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2837 Commits

Author SHA1 Message Date
Thomas Stastny 82fd2987c9 fw pos control: revert name until we delineate this module a bit more (#21442) 2023-04-13 17:00:04 +02:00
TheotimeBlg 67d03461d1 Port px4vision airframe to gz environment (#21409) 
* Port of the PX4 Vision gazebo-classic model to Gazebo. With Gazebo Garden, everything seems functionnal.

* Port of the PX4 Vision gazebo-classic model to Gazebo.

With Gazebo Garden, everything seems functionnal.

* Added airframe for command make px4_sitl gz_px4vision

* revert author field

* Import model from Ignition Fuel instead of defining it directly in the .sdf
 2023-04-12 18:46:49 +02:00
Beniamino Pozzan f7ed553f57 holibro qav250 airframe: fix PWM_MAIN_TIM0 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-04-03 07:29:53 +02:00
Daniel Agar 13487c654d ROMFS: add SITL generic iris airframe (SYS_AUTOSTART 10016) for backwards compatibility (airsim, etc) (#21410) 2023-04-01 20:41:33 +02:00
Beniamino Pozzan 448b915694 gazebo airframes: cleanup and fix missing parameters (#21411) 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-31 23:01:29 -07:00
bresch 89bb4622ef gazebo_tailsitter: disable multi-EKF for replayable logs 2023-03-31 15:22:38 -04:00
Beat Küng 932b743e13 ROMFS: add motor assignment to holybro x500 2023-03-28 08:18:26 -07:00
Beniamino Pozzan c7f67a3328 microdds_client: remove multi-instances supports, add agent IP as PX4 parameter 
- multi-instances support is removed from the parameter definitions.

- XRCE_DDS_AG_IP allows to define the agent IP when udp transport is used.
The parameter is used by default if the module is started without the -h argument.

- XRCE_DDS_PRT allows to define the agent listning udp port when the
udp transport is uded. The parameter is used by default if the module is started
without the -p argument.

- Tools/convert_ip.py assists in converting ips in decimal dot notation into int32
notation.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-27 10:28:43 -07:00
Silvan Fuhrer 4d2a31afe3 Navigator: remove max distance between WP mission feasibility check (MIS_DIST_WPS) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-27 17:43:33 +02:00
Silvan Fuhrer 98d07ad1f3 disable side slip fusion for tailsitters 
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
Daniel Agar 6ec2b902cc ROMFS: only copy bootloader binary if systemcmds/bl_update included 2023-03-16 09:43:56 -04:00
Frederic Taillandier 91f6ab865c ROMFS: fix shellcheck error in px4-rc.simulator (#21282) 2023-03-10 07:37:45 +01:00
Tony Samaritano eb4da990c3 init.d-posix/px4-rc.simulator: adds non-default LAT and LON as optional environment variables 2023-03-09 09:40:35 -05:00
frederictaillandier eb86cb85b7 removing MOUNT_ORIENTATION on udp_gcs_port_local from typhoon 2023-03-09 12:43:47 +13:00
Silvan Fuhrer 0633d0d826 drivers: remove RoboClaw 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 09:43:01 -05:00
Jaeyoung Lim e5d5fcd315 Subscribe to vehicle odometry in GZ Bridge 
This PR subscribes to the vehicle odometry in gz bridge / Add x500_vision model
Fix transforms
F
 2023-03-06 09:27:35 -05:00
Silvan Fuhrer 4be74befd2 VTOL: remove pusher reverse feature 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00
Beat Küng e129534a58 fix ROMFS: add rc.autostart_ext to cmake 2023-03-01 08:53:17 -05:00
Silvan Fuhrer 006321e278 Commander: remove unused param COM_POS_FS_EPV 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Alejandro Hernández Cordero ea6814d258 Simulation Gazebo: Use Gazebo Airpressure sensor (#21176) 
* Simulation Gazebo: Use Gazebo Airpressure sensor

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Fixed build

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Added feedback

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* make linters happy

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

---------

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
 2023-02-22 19:32:25 +01:00
Jaeyoung Lim 5676cc32bc Optionally enable sensor simulations 2023-02-21 11:16:25 -05:00
Jaeyoung Lim 3f50bd051f Optionally enable airspeed sensor sim 
Enable and disable sensor sim module with parameter
 2023-02-15 01:37:32 +09:00
Beniamino Pozzan ea91dbb0f5 gazebo-classic_iris_vision: fix airframe include and default parameters 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-02-14 03:26:56 +09:00
Jaeyoung Lim 65c287781f Set prearm mode 2023-02-13 13:00:39 -05:00
Jaeyoung Lim df4083265f Add standard vtol airframe configs 2023-02-13 13:00:39 -05:00
Jaeyoung Lim d5ddb44241 Add sensor airspeed sim 
This commit adds the airspeed sensor sim to simulate airspeed sensors
 2023-02-13 13:00:39 -05:00
Konrad 6bdeb43e0d fw_path_navigation: Remove explicit L1 mentioning. 2023-02-09 17:51:55 +01:00
Konrad aa3af7f707 fw_pos_control: purge L1 controller 2023-02-09 17:51:55 +01:00
Beat Küng f05e8a699e ROMFS: enable COM_LOW_BAT_ACT by default for SITL 2023-02-07 19:11:29 -05:00
JaeyoungLim 01c5b3934e Tune GZ plane (rc_cessna) to fly nicely (#21077) 
* Increase control surface joint controller gains

* Enable prearm mode and disable airpspeed checks for gz plane
 2023-02-06 16:24:01 -05:00
Silvan Fuhrer e153d1defc ROMFS: fix PY asymmetry (motor 1 was wrongly placed twice as far from the CG as 0) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-04 16:08:40 +01:00
Silvan Fuhrer 9b3a28dff5 Commander: add local_position_accuracy_low flag, incl. warning and RTL 
Set this flag to true if local position is valid but accuracy low, such that
the operator can be warned before system switches to position-failure failsafe.
Additionally, switch to RTL if currently in Mission or Loiter to try to reach home
or fly out of GNSS-denied area.

Set low accuracy threshold to 50m by default for FW and VTOL.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer 3ca126cc46 Commander: improve description of COM_FS EPH, EPV, VEL_EVH params and increase FW and VTOL defaults 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Benjamin Perseghetti 684b4a4b8a simulation/gz_bridge: rc_cessna plane model working, Gazebo Garden updates, and prepare for proper airspeed (#20989) 
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
 2023-01-24 19:01:45 -05:00
JaeyoungLim 644aeb9153 support fixed-wing in new Gazebo (gz or ignition gazebo) (#20939) 
* Add gz plane airframe config

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
 2023-01-24 09:22:53 -05:00
Daniel Agar 3f842f01a0 simulator/gz_bridge: split actuator outputs for ESCs and servos (#20979) 
- existing SIM_GZ outputs -> SIM_GZ_EC (ESCs)
 - new SIM_GZ_SV for servos (not fully implemented)
 2023-01-21 14:44:09 -05:00
murata c054ca20cc logger: Add arm to shutdown 2023-01-18 07:47:36 +01:00
Daniel Agar 6991ac014c rename 'gazebo' simulation to 'gazebo-classic' (#20936) 
- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
   - additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
 - use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
 2023-01-15 11:36:12 -05:00
murata 82ecbccd85 distance_sensor: Add TF02 Pro I2C 2023-01-14 09:28:33 -05:00
Julian Oes 72d36fc874 sensors: Add param for VL53L0X to startup 
It turns out there was no param to enable starting the VL53L0X at
startup.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-11 09:52:27 -05:00
Daniel Agar 618288cca9 SITL Gazebo classic make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 97c8a60d67 SITL gz make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar ae4cb24100 SITL flightgear make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 1abe35c220 SITL jsbsim make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 75125da34c SITL sihsim make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 95a6eba36c SITL jmavsim make airframes simulator specific 
-cleanup and simplify jmavsim SITL launch and debug
 2023-01-07 17:00:35 -05:00
Daniel Agar 34c57cc5b5 px4-rc.simulator shellcheck fixes 2023-01-04 17:35:41 -05:00
bresch 14bf04b9a4 SIH: add to px4_fmu-v5_default and auto start GPS sim driver 
- add simulator kconfig dependencies
 - exclude SIH (+deps) where sufficient flash isn't available
 2023-01-04 16:26:15 -05:00
Daniel Agar ca9ae80b10 px4-rc.simulator support launching new Gazebo Garden vs Fortress (#20864) 
- "ign gazebo" command is now "gz sim" as of Gazebo Garden
 2023-01-04 12:39:06 -05:00
JaeyoungLim 21e88f64b4 Add new fixed wing rate control module (fw_rate_control) 
* Fixedwing rate control into a separate module
* Start fw_rate_control for vtol
* Move over airspeed related parameters to fw_rate_control

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-04 11:14:00 -05:00