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Author SHA1 Message Date
Ramon Roche
54f7b58007 Commander: lock down mav sys and comp id 
- keeps them as local params at init
- only allow to set at init
 2024-08-23 11:19:25 -04:00
bresch
1a0f97ebbd ekf2-fake pos: add valid fake position fusion 
This is similar to fake pos but is only used when the ekf has an
external information telling it that the vehicle is not changing
position. This information can then be used to keep a valid local
position even when the vehicle isn't exactly at rest.
 2024-08-23 11:17:21 +02:00
bresch
64b0586dad ekf2: return validity based on dead-reckoning time only 2024-08-23 11:17:21 +02:00
David Sidrane
cf941b18df Nuttx with stm32h7: STM32H7X5XX selects hardware files backport 2024-08-23 05:12:28 -04:00
jfbblue0922
13c413622b Nuttx with stm32h7: STM32H7X5XX selects hardware files backport 2024-08-23 04:48:20 -04:00
Jaeyoung Lim
b1dfe1d731 Update gz version to harmonic 2024-08-22 21:37:00 -04:00
Ramon Roche
00c3017334 ci: add note regarding RunsOn 2024-08-22 12:06:50 -04:00
Ramon Roche
89f29e91de ci: slow down sitl test realtime 2024-08-22 12:06:50 -04:00
Ramon Roche
7f33dcfcfb ci: upgrade sitl mavsdk tests workflow 2024-08-22 12:06:50 -04:00
Jaeyoung Lim
d617bf4129
simulation/gz_bridge: Fix build issues with unused variable 2024-08-22 11:48:46 -04:00
Daniel Agar
7250ee1b32 ekf2: organize gyro_bias/accel_bias param yaml 2024-08-22 10:56:16 -04:00
Daniel Agar
ebbd2c1825 ekf2: organize aid source parameters 2024-08-22 10:56:16 -04:00
Claudio Chies
ee022a70c1
Navigator: Land: Improve it for VTOL by taking breaking distance into account (#23566) 
* vtol adjust landing setpoint

* improve comment

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

---------

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-22 14:10:36 +02:00
Silvan Fuhrer
e0bb56b6a7
Commander: Failsafe: set clear condition for action Land like for RTL (#23569) 
For many failsafes, it is possible to select RTL and Land as actions.
In this commit I synchronize the clear condition for these two action
options, to always only clear on Disarm or manual mode change.
Reasoning is that for the user RTL and Land is a similar action and
I would thus expect them to be as similar as possible. And I in general
would rather not clear a failsafe state instead of too often clearing it.

Example: GF failsafe with action Land --> even if the drone is marginally
within the GF again, I want it to proceed with the Landing unless
I manually intervene.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-22 14:03:24 +02:00
Silvan Fuhrer
6ef82ada6e
Navigator: make sure VTOL transitions in Descend mode are alays triggered (#23578) 
It previously didn't catch switches to Descend from a manual mode,
as both modes have navigation_mode_new=nullptr.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-22 14:02:32 +02:00
Konrad
20b6f343a3 mission_base: make sure all mission_items during landing phase have yaw set to NaN 2024-08-22 12:58:44 +02:00
ZeroOne-Aero
02ed1162ed
Update pab_manifest.c (#23594) 
* Update pab_manifest.c

I have rebased on main and squash my commits into 1.

* Update pab_manifest.c

I have updated pab_manifest.c:
// BASE ID 0x150 ZeroOne Pixhawk Baseboard Alaised to ID 0
{HW_BASE_ID(0x150), base_configuration_0, arraySize(base_configuration_0)}, // ZeroOne Pixhawk Baseboard ver 0x150
 2024-08-22 04:02:02 -04:00
jmackay2
b33b0398dd
Fix param typo in quadtailsitter airframe (#23588) 2024-08-22 10:30:10 +10:00
Jaeyoung Lim
ae16556107
simulation/gz_bridge: follow model in gz GUI (#22808) 2024-08-21 11:41:47 -04:00
Ramon Roche
b2f663648e
ci: github actions runs-on Dronecode AWS Infra 
* ci: try runs-on Dronecode Infra
* ci: comment on how to disable RunsOn
* Update .github/workflows/build_all_targets.yml
 2024-08-21 10:56:37 -04:00
KonradRudin
3478765c31
Navigator: MissionFeasibilityCheck: Rework 1st waypoint check (#23568) 
* FeasibilityChecker: only warn when first waypoint is too far, but still accept mission as valid

* feasiblityChecker: make distance to first waypoint check against home position instead of current position, so it is more constant during a flight

* Apply suggestions from code review

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* feasibilityCheckerTest: update tests to not fail for first waypoint check

* feasibilityChecker: make comment for 1stwaypointcheck event

* Feasibility check unit test: fix comment

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-21 09:08:36 +02:00
Jaeyoung Lim
f252e20eae
Revert "Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. (#23455)" (#23583) 
This reverts commit 7e45f4915208b2d02e05e5741ff7456cf92120f9.

Co-authored-by: jmackay2 <1.732mackay@gmail.com>
 2024-08-20 19:36:08 -04:00
bresch
0931179579 ekf2: extract WMM update logic 2024-08-20 10:32:27 -04:00
Beniamino Pozzan
98eae3cd4c fix: make help on Ubuntu 22.04 
Ubuntu 22.04 uses make 4.3 which broke the current `make help` target
Reference:
https://stackoverflow.com/a/26339924

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2024-08-19 11:19:31 -04:00
Thomas Stauber
f2f4488594
drivers/gps: publish secondary instance satellite_info if main instance is advertised 2024-08-19 11:14:12 -04:00
Niklas Hauser
ecfdbd2e60 littlefs: needs more stack when used 2024-08-19 11:05:50 -04:00
David Sidrane
c60b1d1a5f board_hw_rev_ver: Support EEPROM-only HW IDs 2024-08-19 11:05:50 -04:00
Niklas Hauser
07734c243f mtd: Initialized the RAMTRON speed with 30MHz 2024-08-19 11:05:50 -04:00
David Sidrane
072892fbef romfs: rcS: support storage on other then SD card 2024-08-19 11:05:50 -04:00
Ramon Roche
746ae25768
ci: replace build workflows (#23550) 2024-08-19 10:41:25 -04:00
Alexis Guijarro
0481c04b2b Nuttx with backport (stm32h7x3x): Add External Power Supply option 2024-08-19 09:22:17 -04:00
Claudio Chies
4d21110cfb
Documentation - improved GCS parameter readablity (#23376) 
improved GCS parameter description

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-19 13:36:04 +02:00
jmackay2
7e45f49152
Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. (#23455) 
* Update GZBridge to be able to use gazebo airspeed. Add gz quadtailsitter.

* Fix formatting

---------

Co-authored-by: jmackay2 <jmackay2@gmail.com>
 2024-08-19 08:54:57 +02:00
Claudio Chies
e29a36adb4
Landing horizontal velocity compensation / unsteady landing (#23546) 
* initial working

* implemented feedback
 2024-08-19 08:01:43 +02:00
Silvan Fuhrer
435e9665b3
RTL: cone: never climb more than to RTL_RETURN_ALT (#23558) 
This is to prevent that a large NAV_ACC_RAD leads to very high return altitudes.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-19 07:51:33 +02:00
Vilius
ea0ef154d8
Fixes upload.sh for arkv6x (#23561) 2024-08-17 13:59:18 -06:00
bresch
ad1d9e1312 failsafe: do not add additional hold delay if failsafe action is hold 2024-08-16 16:26:20 +02:00
bresch
ea673b0b5b navigator: check hagl failsafe centrally 2024-08-16 16:26:20 +02:00
Silvan Fuhrer
4f66410d24
ROMFS gazebo iris opt flow: increase SENS_FLOW_MAXHGT to 15m (#23557) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-16 15:58:36 +02:00
Silvan Fuhrer
09638552b7
estimatorChecks: disable warning for imminent position failure if that is disabled (#23556) 
COM_POS_FS_EPH can be set to -1, in which case the actual failure eph is INFINITY.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-16 13:57:37 +02:00
Silvan Fuhrer
4a3cbecf01 Commander: only add *autopilot disengaged* to failsafe notifactions in special cases 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-16 11:04:37 +02:00
Daniel Agar
f7e6e1354a commander: power check only keep error thresholds 2024-08-15 10:06:56 -04:00
Vilius
2a124fd998
Add Bosch BMM350 magnetometer (#23362) 
* Add Bosch BMM350 magnetometer

* BMM350 replace info messages with debug messages

* BMM350 update measurement interval

* BMM350 fix offsets, update based on review

* BMM350 Update default parameters to 50Hz

* Update OTP Word LSB check

* BMM350 fix styles and formatting

* BMM350 update error checks
 2024-08-15 01:29:02 -08:00
Ramon Roche
af0129dab7 github: update bug report template 
Removes unnecessary required fields
 2024-08-14 19:56:49 -04:00
Alexis Guijarro
c8501cc1d0
boards: Support for 3DR Control Zero H7 OEM Rev G board 2024-08-14 19:52:42 -04:00
bresch
4ed3e9e210 navigator: add failure enum 2024-08-14 11:08:02 +02:00
bresch
25fcb3c913 comander: trigger failsafe when navigator reports failure 2024-08-14 11:08:02 +02:00
bresch
9f69e9ee6c navigator: publish navigator_state 
feedback to commander
 2024-08-14 11:08:02 +02:00
bresch
1fa878ad88 navigator: add navigation state ID to every mode class 2024-08-14 11:08:02 +02:00
murata,katsutoshi
dec550dcb9
navigator: Change IF statement to SWITCH statement (#23534) 2024-08-14 09:40:36 +02:00