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28679 Commits

Author SHA1 Message Date
Daniel Agar
153f7bbced ekf2: update all copyright headers 2023-09-15 10:02:09 -04:00
Daniel Agar
1e9f0ad2c6 ekf2: add kconfig for barometer support (enabled by default) 2023-09-15 10:02:09 -04:00
Daniel Agar
10b54d08fc ekf2: add dedicated EKF2_CONFIG_TERRAIN in kconfig 
- new estimator_aid_src_terrain_range_finder for HAGL RNG
 2023-09-15 10:02:09 -04:00
Daniel Agar
845b01a00d ekf2: add kconfig for magnetometer support (enabled by default) 2023-09-15 10:02:09 -04:00
Beat Küng
d1266c856f rc_input: prevent error output during boot on boards with px4io 
output:
INFO  [rc_input] valid device required
ERROR [rc_input] Task start failed (-1)
 2023-09-14 10:40:54 -04:00
PX4 BuildBot
3107860a89 Update submodule mavlink to latest Wed Sep 13 20:14:21 UTC 2023 
- mavlink in PX4/Firmware (06b8477f853bf0234d0a894dcf6af4718597989f): 58435f6a83
    - mavlink current upstream: 81524c2b34
    - Changes: 58435f6a83...81524c2b34

    81524c2b 2023-09-13 Hamish Willee - Update pymavlink - for fixed wireshark (#2038)
fe14d798 2023-08-31 Matthias Grob - common: extend MANUAL_CONTROL with auxiliary continuous inputs (#2031)
546edec2 2023-08-30 Peter Barker - common.xml: display GIMBAL_MANAGER_STATUS.flags as bitmask (#2035)
16754498 2023-08-28 Richard Allen - fix RC_CHANNELS_SCALED inactive channel (#2032)
a31bf384 2023-08-24 Hamish Willee - Fix c_library_vX build order (#2026)
5887a6af 2023-08-17 auturgy - reserve range in all.xml (#2030)
 2023-09-13 18:31:37 -04:00
Thomas Stastny
28fe15d829 FixedwingPositionControl: initialize the airspeed slew rate controller with trim airspeed in the constructor 2023-09-13 16:18:16 -04:00
Thomas Stastny
a1cd4fd5df Commander: make sure unsupported do reposition command result is published 
todo: need to consolidate the command ack strategy in this function
 2023-09-13 15:29:31 -04:00
Thomas Stastny
bec0d83cf4 Commander: dont accept reposition commands without the mode switch bit 
avoids erroneous (unexpected) position setpoints when switching into hold from another mode
 2023-09-13 15:29:31 -04:00
Thomas Stastny
2d80291b43 loiter: only accept reposition setpoint if commanded within last 0.5 sec 
guards against left over reposition commands (potentially set via geofence) from previous flights
 2023-09-13 15:29:31 -04:00
Konrad
679a532e61 failsafe: When rtl_time_estimate failsafe is triggered, only disable it when the user changes the mode, or it is disarmed. 2023-09-13 16:19:08 +02:00
Niklas Hauser
98a35971af camera_capture: disable timer callback on stop 
Otherwise the capture_trampoline is called while g_camera_capture is a
nullptr, which leads to a hardfault since the this pointer is invalid.
 2023-09-13 10:16:08 -04:00
Daniel Agar
016db84d69
ekf2: covariance update use IMU sample dt (#22032) 
- usually the delta angle and delta velocity dt is the same, but they can be slightly different
 2023-09-13 09:58:56 -04:00
Thomas Stastny
4ec4ce5fa9 FixedwingPositionControl: rework airspeed slew controller handling 
- force initialize takeoff airspeed setpoint at start of takeoff modes
- force set airspeed constraints if slewed value is out of bounds
- always slew airspeed setpoints as long as inside constraints
- move target airspeed setpoint calculation into mode specific logic regions (hand vs runway)
 2023-09-13 09:50:41 +02:00
Silvan Fuhrer
f1b47b14b8 FW Pos Control: add in_takeoff_situation argument to adapt_airspeed_setpoint() 
when we're in a takeoff situation, we only want to adapt the airspeed to
avoid accelerated stall due to load factor changes. Disable othre logic
like minimum ground speed, wind based adaption and airspeed slew rating.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-13 09:50:41 +02:00
bresch
78eb0cdb72 opt flow: fix msg naming 
optical_flow got replaced by sensor_optical_flow and vehicle_optical_flow
 2023-09-11 10:12:16 -04:00
Fermi-4
9fe8bd698b
Update ina228.h comment typo (#22018) 
Update comment wording to "Charge Result" from "Energy Result" as this is reading from the charge register
 2023-09-10 01:12:57 +02:00
duartecdias
efe0db5725
uavcan_drivers: stm32h7_can fix filter memory initialization bug 
Co-authored-by: Duarte Dias <duarte@uaventure.com>
 2023-09-08 15:29:41 -04:00
Daniel Agar
3476831246
dataman: explicitly check file existence to init 
- on NuttX if the SD card was just cleared (quick format) it's possible for the newly created uninitialized dataman file to still have the previous compatibility key, which causes the initialization to be skipped
 2023-09-08 10:16:24 -04:00
Thomas Stastny
def4ce6ba8 FixedwingPositionControl: slightly simplify manual position control (use navigateLine() to be sure no turnaround) 
make notes on odd things that are likely still wrong
 2023-09-08 16:08:38 +02:00
Thomas Stastny
16bd0a2ba0 FixedwingPositionControl: revise navigateLine(), navigateBearing() and naivgatePathTangent() briefs 2023-09-08 16:08:38 +02:00
Thomas Stastny
7b7d762582 FixedwingPositionControl: forgot to rename input args in navigateWaypoints() declaration 2023-09-08 16:08:38 +02:00
Thomas Stastny
e71804d976 FixedwingPositionControl: reuse line() and waypoint() methods in navigateWaypoints() method 2023-09-08 16:08:38 +02:00
Thomas Stastny
ad9e3d72d9 FixedwingPositionControl: split out single waypoint following method 
makes more clearly defined interfaces and behaviors. also cleaned up the controlAutoPosition() method
 2023-09-08 16:08:38 +02:00
Thomas Stastny
c3012a551f FixedwingPositionControl: track single point when no prev point exists for waypoint following 
make sure correct local position setpoint output is logged
 2023-09-08 16:08:38 +02:00
Thomas Stastny
f90783547f FixedwingPositionControl: correct navigation method param description typos 2023-09-08 16:08:38 +02:00
Thomas Stastny
3047cad05d FixedwingPositionControl: follow (infinite) lines instead of waypoints during takeoff and landing 2023-09-08 16:08:38 +02:00
Thomas Stastny
3ffb57bcce FixedwingPositionControl: handle degenerate tangent setpoint in navigatePathTangent() 2023-09-08 16:08:38 +02:00
Thomas Stastny
413f66549d npfg: update signed track error state 2023-09-08 16:08:38 +02:00
Thomas Stastny
b11ff06798 FixedwingPositionControl: fix / clarify navigate waypoint logic 2023-09-08 16:08:38 +02:00
Daniel Agar
14ef376721 drivers/uwb/uwb_sr150: don't enable by default 2023-09-08 09:20:01 -04:00
Julian Oes
35c1d5d9b1 asp5033: fix K value 
As QioTek told me via email.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-09-06 10:25:48 -04:00
Matthias Grob
38b0de94c1 system_params: improve distance sensor check description 2023-09-05 13:11:20 -04:00
Jukka Laitinen
2d4d824a98 src/drivers/adc/ads1115: Change adc_report type to PublicationMulti 
To support several ads1115 modules publishing to different adc_report instances

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2023-09-05 13:09:26 -04:00
Denislav Petrov
ece338ceef
Adding a new differential pressure sensor ASP5033 (#21568) 
* added a new driver ASP5033 for measuring the differential pressure and airspeed

---------

Co-authored-by: nano <nanobotzhe@abv.bg>
Co-authored-by: Denislav Petrov <you@example.com>
 2023-09-05 10:21:05 +12:00
Julian Oes
fb30b4d288 control_allocator: Clarify position description 
I'm assuming that the rotor positions are given relative to the center
of gravity (CG).

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-09-04 08:02:15 +02:00
Matthias Grob
d2819ca754 FunctionsMotors: include motors instead of servos topic 2023-08-31 16:56:08 -04:00
Matthias Grob
2b78431566 PositionControl: use float literals for sqrtf sign check 2023-08-31 16:56:08 -04:00
alexklimaj
3d61ab84c4 Cannode add ability to get node ID after boot. Fix ARK CAN OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 2023-08-30 11:40:01 -04:00
bresch
23b31cc5fd manual_yaw: compensate for yaw estimate convergence 
When the yaw estimate is converging, the controller makes the drone yaw
in order to follow the current setpoint. This is unintuitive for the
pilot and it is preferable if the drone continues to fly towards the
same physical direction.
 2023-08-30 09:56:19 +02:00
bresch
0aa4afdbce ekf2: add unaided_yaw for more resilient yaw control 
This estimate doesn't converge to the true yaw but can be used as a
more consistent but drifting heading source.
It can be used by a setpoint generator to adjust its heading setpoint
while the true yaw estimate is converging in order to keep a constant
course over ground.
 2023-08-30 09:56:19 +02:00
Julian Oes
329a2d0e98 gps: request Unicore HEADINGA message 
This updates the gps/devices submodule which includes a fix that
requests the Unicore HEADINGA message in case the message is not enabled
by default.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-08-30 11:31:22 +12:00
bresch
52bcf1e0c2 update change indicator 
The yaw variance is now initially zero
 2023-08-29 10:57:49 -04:00
bresch
71f12b2c4d ekf2: do not initially increase yaw variance 
Yaw variance is automatically increased as soon as a yaw aiding source
is activated
 2023-08-29 10:57:49 -04:00
bresch
78d75ada3e update change indicator 
The result is slightly different because we now only set the tilt
covariance (before, tilt variance was applied to all axes)
 2023-08-29 10:57:49 -04:00
bresch
0282f85cd4 ekf2: compute quat tilt variance using SymForce 2023-08-29 10:57:49 -04:00
Niklas Hauser
af40d5befd nsh: check nsh_consolemain return value 
Starting a new console allocates memory dynamically, which can fail.
 2023-08-29 10:55:01 -04:00
Julian Oes
cde47e8fc0 mavlink: improve readability 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-08-29 13:23:55 +02:00
Julian Oes
448454a317 mavlink: Support voltages > 65v in battery status 
If the measured voltage is more than 65v we need to split the voltage
over multiple cells in order to avoid overflowing the uint16. This is
according to the MAVLink spec.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-08-29 13:23:55 +02:00
Julian Oes
74b4902e50 mavlink: fix BATTERY_STATUS extension 
The extension fields need to be 0 by default according to the MAVLink
spec. This is because extensions are 0 by default and need to be 0 when
unknown/unused for backwards compatibility.

The patch also simplifies the flow slightly in that it doesn't create a
temporary array but just fills in the cell voltages directly.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-08-29 13:23:55 +02:00