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Author SHA1 Message Date
bresch
6b8bf80423 ekf2-mag: never skip post-takeoff mag yaw reset 2025-05-06 11:24:31 -04:00
chfriedrich98
4e17c5496c mecanum: streamline flow of information 2025-05-05 11:38:17 +02:00
chfriedrich98
04512ee91f mecanum: separate velocity control 2025-05-05 11:38:17 +02:00
Julian Oes
3c39095271
[Sponsored by Holybro] Support for Kakute H743-Wing (#24669) 
* hrt: Fix PPM input on channel 2

The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2,
which was setting bits for channel 1 instead of channel 2. This prevented
PPM input from functioning properly on channel 2.

Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly
configures the CC2S bits for input capture mode on TI2.

This fixes an issue noted in the existing code comment:
"FIXME! There is an interaction in the CCMR registers that prevents
using Chan 1 as the timer and chan 2 as the PPM"

Tested on STM32H743 with PPM input on PC7 (TIM8_CH2).

* rc_input: enable sharing serial and PPM pin

By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to
use the same pin on the STM32 for PPM input as well as serial input.

* boards: Add support for Holybro KakuteH7-Wing
 2025-05-04 14:44:11 -08:00
Jacob Dahl
2fece23c64
gz small improvements (#24761) 
* gz: print version number in init, remove gst plugin spam, rename function

* fix 0 timestamp issue by waiting for clock callback before subscribing to other topics. Refactor to cleanup topic subscriptions

* format

* change gzerr to gzwarn
 2025-05-04 14:41:19 -08:00
Silvan
918848095a ROMFS: exclude 4020_holybro_px4vision_v1_5 from v6x builds to save flash 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-02 13:37:18 +02:00
Marco Hauswirth
f0fdf0b53b EKF2: distinguish airspeed source and use synthetic for wind 
Enable wind-dead-reckoning with airspeed source to synthetic airspeed
 2025-05-02 13:37:18 +02:00
Silvan
6d12b04bb0 VTOL: do central handling of airspeed measurement 
- only use data from airspeed_validated topic if source is SENSOR
    - add 1s timeout (set to NAN if older)
    - use FW_USE_AIRSPD consitently (treat the same as CAS=NAN)

Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-02 13:37:18 +02:00
Silvan
f7bb5d13f7 At every consumation of AirspeedValidated, check for SOURCE 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-02 13:37:18 +02:00
Marco Hauswirth
5842c991ec AirspeedSelector: add synthetic airspeed option 
Synthetic airspeed is calculated based on the thrust setpoint
and the thrust<->airpseed model as configured in the parameters.
 2025-05-02 13:37:18 +02:00
Marco Hauswirth
c3c863ad95 AirspeedSelector: clean up in preparation of synthetic airspeed 2025-05-02 13:37:18 +02:00
bresch
e7250bc8d5 ekf2: do not let mag heading and declination update xy gyro biases 
This can destabilize the tilt estimate when the mag field is disturbed
 2025-05-02 10:23:43 +02:00
bresch
a40377e544 ekf2: always update IMU filters 2025-05-02 10:23:43 +02:00
bresch
6a105bcbdb ekf2-grav: accelerate tilt alignment 2025-05-02 10:23:43 +02:00
bresch
c59101e8ed ekf2-gravity: do not estimate accel bias when gravity fusion is active 
Gravity fusion uses the bias corrected accelerometer data to correct the
tilt estimate. We should not continue to estimate the accel bias when
this is active as it creates an unwanted feedback loop.
 2025-05-02 10:23:43 +02:00
bresch
ee30b70a3c ekf2-gravity: start based on accel LPF instead of peak hold 
This prevent rapid switching in presence of noise and the innovation
filter is good at rejecting spikes
 2025-05-02 10:23:43 +02:00
bresch
6ec6f1b297 ekf2-decl: do not always update tilt 2025-05-02 10:23:43 +02:00
PX4 Build Bot
ef0f0884f0
New Crowdin translations - uk (#24714) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-02 09:33:50 +10:00
Balduin
ea93019b62
Docs: gazebo moving platform (#24720) 
* Docs: add moving platform

documenting the addition in #24471

* Moving platform docs: address review

 - Release note, write release in docs
 - Describe configuration also in main gazebo sim docs, syntax section
 - Tip that plugin can be used in other worlds, linking to plugin readme

* Update docs/en/sim_gazebo_gz/index.md

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2025-05-02 08:51:21 +10:00
Hamish Willee
9cf3e83197
VehicleCommand.msg - takeoff & global position (#24574) 
* VehicleCommand.msg - takeoff & global position

* Apply suggestions from code review

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg
 2025-05-01 18:37:46 +10:00
Hamish Willee
9e6e2df15c
docs_bug_report.yml - fix errors (#24790) 2025-05-01 13:56:07 +10:00
Hamish Willee
1a4a44a223
Add docs issue template (#24788) 2025-05-01 13:36:17 +10:00
Daniel Agar
38d67f5a93 drivers/ins/vectornav: bump cmake minimum to 3.5 v1.16.0-rc1 2025-04-30 18:12:33 -04:00
Daniel Agar
00d6bef6a9 cmake/gtest: bump cmake minimum to 3.5 2025-04-30 18:12:33 -04:00
Daniel Agar
45bdf20481 lockstep_scheduler: bump cmake minimum to 3.5 2025-04-30 18:12:33 -04:00
Vincello
ff8c4b918a
boards: new Corvon 743v1 board support 2025-04-30 11:14:04 -04:00
PX4 Build Bot
2f104ed83f
New Crowdin translations - ko (#24713) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-04-30 16:39:47 +10:00
PX4 Build Bot
601b06532a
New Crowdin translations - zh-CN (#24715) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-04-30 16:39:31 +10:00
Hamish Willee
3b78df9ec3
docs_deploy.yml - fixes following first test (#24783) 2025-04-30 16:22:07 +10:00
Hamish Willee
873f704ae3
docs_deploy.yml - update to create backup and always be single release (#24781) 
* docs_deploy.yml - update to create backup and always be single release

* Add build time variable to make it easier to confirm last successful deploy
 2025-04-30 15:50:49 +10:00
chfriedrich98
39fa8b5550 differential: migrate state machine to velocity control 2025-04-29 14:49:44 +02:00
chfriedrich98
ca01d9e37c differential: update airframe tuning 2025-04-29 14:49:44 +02:00
chfriedrich98
16c9c175ae differential: streamline flow of information 2025-04-29 14:49:44 +02:00
chfriedrich98
0ab9071606 differential: seperate velocity control 2025-04-29 14:49:44 +02:00
bresch
b5f011a31f cal: transpose rotation instead of computing inverse 
This is equivalent for an orthonormal matrix
 2025-04-29 10:26:51 +02:00
Silvan Fuhrer
03c7e7aa08 FW Rate Controller: scale static trim offsets with airspeed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-04-28 13:34:04 +02:00
Silvan
06d3331d71 mavlink streams: remove unused sub from global pos int 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-04-28 13:17:53 +02:00
Tomas Twardzik
94bbd2d69a
[fix]reducing length of Geofence vilations to prevent STATUSTEXT message length overrun (#24719) 2025-04-25 10:20:17 -08:00
Matthias Grob
8e89906b9a docs: update link to navigator's publish_vehicle_command function 2025-04-25 15:32:47 +02:00
Matthias Grob
dfed3970d4 navigator: use reference instead of pointer to pass the vehicle command to publish 2025-04-25 15:32:47 +02:00
Matthias Grob
672d228d79 navigator: fill vehicle_command with float literals and comment what they stand for 2025-04-25 15:32:47 +02:00
Matthias Grob
da870c4dce navigator: refactor vcmd -> vehicle_command 2025-04-25 15:32:47 +02:00
Matthias Grob
176783dbcb navigator: clarify publish_vehicle_command() comment 2025-04-25 15:32:47 +02:00
Matthias Grob
f07ddda344 navigator: refactor publish_vehicle_cmd() -> publish_vehicle_command() 2025-04-25 15:32:47 +02:00
Matthias Grob
5f34474ecb FlightTaskAuto: clean up parameter description and internal variable naming 2025-04-25 15:32:47 +02:00
Silvan
2ba5a455ed FW land detector: increase some max thresholds 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-04-25 15:21:19 +02:00
Silvan
180658c5f9 sensors: display one decimal for params 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-04-25 15:21:19 +02:00
Silvan
f7bde67f9a VTOL: make VT_FWD_THRUST_EN more concise 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-04-25 15:21:19 +02:00
Silvan
db25101e52 VTOL: increase max for VT_FWD_THRUST_SC 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-04-25 15:21:19 +02:00
Peter Breuer
38922d10a0 fix: fallback to mode set by COM_POSCTL_NAVL upon navigation loss in pos slow mode 2025-04-25 08:16:21 +02:00