Abort publication immediately when not enough memory is available.
Zero _zenoh_publishers and _zenoh_subscribers to ensure we're not
dereferencing a wrong pointer
* mavlink: esc: fix ESC_STATUS and ESC_INFO message emission.
Fixes mavlink messages emission for ESC messages. Actuator --> MotorNumber mapping was not respected, the mavlink messages should be reporting the ESC status in motor number order not actuator order.
* Update src/modules/mavlink/streams/ESC_STATUS.hpp
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* Update src/modules/mavlink/streams/ESC_INFO.hpp
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* remove dependency on mixer_module/output_functions.hpp
* add actuator function definitions to EscReport.msg
* clean up
* add missing header
---------
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* tla2528 basic implementation (restarting driver still fails)
* fixed probe function, restarting driver now works
* -added reset call to init
-added return value checks on all important transfers and retry if failed when possible
-removed comments
-removed unnecessary parameters of module
* Introduced initialization-states that can be executed multiple times on failure
* Added one more state s.t. init() only does probing
* added communication error count _comms_errors
* use get() instead of param_find
* changed scheduling interval
* start in reset state. check second byte in probe. add 2 retries to probe function
* add space in front of comments
* jump to reset state when another state fails
* changed SAMPLE_INTERVAL to 10_ms
* added static assert on number of channels in adc_report
MCP9808: Replaced PX4_INFO with PX4_DEBUG
MCP9808: Update date in headers
MCP9808: Define functions before variables
MCP9808: Increase logging interval for sensor_temp
MCP9808: Removed extra space
MCP9808: Remove this->
- Remove enum class Register : uint8_t
- Explicitly initialize buffer
- Explicitly initialize temp_raw
- Rename uorb publisher
- Remove overide from print_status()
- Take timestamp after read, correct measurement_time to uint64 and use hrt_elapsed_time()
- Remove exit_and_cleanup
- Move functions out of main + cleanup whitespace
MCP9808: remove exit_and_cleanup
MCP9808: Take timestamp after read, correct measurement_time to uint64 and use hrt_elapsed_time()
MCP9808: remove overide from print_status()
MCP9808: rename uorb publisher
MCP9808: explicitly initialize temp_raw
MCP9808: explicitly initialize buffer
MCP9808: Remove enum class Register : uint8_t
MCP9808: move functions out of main + cleanup whitespace
During backtransition in gusty conditions the current "pitch-up to decelerate" strategy had deficiencies as the motion is not always purely in body-x direction. Thus we replace it here with a "tilt-up to decelerate" strategy.
Secondly, in GNSS-denied environments where the position error increases, tracking a precise landing point through position feedback is not reasonable, and we now instead discard the position feedback in cases where the position error exceeds 10m.
* add eph limit check for dist-to-target VT BT deceleration
* add alphafilter for acceleration estimate in VT BT, rename constants
* explicitly set yawspeed_setpoint to 0
* replace backtransition pitch-setpoint with tilt-setpoint
* blend vtol-backtransition roll vehicle_attitude_sp based on mc_weight
* remove memcpy for v_att_sp
* pusher_assist: keep pitch setpoint VT_PITCH_MIN
resetting the pitch setpoint to zero made little sense, because we lose
the forward thrust component of the hover motors, while the pusher
throttle was calculated to be applied in addition to the hover forward
component
* pusher assist: change default min pitches to 0
To make for a smoother transition for users who don't care much about
pitch when pusher-assisting and were fine with it (mostly) being at zero
This aligns setActiveMissionItems() in rtl_direct_mission_land.cpp and in rtl_mission_fast.cpp with what was already in mission.cpp. It probably was on oversight when the RTL restructure happened. The FW landing requires the previous waypoint to be correctly set, that's why it was only noticeable there.
* Fix position setpoint update logic in Mission RTL
Currently, when proceeding to the landing point the previous setpoint is not updated, which results in an unexpected and off course landing pattern in fixed wing. (see #25436)
* Change to work more like `mission.cpp`
* Fix rtl_direct_misssion_land formatting for style guide
* rtl_mission_fast: fix FW landing by setting previous wp in landing
Signed-off-by: Silvan <silvan@auterion.com>
---------
Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
With IMUs of higher report rate (e.g. ADIS16470), setting backup schedule timeout simply
to half of the ORB queue length may cause the backup firing before required updates are received.
Set backup schedule to queue length - 1 instead. Additionally, double-check that the backup
doesn't get too short after finding the largest integer multiple of gyro_integral_samples.
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
* Update to latest mavlink that includes support for WIP warnings
* mavsdk_tests: pass build for now
We need this until the figure eight stuff has moved to common.
---------
Co-authored-by: Julian Oes <julian@oes.ch>
* rtl_mission_fast: make sure to set a position item on activation
* rtl_mission_fast_reverse: make sure to set a position item on activation
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Co-authored-by: Konrad Rudin <konrad@auterion.com>
