04f8453f4a
Reduce Beeepr Default volume : 40 -> 20, since it's too loud for TAP_ESC devices from Yuneec ( #19311 )
2022-03-11 10:27:57 +01:00
9b629a9e95
hitl,sitl,sih: use separate actuator_outputs_sim for SYS_CTRL_ALLOC==1
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- removes the need to do type-specific rescaling of pwm to normalized values
- allows to run physical output drivers alongside HIL/SIH
2022-02-25 08:30:58 +01:00
1d7791dad6
commander: monitor GPS validity and EKF2 dead reckoning
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- ekf2: expose dead reckoning as control status flags
- commander:
- add GPS validity check
- in AUTO MISSION if dependent on GPS then a loss of GPS will
2022-02-22 09:46:21 -05:00
591b7b6934
ekf2: add new estimator_gps_status.msg
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- includes the estimator status check fail bits broken out as descriptive booleans
- absorbs ekf_gps_drift.msg
2022-02-21 08:58:59 -05:00
e0a8d217fc
mavlink increase HEARTBEAT timeout 1.5->2.5s
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- tolerate missing one HEARTBEAT + jitter
2022-02-18 10:16:20 -05:00
6de5d24e00
Added VTOL Takeoff navigation mode ( #19027 )
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* Commander: added support for MAIN_STATE_AUTO_VTOL_TAKEOFF
* navigator: added support for vtol_takeoff navigation mode
2022-02-15 14:56:57 +01:00
5818974f0f
ekf: add range finder "faulty" status
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When delclared faulty, the range finder cannot be used anymore
2022-02-11 10:57:45 -05:00
39f0e97245
vmount: refactor for v2 auto input, test command
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This is a bigger refactor of vmount to clean it up and plug some holes
in functionality.
The changes include:
- Fixing/simplifying the test command.
- Changing the dependencies of the input and output classes to just the
parameter list.
- Adding a separate topic to publish gimbal v1 commands to avoid
polluting the vehicle_command topic.
- Removing outdated comments and author lists.
- Extracting the gimbal v2 "in control" notion outside into control_data
rather than only the v2 input.
2022-02-07 19:21:15 -05:00
f2216dff55
mavlink: don't send gimbal_device_attitude_status
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If we receive gimbal_device_attitude_status by mavlink we should not
re-send it as we are already supposed to be forwarding mavlink traffic
from the gimbal to the ground station.
2022-02-07 19:21:15 -05:00
f3e2a197ad
move vehicle at rest detection ekf2 -> land_detector
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- move vehicle at reset detection ekf2 -> land_detector
- ekf_unit: reduce init period
- Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
- ekf_unit: reduce minimum vel/pos variance required after init
- Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.
Co-authored-by:: bresch <brescianimathieu@gmail.com >
2022-02-01 17:50:19 -05:00
e554f0174d
Format whitespace and group checkall() methods together in geofence class.
2022-01-31 21:01:03 -05:00
90358f078f
add odometry reset counter (ekf2, mavlink, etc)
2022-01-31 09:19:36 -05:00
425d03d909
msg: Add full_charge_capacity_wh
2022-01-26 13:44:48 -05:00
c8349811d1
Enable logging of mavlink tunnel messages
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Co-authored-by: Vit Hanousek <vithanousek@seznam.cz >
2022-01-26 11:10:43 -05:00
3b6c9448aa
npfg: fix format CMakeLists
2022-01-14 22:05:53 +01:00
082e320191
integrate optional NPFG library for wind-aware fixed-wing guidance
2022-01-14 22:05:53 +01:00
8a01135a93
Commander: more changes to use events with escs and battery failures
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2022-01-13 08:40:34 +01:00
d122513197
extend support for Battery status message
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2022-01-13 08:40:34 +01:00
9fe7a40673
manual_control: enable sending camera commands
2022-01-10 23:04:10 -05:00
860b23dd17
tunes: add tune to power off
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This is used by the ATL Mantis EDU to help the user realize when the
drone is powered off.
2022-01-10 23:04:10 -05:00
e731fcdbc0
sensors (accel/gyro/mag) determine if external with device id
2022-01-10 10:31:07 -05:00
bbb04ab4b8
Remove relaying of maximum altitude through land detector
2022-01-05 14:54:59 +01:00
b60e59d9be
msg: new sensor_hygrometer msg
2021-12-27 12:13:09 -05:00
4c80adfaf1
control_allocator: implement trim + slew rate limits configuration
2021-12-24 20:06:13 -05:00
1901edf13c
actuator_motors.msg: add reversible flags & implement in mixer_module
2021-12-24 20:06:13 -05:00
f68ae39840
Commander: avoid RC actions during calibration
2021-12-22 09:08:23 -05:00
2cfe08b3b1
small typo in vehicle_local_position msg
2021-12-17 15:45:07 +01:00
5ad8b84dec
Fix PPS based UTC timestamp in camera trigger and capture messages
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The existing implementation has about 100ms difference to a reference clock. With the changes this error less than 25us.
- Use sensor_gps messages with hrt timestamps as RTC reference and not the system realtime clock. The PPS interrupt can then be aligned with the GPS clock system.
- Keep fallback based on system RTC when no PPS pulse was captured
2021-12-17 07:56:08 +01:00
ebb657bcf4
Fix camera trigger via MAVLink when camera capture feedback is enabled
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- camera_trigger module always publishes the camera_trigger msg (independent of the camera feedback)
- Use camera_trigger msg and set the feedback flag
- Subscribing modules determine if the message is relevant based on the feedback message
2021-12-17 07:56:08 +01:00
72b1db4a63
pps_capture: implementation of pulse per second capture driver
2021-12-17 07:56:08 +01:00
eb69f15d3a
health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message
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Add SYS_STATUS flag for parachute
2021-12-14 09:41:12 -05:00
f76086ffa1
microRTPS_agent_CMakeLists.txt.em: add install section
2021-12-10 09:03:08 -05:00
ddc6b6bc9c
battery: move MAVLink specific handling out of battery class
2021-12-07 21:06:51 +01:00
8fbf79527f
magnetometer allow setting initial calibration from bias if available and stable
2021-12-01 20:24:56 -05:00
bfd5a90a5d
UAVCAN Moving Baseline Working
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Set uavcan publisher priorities
Switch to ardupilot rtcm message and add heading accuracy
2021-11-30 15:59:08 -05:00
c522a8b15a
Compute RTL time and react if lower than flight time
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- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
2021-11-24 14:10:24 +01:00
a0e43bca96
msg: remove unused vehicle_actuator_setpoint topic
2021-11-23 12:40:22 -05:00
21699935e8
vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR
2021-11-23 12:40:22 -05:00
6fdcc43ea8
mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg
2021-11-23 12:40:22 -05:00
3193b554ca
Add optional preflight check for healthy MAVLink parachute system
2021-11-19 17:15:04 +01:00
43c529f294
Add MAVLink parachute system heartbeat detection
2021-11-19 17:15:04 +01:00
f751dd2242
FlightTask: set yaw_setpoint to NAN when yaw should not be controlled
2021-11-16 18:09:37 -05:00
91c48606ee
battery_status: clearly define and handle zero remaining flight time
2021-11-15 15:44:02 +01:00
54f2e91775
battery_status: report remaining flight time in seconds
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This allows more accurate reporting and is compliant with the
MAVLink interface.
2021-11-15 15:44:02 +01:00
7ec8dd9d23
vehicle_constraints: remove deprecated speed_xy constraint
2021-11-09 21:47:06 -05:00
d47f9f155a
MC mixer: replace multirotor_motor_limits by control_allocator_status
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CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix
MCRateControl: use control_allocator_status to get saturation info
2021-11-09 10:35:10 -05:00
fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
a593a51f05
Commander: fix mode initialization with RC
2021-11-09 16:05:25 +01:00
af54ac7cdb
ManualControl: remove unused variables and renaming
2021-11-09 16:05:25 +01:00
a349dae760
Use action_request to command RC VTOL transitions
2021-11-09 16:05:25 +01:00
JunwooHWANG