for temperature source in VehicleAirData.msg
 2025-02-18 13:23:10 +01:00
Jacob Dahl
46609d5e6c
voxl: document enable_debug command (#24353) 2025-02-17 19:55:24 -08:00
Daniel Agar
e12c3c00a4
control_allocator: param update avoid temporary 
- this is a harmless workaround for a GCC warning (-Wdangling-pointer) false positive
 2025-02-17 14:35:15 -05:00
dirksavage88
01549a5832 fix to kconfig newline 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2025-02-14 15:50:43 -05:00
dirksavage88
5ffa69ff54 fix newline in module.yaml 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2025-02-14 15:50:43 -05:00
Eric Katzfey
b0eb639587
voxl2_io: Updated to latest version from ModalAI fork 
- Updated to the latest version of the voxl2_io driver from the ModalAI fork.
 - Moved to the platform independent Serial driver
 - Added voxl2_io driver to the SLPI DSP build
 2025-02-14 14:33:38 -05:00
alexklimaj
fd5bb9e69c uavcannode rangefinder: only publish reading too far or too close if less than or greater than. Not equal to. 2025-02-14 14:26:39 -05:00
Marco Hauswirth
61d595dc64 reset dist_to_ground_lock if dist_to_bottom is not valid. this avoids a reset to a previous dist_to_ground after a switch back to a valid measurement 2025-02-14 17:10:14 +01:00
bresch
fe5c887895 mag check: do not require mag 0 
sys_has_mag defines the required number of mags; if one mag is needed,
it can be any instance, not necessarily mag 0
 2025-02-14 16:12:20 +01:00
bresch
e3fd50667d Mag cal: automatically disable internal mags if external ones are available 2025-02-14 16:12:20 +01:00
Alexander Lerach
430be08131
Add payload tx/rx timeouts to DDS 
* Add tx/rx timeouts

* Code style & tx default timeout

* Clarify TX/RX disable value
 2025-02-14 14:54:42 +01:00
Alexander Lerach
f2471861a3 Fix GPS RTCM instance selection 2025-02-14 09:39:59 +01:00
Eric Katzfey
eb18edf5eb
Don't allow spacecraft module parameters for VOXL 2 builds (#24336) 
- VOXL 2 builds use DISABLE_PARAMS_MODULE_SCOPING for parameters. The new spacecraft module has duplicate symbols with the control_allocator module and so this kills the VOXL 2 build
 2025-02-14 00:49:09 -05:00
Alex Klimaj
98cba19f50
esc_battery: report temperature 
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2025-02-11 21:17:53 -05:00
Beat Küng
975ec30c9c uxrce_dds_client: add DDS message versioning 
This adds "_v" + string(T::MESSAGE_VERSION) to the ROS topic if the message
contains a MESSAGE_VERSION field (and the version is non-zero).
 2025-02-11 13:19:25 +01:00
Silvan Fuhrer
136f9f48fc
FW Position controller: transform RWTO_PSP to rad when used (#24312) 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-11 12:12:11 +01:00
RomanBapst
2b75d2e738 run fog check independently from stuck check 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst
8cedef2dc4 further cleanup 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst
2c4d38e303 fixed mistake 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst
806500fc4a further improve logic 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst
73ade6d05c range finder: remove potential deadlock 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst
35da86c85a improve unit tests for range fog detection 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
chfriedrich98
55f51d7e7e ackermann: refactor code architecture 2025-02-10 15:54:24 +01:00
Bertug Dilman
ce64263ce7
publish validated airspeed topic (#24302) 
* publish validated airspeed topic

* fix typo
 2025-02-07 14:44:48 +01:00
mahimayoga
69d95a6664 sf45: separate sensor yaw variable into FRD and sensor frames for clarity. 
Obstacle map is created in sensor frame, but scaling for vehicle orientation is done in vehicle FRD frame.
 2025-02-07 13:28:17 +01:00
mahimayoga
093b379b6b sf45/collision-prevention: replace repeated code with ObstacleMath library functions. 2025-02-07 13:28:17 +01:00
Pedro Roque
e7e76e2e21
Spacecraft build and bare control allocator (#24221) 2025-02-06 23:54:24 -05:00
Marco Hauswirth
de1ade8eb8
sensors/vehicle_air_data: only trigger the sensor fallback when the baro_fault flag switches from 0 -> 1 2025-02-06 23:47:32 -05:00