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jake/am32_flasher
Commit Graph
18414 Commits
Author SHA1 Message Date
Thomas Stastny 4b920a6628 GotoControl: add go-to control interface to mc position controller 
goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
 2023-11-30 17:16:02 +01:00
Thomas Stastny e47aba8bc9 msg: add go-to setpoint interface 2023-11-30 17:16:02 +01:00
PX4 BuildBot 33a3e568bb boards: update all NuttX defconfigs 2023-11-29 20:54:34 -05:00
Jacob Dahl e627fe01dc UXRCE_DDS_SYNCC default 0 2023-11-29 20:53:01 -05:00
Konrad 42ce9eb692 mavlink_mission: Send MISSION_CURRENT periodically even when no mission is loaded. 2023-11-29 11:10:40 -05:00
Konrad 36f0c0f0bf mavlink-mission: Add support for opaque ids and replace update counter with it 2023-11-29 11:10:40 -05:00
Konrad 120e7fea8b mavlink: update submodule including opaque ID 2023-11-29 11:10:40 -05:00
Frederik MarkusfrederikBeniamino Pozzan
 		f00d97d974 removal of PX4_GZ_MODEL env variable and fix of ground glitching (#22400) 
Removal of PX4_GZ_MODEL env variable and fix of ground glitching

Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-29 09:08:04 +00:00
alexklimaj 59abab8379 sensors: add parameter to silence imu clipping 2023-11-28 11:57:14 -05:00
Daniel AgarandPX4 BuildBot a9213e3862 Update world_magnetic_model to latest Tue Nov 28 11:14:14 UTC 2023 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-28 11:04:02 -05:00
PerFrivik de9074558b Roboclaw: Updated Airframe and fixed left and right mapping error 2023-11-28 16:30:17 +01:00
Per Frivik 9409646a89 Update RoverPositionControl.cpp 2023-11-28 16:30:17 +01:00
PerFrivik c7e780cb6d Roboclaw: Working temporary version that drives around 2023-11-28 16:30:17 +01:00
Konrad 8a68a66203 figureEight: Rename relative position variable 2023-11-28 10:06:01 +01:00
Konrad 1e06ed2ed5 figureEight: Rework initialization 2023-11-28 10:06:01 +01:00
Konrad a73409c015 FigureEight: Refactor initialization 2023-11-28 10:06:01 +01:00
Beniamino Pozzan 2363c03bfe [uxrce_dds_client] wait for Timesync to converge 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-27 21:10:26 -05:00
Beniamino Pozzan f01400de81 [uxrce_dds_client] Fix debug string format - use PRId64 and llabs 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-27 21:10:26 -05:00
PX4 BuildBot dfbd5c88b1 Update submodule mavlink to latest Tue Nov 28 00:39:31 UTC 2023 
- mavlink in PX4/Firmware (b8870adb3e2002ee16ebf63bd23342a055ab8628): https://github.com/mavlink/mavlink/commit/70181c42fc63306ba3512666e1a8b7b782416806
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/02f1575d73b3b7eb09b1cc7ca3a03844aec05858
    - Changes: https://github.com/mavlink/mavlink/compare/70181c42fc63306ba3512666e1a8b7b782416806...02f1575d73b3b7eb09b1cc7ca3a03844aec05858

    02f1575d 2023-11-24 Hamish Willee - MAV_CMD_CONDITION_YAW - shortest direction v2 (#2058)
bc0d8611 2023-11-22 Roman Bapst - moved MAV_CMD_EXTERNAL_POSITION_ESTIMATE from ardupilotmega to common (#2057)
b85e0016 2023-11-22 Hamish Willee - development - delete MAV_CMD_SET_FENCE_BREACH_ACTION (#2053)
 2023-11-27 20:40:31 -05:00
Silvan Fuhrer 2734c44533 FlightTaskAuto: set state to None if prev and current sp are equal 
Otherwise if is set to Offtrack, which in turn leads to weird behavior.
E.g. when triggering Land while flying fast forward, the vehcile doesn't
descned to the land point it keeps getting a velocity setpoint from the
smoother that pushes it away from the land point.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-27 18:01:47 +01:00
Konrad 6a34b63b60 mission_base: perform mission_check_valid if mission, geofence ot homeposition have changed 2023-11-24 08:11:41 +01:00
Konrad 5e1f0b73ce HomePosition: Add an instance counter 2023-11-24 08:11:41 +01:00
Konrad 3ac7ed6afa mission_base: Do not reset mission on invalid mission upload 2023-11-24 08:11:41 +01:00
Konrad a92e7a8796 missionResult: remove unnecessary constants and rename instance_count to mission_update_counter 2023-11-24 08:11:41 +01:00
Beat Küng 7afa011741 mavlink_mission: publish mission after updating dataman 
This avoids a potential race condition when dataman also updates dataman
as a result of the publication.
 2023-11-24 08:10:07 +01:00
Beat Küng 93cae5f9d7 mission: fix comparison logic for saving mission state 2023-11-24 08:10:07 +01:00
Matthias Grob 8271faedeb control_mode: reorder modes according to controller cascade 2023-11-23 20:35:48 +01:00
Matthias Grob 6e31638817 control_mode: add allocation to orbit mode to not crash 2023-11-23 20:35:48 +01:00
Silvan Fuhrer a99a7d2abd vtol: always check for EKF2 resets, not just when QC is checked 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-23 13:54:07 +01:00
Silvan Fuhrer eae939d86c vtol_type: transition altitude loss quad-chute: handle z resets 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-23 13:54:07 +01:00
Beniamino Pozzan 742d237ae3 [uxrce_dds] add vehicle_thrust_setpoint, vehicle_torque_setpoint 
actuator_motors and actuator_servos subscribers for offboard control

Being subscribers, this does not increase the computational load
over the uxrce_dds brigde

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-22 22:14:50 -05:00
Beniamino Pozzan 1c8f31f339 [offboard] add thrust and torque control mode 
New thrust and torque control mode added which replaces the previous
actuator mode,
in this mode the rate controllers are disables, the control allocator
is enabled and the used externally provices
vehicle_thrust_setpoints and vehicle_torque_setpoints.

New direct_actuator mode
In direct_actuator mode the control allocator module does not publish
actuator_motors and actuator_servos messages which must instead be
provided extrernally by the user.

Removed old direct mode.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-22 22:14:50 -05:00
Jacob Dahl 6cc38776c8 src/modules/uxrce_dds_client: set system clock from agent CLOCK_REALTIME (#22290) 
* Added parameter UXRCE_DDS_SYNCC to enable system clock synchronization. Refactored and cleaned up. Only set system time if it's off by more than 5 seconds (same as mavlink and gps).
 2023-11-22 22:06:11 -05:00
Silvan Fuhrer e280a6c6e6 Navigator: Geofence: always run geofence_breach_check(), not only only on pos update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer ade68aa563 Navigator: Geofence: stay in GF breached mode when in Loiter due to breach 
Only re-evaluate if no longer in GF when flight mode is changed or
Loiter position was changed (eg through goto).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer f2aabe968e Geofence: add checks for custom GF validity when uploading it 
- check if Home would breach it (we do not want to upload GF that
do not allow to return to Home)
- check if the current vehicle position isn't contained in the GF
if armed (as then it would immediately trigger)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer 2865bbb8ab Geofence: rework messaging and notification 
- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer 3c194d552a Geofence: rework the way to check all GF at once 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer a41f24a2e2 geofence_result.msg: rename premove unused field home_required 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer b178c943a6 GeofenceBreachAvoidance: remove unused variables and methods 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer c0f26c8fbd mission_feasibility_checker.h: remove unused Geofence class 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer 563bfbf6e7 Geofence: remove GF_COUNT 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer fd709e05b0 Geofence: remove GF_ALTMODE 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer f3eacb4844 Geofence: fix status print 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer f8f4ea2fee MissionFeasibilityCheck: rename checkGeofence to checkMissionAgainstGeofence() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Julian Oes 976cd67f71 logger: increase default GPS rate 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-22 21:30:31 -05:00
GuillaumeLaine ab867b963c dds_topics: Adds missing data reader 2023-11-22 10:42:05 +00:00
GuillaumeLaine f3e85219a3 dds_topics: Adds handling for empty yaml fields 2023-11-22 10:42:05 +00:00
GuillaumeLaine 85c75aedd1 dds_topics: Adds multi publication to subscribed dds topics 2023-11-22 10:42:05 +00:00
bresch e568b4a1d7 replay: increase buffer size 
required to parse larger topics
 2023-11-21 21:56:34 -05:00