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28679 Commits

Author SHA1 Message Date
Eric Katzfey
8e61026511
Port CRSF RC driver to new Serial UART API (#22917) 
* Added implementations of Rx Tx swap and single wire for new UART API needed by CRSF driver
* Added inverted mode to Serial interface API
 2024-04-01 22:09:13 -04:00
Peter van der Perk
791d7894c8 modules: zenoh: remove broken serial config and update topics 2024-04-01 22:05:20 -04:00
Peter van der Perk
f082de5db7 kconfig: Add dependencies 2024-04-01 22:05:20 -04:00
Peter van der Perk
d5b66cac2c drivers: cyphal: Fix ARM/x86 printf werror portability error 2024-04-01 22:05:20 -04:00
Peter van der Perk
fe8a5eae99 drivers: bmi088_i2c: Enforce I2C driver can only be used when SPI version isn't selected 
Solves multiple references compilation errors
 2024-04-01 22:05:20 -04:00
Peter van der Perk
127d74f2e1 drivers: vector: Fix PX4 SITL x86 compilation 2024-04-01 22:05:20 -04:00
Peter van der Perk
4889ac0ebb drivers: uavcan: fix werror uninitialized error 2024-04-01 22:05:20 -04:00
Peter van der Perk
650ea6ef4a drivers: transponder: don't free pre-allocated memory 2024-04-01 22:05:20 -04:00
Peter van der Perk
0c5b25efc5 systemcmds: reflect: write return needs to be used for werror checks 2024-04-01 22:05:20 -04:00
Peter van der Perk
05badb5d76 systemcmds: microbench: %s doesn't except nullptr use "null" instead 2024-04-01 22:05:20 -04:00
Peter van der Perk
54f044c04a examples: matlab_csv_serial: fix compilation 
Update uORB definition and sprintf float formatting
 2024-04-01 22:05:20 -04:00
Peter van der Perk
daee37d377 drivers: tap_esc: fix Werror=maybe-uninitialized compilation 2024-04-01 22:05:20 -04:00
Peter van der Perk
461b146ba8 drivers: barometer: ms5837 fix compilation error 
Fixes MS5837.cpp:343:29: error: 'T' was not declared in this scope by using last temperature instead
 2024-04-01 22:05:20 -04:00
Julian Oes
0283dc2459
gps: fix Septentrino serial read (#22936) 
For Septententrino we seem to sometimes fill the buffer pretty full.

If we ask for too much, readAtLeast will fail completely and make the
GPS discovery logic fall over. Therefore, let's not ask for too much and
just read what we can given the available buffer.

Signed-off-by: Julian Oes <julian@oes.ch>
 2024-04-01 20:46:53 -04:00
Eric Katzfey
ccdf060393
Additions to the Serial UART API (#22953) 
- Added an empty constructor, setPort, and validatePort functions for Serial API
- Changed GPS to not allocate Serial object dynamically
- Moved access check on serial port name into the Serial API
- Improved the Qurt platform validatePort Serial function to implement a more rigorous check. Added safety check
to the setPort Serial function to make sure it isn't called after the port has been already opened.
 2024-04-01 12:27:59 -04:00
Matthias Grob
416b6a35a4 failsafe framework: inform about failsafe action 2024-03-27 20:22:04 +01:00
Claudio Micheli
0f9531a526 commander: improve failsafe messaging 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2024-03-27 20:22:04 +01:00
Matthias Grob
4c5f084445 Battery parameters: clarify empty, full voltage description 2024-03-27 17:15:39 +01:00
Julian Oes
868a884131
fw_att_control: bitwise and should be logical and (#22933) 
Signed-off-by: Julian Oes <julian@oes.ch>
 2024-03-27 16:29:56 +13:00
murata,katsutoshi
749f88b62b
ekf2: gps control lazily check yaw_failure() only after in_air 2024-03-26 19:50:57 -04:00
enesavcu
fa1885af23
Signal generator (#22666) 
Add option to generate sine chirp signals for fixed-wing system identification
 2024-03-26 16:11:32 +01:00
Matthias Grob
b5f6699f2e mixer_module: send a last sample out after all outputs were disabled 
This matters for PWM when the last output gets disabled on either FMU or IO
it would just keep on running.

Also when rebooting with a parameters reset or new airframe with no mapped outputs
it would previously keep outputting PWM with the disarmed value of the new airframe
e.g. 1000us which is a safety hazard because servos could break the physical limit of the
model or miscalibrated ESCs spinning motors.
 2024-03-25 19:21:54 +01:00
Matthias Grob
1096384a38 px4iofirmware: don't switch to disarmed or failsafe value on disabled PWM outputs 
If the output is set to 0 then the FMU had this channel disabled/no function mapped
to it. In that case we do not want to suddenly start outputing failsafe or disarmed
signals.
 2024-03-25 19:21:54 +01:00
Matthias Grob
999a71c4dd px4io: don't output on disabled PWM pins 
Same logic as on the FMU PWM updateOutputs() in PWMOut.cpp
 2024-03-25 19:21:54 +01:00
Eric Katzfey
4a553938fb
VOXL2: HRT updates for synchronization with Qurt time (#22881) 
- Added offset to Posix hrt time to account for synchronization with Qurt hrt time
- Added new Kconfig to configure synchronization of HRT timestamps on VOXL2
- Moved voxl2 libfc sensor library submodule from muorb module to boards directory
- Added check to make sure hrt_elapsed_time can never be negative
 2024-03-22 15:24:51 -04:00
Eric Katzfey
69028f37a9
New platform independent Serial interface (#21723) 2024-03-21 21:00:23 -04:00
Thomas Frans
bb9f4d42f3 gps: fix incorrect task id in module startup 2024-03-21 20:58:59 -04:00
Øyvind Taksdal Stubhaug
710286da72
uavcan: publish new can interface status as uorb topic (#22873) 2024-03-20 12:38:47 -04:00
Daniel Agar
35532609c9
mathlib: utilities refactor float to function template (for optional double precision usage) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-03-20 11:10:37 -04:00
bresch
62b8db153b mpc: fix PositionControl unit test 
The unit test assumes the position controller is in "decoupled" mode
 2024-03-20 14:16:12 +01:00
bresch
638e17d551 ekf: update change indicator 2024-03-20 14:13:49 +01:00
bresch
6d819343aa ekf2: fix direct state measurement update for suboptimal K case 
The duration of a unit test had to be increased because the incorrect
covariance matrix update, was making the unit test passing faster
(over-optimistic variance).
 2024-03-20 14:13:49 +01:00
bresch
cb2bb2e098 ekf2: add no gyro bias estimate test case 
This makes the ekf unstable and creates NANs during initialization
 2024-03-20 14:13:49 +01:00
bresch
c9221b91ad ekf2: fix gnss yaw unit test 2024-03-20 14:04:19 +01:00
Drone-Lab
37caddedbb
navigator: update mission after changing home position (#22834) 2024-03-20 08:37:19 +01:00
muramura
63850873eb sd_bench: Display maximum time for maximum write time 2024-03-20 08:35:33 +01:00
Hamish Willee
95627ea098
SMART_BATTERY_INFO to BATTERY_INFO (#22875) 
* Update submodule mavlink to latest Wed Mar 13 01:02:16 UTC 2024

    - mavlink in PX4/Firmware (497327e916103ef05ff8f08f47d33b9a19bc28d7): c4a5c49737
    - mavlink current upstream: a3558d6b33
    - Changes: c4a5c49737...a3558d6b33

    a3558d6b 2024-03-07 Hamish Willee - common - DO_FENCE_ENABLE/PARACHUTE fix (#2090)
b9730e0f 2024-03-06 olliw42 - update RADIO_RC_CHANNELS to latest, remove all mlrs from storm32.xml (#1919)
7fed0268 2024-03-06 Patrick José Pereira - common: MAV_CMD_DO_SET_SYS_CMP_ID: Add first version (#2082)
2909b481 2024-03-06 Hamish Willee - Update Pymavlink (#2089)
e9b532a9 2024-03-05 Randy Mackay - common: add set-camera-source command (#2079)
bcdbeb7f 2024-03-01 auturgy - Allow individual fences to be enabled and disabled (#2085)
2f8403d1 2024-02-29 Hamish Willee - MAV_CMD_ODID_SET_EMERGENCY -  (#2086)
daa59c02 2024-02-22 Peter Barker - common.xml: add a command to deal with safety switch (#2081)
977332e2 2024-02-14 Hamish Willee - COMPONENT_INFORMATION_BASIC - add manufacturer date (#2078)
4fef7de2 2024-02-07 Randy Mackay - Common: rename SMART_BATTERY_INFO to BATTERY_INFO and add SOH (#2070)
3865b311 2024-02-01 Hamish Willee - FLIGHT_INFORMATION - description to match PX4 (#2067)
f80e6818 2024-01-31 KonradRudin - development.xml: merge both MAV_CMD enums together (#2074)

* SMART_BATTERY_INFO to BATTERY_INFO on new mavlink module

* Update src/modules/mavlink/streams/BATTERY_INFO.hpp

* fix trivial whitespace

---------

Co-authored-by: PX4 BuildBot <bot@px4.io>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2024-03-20 11:33:37 +13:00
bresch
2e6dd243af mpc: add possibility to generate tilt using full 3D accel 
Using full 3D acceleration provides better horizontal acceleration
tracking but also creates a sometimes unwanted behavior because the tilt
is directly coupled with the vertical acceleration setpoint.
 2024-03-19 12:29:34 -04:00
muramura
32aa3263a6 EKF: Change a typo 2024-03-18 10:29:44 +01:00
Beat Küng
70346a5b2f failsafe: set cause to generic when fallback mode is activated 
Previously when triggering low battery RTL and then losing GPS, the fallback
to Descend would still have low battery as cause.
 2024-03-15 14:06:58 +01:00
Silvan Fuhrer
da39d075ac Commander enums: shorten failsafe event messages 
Such that the focus is on the important keywords.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 10:25:18 +01:00
Silvan Fuhrer
f6430a27d6 Commander enums: capitalize battery level key words 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 10:25:18 +01:00
Silvan Fuhrer
4ae2fbd171 Commander enums: capitalize flight mode names 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 10:25:18 +01:00
Silvan Fuhrer
6e15dd5328 Commander: trigger warning when arming denied due to check failure 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 09:34:11 +01:00
Silvan Fuhrer
d330d47495 EstimatorCheck: GNSS data fusion stopped as INFO if local position is already invalid 
Helps to reduce spamming of less important warnings.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 09:33:56 +01:00
Silvan Fuhrer
6d8273483c Commander: set vehicle_status.failsafe flag only if action for failed check is more than warning 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 09:33:41 +01:00
bresch
7c6ecd95a8 mc_wind_estimator_tuning: optionally use GNSS velocity 
Sometimes GNSS is logged but not used
 2024-03-14 21:06:24 +01:00
bresch
b2f1122372 ekf2: remove old yaw 321 and 312 derivations 2024-03-14 11:33:45 -04:00
bresch
ee63f3e664 update change indicator 2024-03-14 11:33:45 -04:00
bresch
e3f67d5c1a ekf2: new yaw derivation 
Instead of euler angles, compute measurement jacobian using a small
global perturbation around the vertical axis
 2024-03-14 11:33:45 -04:00