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jake/am32_flasher
Commit Graph
18414 Commits
Author SHA1 Message Date
DanielH ee19691d95 fix mission sysid for mission_ack 2024-10-08 15:34:51 +02:00
Silvan Fuhrer 0d31226b1c AirspeedSelector: enable sensor checks right after catapult launch 
Airspeed sensor failures are crucial to catch early during catapult/hand launches,
as otherwise the large airspeed error can lead to the vehicle diving. Thus the
_in_takeoff_situation flag, which tells the validator when to enable the checks,
is already set to false when !landed and launched.
For runway takeoffs the logic in unchanged.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-10-08 13:16:17 +02:00
Alexander Lerach 936eb89edb logger: fixed watchdog not logging, increased cycle trigger (#23769) 2024-10-08 09:53:55 +02:00
Matthias Grob fd04ece6d4 geo: remove dependency on drv_hrt time driver 2024-10-07 14:24:18 +02:00
Daniel Agar f971c0e617 ekf2: reduce bad acc probation time 10s->3s 2024-10-07 10:37:33 +02:00
Daniel Agar 9ddac762e3 ekf2: stricter GNSS vel rejected innovation override 
- in the special case of bad vertical acceleration detected
   (bad_acc_vertical) only allow overriding rejected GNSS 3D velocity
   if horizontal innovations are accepted
 2024-10-07 10:36:09 +02:00
Daniel Agar 9238656a33 ekf2: configurable velocity state constraint (EKF2_VEL_LIM) 
- replace hardcoded 1000 m/s velocity state constraint with new EKF2_VEL_LIM parameter (default 100 m/s)
 - new velocity limit also used for GPS checks and external vision velocity
 2024-10-07 10:35:48 +02:00
Alexander Lerach 4215e20120 modules/time_persistor: new time persistor module to save time to persistent storage (#23760) 2024-10-04 15:44:49 -04:00
Marco Hauswirth 7d0e93b779 ekf2: always publish global position when origin has been set 2024-10-04 11:41:20 -04:00
Daniel Agar ad28c5893b flight_mode_manager: invalidate dist to bottom/ground on terrain reset 
- this allows the terrain hold to simply reset on the next valid update
   rather than trying to adjust the setpoints
 2024-10-04 11:28:03 -04:00
Daniel Agar 34ee097f02 ekf2: tighten terrain validity requirements 
- require valid fusion from a range finder or optical flow before
   considering terrain valid again
 2024-10-04 10:31:20 +02:00
PX4 BuildBot 51702efe94 boards: update all NuttX defconfigs 2024-10-02 15:08:38 -04:00
bresch 6119b08ef4 mpc: reset integrators when controllers are not used 
Starting with a non-zero integrator could appear as a strong disturbance
when engaging position mode.
 2024-10-02 10:47:25 -04:00
bresch dbf51da99e ekf2: rework amsl to ellipsoid altitude conversion 2024-10-01 10:40:18 -04:00
bresch 5bfa6b3359 ekf2: remove redundant ned_origin_initialised flag 2024-10-01 10:37:20 -04:00
Marco HauswirthandMathieu Bresciani fe40ccd193 EKF2: publish wind after external wind init (#23747) 
* publish wind after external wind init

* move ext-wind-init to estimator-interface

* Update src/modules/ekf2/EKF/estimator_interface.h

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* Update src/modules/ekf2/EKF/estimator_interface.h

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

---------

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-10-01 14:33:30 +02:00
alexklimaj 602042dd5c failure detector use per index esc current 2024-09-30 10:11:34 +02:00
Daniel Agar 332b7bec27 commander: ignore REQUEST_CAMERA_INFORMATION 
- add answer command logging
 2024-09-27 10:33:37 -07:00
Silvan Fuhrer 8fdf0931e5 Commander framework: only warn and do not re-start RTL if already in RTL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-27 14:25:27 +02:00
Alexander Lerach 224aef142c Retry logic in uxrce_dds_client startup (#23723) 
* Added retries if uxrce_dds_client fails during setup

* Break timesync endless loop in case of agent reset

* ORB unsubscribe, to avoid too many open fails with multiple reconnects & format

* Added review feedback
 2024-09-26 17:43:49 +02:00
chfriedrich98 0e65679c9e Mecanum rover: add dedicated module for mecanum rovers (#23708) 2024-09-25 09:35:41 +02:00
bresch 35efe44a6b ekf2: fusion always succeeds, do not return boolean 2024-09-24 10:48:14 -04:00
bresch 23f343aa3a ekf2-rng: consider height covariance for terrain reset to range 
Range does not provide a direct terrain observation but a measurement
relative to the height state. Correlation between height and terrain
must be set properly.
 2024-09-24 10:18:25 -04:00
Nicolas MARTINandNicolas Martin d269ddfb49 sensors/vehicle_air_data: fix air data publication rate (#23717) 
Co-authored-by: Nicolas Martin <n.martin@elistair.com>
 2024-09-24 09:49:47 -04:00
Marco Hauswirth 454ded1b25 EKF2: ev-vel refactoring (#23577) 2024-09-24 14:09:11 +02:00
Matthias Grob f60bb2c6bc rtl_direct: skip loiter altitude items for multicopter without RTL land delay (#23689) 
This was already done before the refactor and was assumed to not be necessary.
The problem is that these mission items result in a strang looking vertical slow down directly followed
by an acceleration during the landing phase.
 2024-09-23 18:33:03 +02:00
Marco Hauswirth 8afd267509 move more ekf function implementations to cpp 2024-09-23 12:18:41 -04:00
Marco Hauswirth e3f138862a move implementation of updateAidSrcStatus to cpp file, saves flash 2024-09-23 12:18:41 -04:00
bresch 15ddd94349 ekf2: move implementation to ekf_helper to reduce flash usage 
saves about 4.8kB of flash on FMUv5
 2024-09-23 10:27:42 -04:00
Konrad c20c1f09a6 RTL_DIRECT: explicitely set force heading in loiter hold if needed 2024-09-23 11:02:02 +02:00
Konrad 02e50bb5dc rtl_direct: loiter hold should track altitude as best effort but not enforce it 2024-09-23 11:02:02 +02:00
Alvaro FernandezandSilvan Fuhrer 2ecffff700 fw_tecs: Support tighter altitude tracking during low-height flight (#23519) 
* fw_tecs: Support tighter altitude tracking during low-height flight. Added FW_T_THR_LOW_HGT defining low-height flight threshold

* tecs: Applied smoothed-out altitude TC transition to landings

* fw_tecs: modified tighter altitude control for low-height implementation

* addressed PR comments

* addressed PR comments

---------

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-19 16:24:53 +03:00
BazookaJoe1900 4d83badba1 fix files tags on the header comments (#23564) 2024-09-19 09:25:18 +03:00
Connor Walker d01a3d8f04 Fix duplicate entry in gz_worlds list (#23691) 2024-09-18 16:36:48 -08:00
Claudio Chies ab41927bbd SIM: GZ: Added mono_cam_down and aruco world (#23687) 2024-09-18 15:16:27 +02:00
chfriedrich98 8aece9bff2 differential: fix CI issue 2024-09-17 09:34:51 -07:00
chfriedrich98 2fd4150b38 differential: Add stabilized and position mode (#23669) 
* differential: add position and stabilized mode

* differential: add hardcoded stick input deadzones
 2024-09-16 12:09:51 +02:00
chfriedrich98 81747f35bb rover: add descend navigation state to land detection 2024-09-16 09:36:38 +02:00
Konrad 82a7d0410c DistanceSensorModeChangeRequest: renaming of variable 2024-09-16 09:11:23 +02:00
Konrad aab2390e51 navigator: publish distance sensor mode change request when in RTL landing phase or during mission landing 2024-09-16 09:11:23 +02:00
Konrad 1755b8304e RTL direct: Make sure the _rtl_state captures the current status and not the next one 2024-09-16 09:11:23 +02:00
RomanBapst 878c8bfcce SIH: fix airspeed for tailsitter 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-09-13 15:53:52 +03:00
Konrad 4713a6737e TECS: ramp up fast descend over 2_s to ramp down the throttle command 2024-09-13 14:04:39 +02:00
Konrad 585c92796d mission_base: do not make terrain avoidance check when mission is not run anymore 2024-09-13 13:59:24 +02:00
Claudio Chies 4ba4b340cc Reduce the orbit jerk by using a slew rate 2024-09-13 10:28:42 +02:00
Marco Hauswirth 22c2878cf8 send acknowledgement after receiving vehicle wind cmd 2024-09-12 09:34:08 +02:00
chfriedrich98 741ea6b707 differential: add individual parameters for speed and yaw rate feedforward 2024-09-11 13:57:27 +02:00
chfriedrich98 5d8a107925 differential: fix closed loop control 
removed thresholds for closed loop setpoints and added minimum thresholds for yaw rate and speed measurements instead to avoid moving due to measurement noise
 2024-09-11 13:57:27 +02:00
Roman BapstandAlvaro Fernandez c94c1ce4d2 Navigator: Support straight line mission landings (#23576) 
* introduced altitude acceptance radius in position setpoint for fixed
wing guidance
- allows navigator to explicitly set the altitude acceptance radius
- needed for staright line landing support

* added ignore_alt_acceptance to position setpoint message to allow guidance
logic to ignore altitude error on waypoint
- can be useful to prevent loitering at a waypoint within a mission landing sequence

* only set altitude acceptance radius to infinity for a waypoint inside a mission landing
for fixed wing vehicles

* navigator: return altitude acceptance radius from triplet if it's valid

* FixedWingPositionControl: check if alt acceptance radius provided in position setpoint
is larger 0

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Alvaro Fernandez <alvaro@auterion.com>
 2024-09-10 17:44:24 +02:00
jmackay2andjmackay2 a5729da4e9 Simplify gz bridge CMakeLists and add GZ Ionic (#23657) 
Co-authored-by: jmackay2 <jmackay2@gmail.com>
 2024-09-10 11:53:00 +02:00