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jake/am32_flasher
Commit Graph
18414 Commits
Author SHA1 Message Date
JaeyoungLim e3aea937c3 Support quadtailsitter in SITL 2023-05-29 12:25:20 +02:00
Daniel Agar 6535cc758e ekf2: fuse mag update last heading fuse time if updating all states 
- handle synthetic z special case
 2023-05-26 08:48:08 -06:00
Silvan Fuhrer bd182ecf70 FWPositionControl: navigateWaypoints: fix logic if already past waypoint and need to turn back (#21635) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:12:42 +02:00
Silvan Fuhrer ad769db8d6 FW Rate Controller: allow to enable/disable yaw axis in Acro (#21566) 
* RateControl: rename setGains to setPidGains to be more precise

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

* FW Rate controller: only allow to disable Yaw in Acro, not roll and pitch

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

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:09:29 +02:00
Loïc Dubois 1b9d90e7c4 mavlink: fix mismatch between header macros and class used 2023-05-23 20:44:32 -04:00
alexklimaj dc99a875c3 Mavlink receiver unadvertise all 
uorb multi pubs in destructor
 2023-05-23 18:40:06 -06:00
Matthias Grob c903288f4c ManualControlSelectorTest: adapt to using input validity flag 2023-05-23 17:24:17 +02:00
Matthias Grob 7b6f45079b ManualControl: use input validity flag to check for RC calibration 2023-05-23 17:24:17 +02:00
Patrick José Pereira 09f282b282 temperature_compensation: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 5fff0526cf rc_update: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 837847f3ad mavlink: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira ca1d32a29d HealthAndArmingChecks: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
PX4 BuildBot 74105907c9 Update submodule mavlink to latest Fri May 19 12:38:47 UTC 2023 
- mavlink in PX4/Firmware (0ff9816579d1c5a4086ec7b9d05fe7a79c410df2): https://github.com/mavlink/mavlink/commit/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/18955a04c7c7467e00ea42b704addb4a9c12b53a
    - Changes: https://github.com/mavlink/mavlink/compare/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa...18955a04c7c7467e00ea42b704addb4a9c12b53a

    18955a04 2023-05-11 Nick Exton - common.xml: Add MAV_RESULT_COMMAND_LONG_ONLY and MAV_RESULT_COMMAND_INT_ONLY to MAV_RESULT (#1982)
b92321ba 2023-03-30 Hamish Willee - Update message_definitions/v1.0/common.xml
58ff70f4 2023-03-30 Hamish Willee - COMMAND_ACK progress/result_param2 clarification
31b4aebb 2023-05-11 Julian Oes - cmake: locally install pip dependencies (#1984)
e9bf6a61 2023-05-10 Hamish Willee - Gimbal manager messages - remove WIP tagging (#1980)
0416967f 2023-05-10 Beat Küng - development: changes to standard flight modes (#1915)
ce00667f 2023-05-04 Jonas Vautherin - New cmakelists (#1977)
fdef5cc0 2023-05-03 Nick Exton - common.xml: Prefer COMMAND_INT when command includes altitude field (#1983)
89676d1d 2023-05-03 Nick Exton - common.xml: Add ZOOM_TYPE_HORIZONTAL_FOV to CAMERA_ZOOM_TYPE enum (#1979)
 2023-05-19 08:41:38 -06:00
Silvan Fuhrer 599a66c8a5 Tailsitter: make pitch angle thresholds for transition in Stabilized depending on max manual pitch 
Transitions in Stabilized mode are done manually, the pilot controls the pitch angle
and if it's above the threshold the transition is declared finished (plus airspeed
check for front transition). Thus we can't have fixed thresholds but need to link
them to the actual max pitch angle in Stabilized mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-16 10:12:24 +02:00
Silvan Fuhrer 1ddacec36b FW Att/Rate controller: move max attitude params to Att Controller params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-15 14:35:34 +02:00
Silvan Fuhrer bf25d8b180 FW Position Controller: increase default of FW_T_SPD_DEV_STD to 0.2 
We currently fuse 0 as airspeed rate measurement, and thus simply low-pass
filter the airspeed measurements. Testing has shown that the current default
on the airspeed rate measurement noise is set to low, and thus the airspeed
mesurement is filtered too much.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-15 13:54:11 +02:00
bresch 616a71a959 MC_auto: avoid yaw step if previous setpoint is NAN 
A VTOL plane in MC mode has no yaw setpoint during takeoff because of
weather-vane. To align for the front transition, the yaw target jumps
and caused a step in the controller, making it reach saturation.

With this commit, the previous yaw setpoint is set to the current yaw
when no yaw setpoint is sent in order to create a smooth yaw trajectory
starting at the current orientation when yaw target is suddenly finite.

The yawspeed filter also now contains the yaw speed instead of dyaw in
order to prevent chattering due to dt jitter.
 2023-05-12 13:42:09 +02:00
Silvan Fuhrer f19b81880f VTOL: adapt VT_QC_T_ALT_LOSS param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer 06713cb655 VTOL: only run front transition alt loss QC if altitude is controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer c1d94c7f05 VTOL: extend front transition QC to first 5s after completing transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer 0d156f84e6 VTOL: fix transition quadchute below home 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer 233d901934 VTOL: align setting of _tecs_running_ts on all VTOL types 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
JaeyoungLim 47e802ef92 Fix tailsitter control frames (#21573) 2023-05-10 22:33:53 +09:00
Silvan Fuhrer 951f89c8a8 FWPosControl: constrain min pitch to FW_TKO_PITCH_MIN in takeoff state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer ab71ef4447 FW Rate Controller: fix manual tailsitter (only transform to body frame once) (#21565) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 09:29:02 +02:00
Daniel Agar 8222cbca2c ekf2: last range sensor simple timestamp protection 
- sanity check againist potential timestamp issues with incoming
distance_sensor data
 2023-05-09 12:02:42 -04:00
Silvan Fuhrer 4cd078409d AirspeedValidator: disable innovation checks if lpos invalid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-08 21:46:45 -04:00
Mathieu BrescianiJosh HendersonMatthias Grob
 		1e4fcfc614 mc_pos_control: fix potential thrust spike on hover thrust change 
Co-authored-by: Josh Henderson <hendjoshsr71@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-05-08 21:42:25 -04:00
Julian Oes 636c3c069f gimbal: make device ID a clear out argument 
The API is cleaner if the control_data is const reference and the device
compid is an explicit output argument.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-08 07:06:37 +02:00
Julian Oes ddfc2986dc mavlink: flow control param needs reboot 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-07 21:48:27 -04:00
Silvan Fuhrer d2ca763d23 Navigator: set cruise_speed to default on entering new mode (#21503) 
The resets in the modes (eg Loiter mode) are not active yet, so manually
set rep->current.cruising_speed = -1.f if not already in the same flight mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-05 15:53:17 +02:00
Beniamino Pozzan 9e5420bbbd microdds_client: rename to uxrce_dds_client 
| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-05-03 11:51:53 -07:00
PX4 BuildBot e8d12e26c2 Update submodule mavlink to latest Mon May 1 12:39:14 UTC 2023 
- mavlink in PX4/Firmware (487c2b03cae972f42a9fe7c397f6949fed63ca3d): https://github.com/mavlink/mavlink/commit/d6d86d3f0c90a67c275d6833931f7c712b858dba
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa
    - Changes: https://github.com/mavlink/mavlink/compare/d6d86d3f0c90a67c275d6833931f7c712b858dba...3ee5382d0c96134b0e1c250d8c2d54bfed0166fa

    3ee5382d 2023-04-20 Peter Barker - common.xml: exclude any stored home location from MISSION_CURRENT.total (#1976)
e0f59ae2 2023-04-13 Hamish Willee - Remove WIP from gimbal device messages/commands (#1973)
181346b5 2023-04-12 Peter Barker - common.xml: remove MAV_CMD_ACK (#1972)
 2023-05-01 11:11:15 -04:00
Julian Oes 3f13a6e787 gimbal: implement gimbal_device_id 
It turns out that I had omitted implementing the gimbal_device_id which
is the component ID of the gimbal device that the gimbal manager (in
this case PX4) is responsible for.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-01 09:02:25 -04:00
Daniel AgarandPX4BuildBot f0bea542d5 Update world_magnetic_model to latest (#21533) 
* Update world_magnetic_model to latest Mon May  1 11:14:06 UTC 2023
* [AUTO COMMIT] update change indication

Co-authored-by: PX4BuildBot <PX4BuildBot@users.noreply.github.com>
 2023-05-01 08:59:55 -04:00
murata,katsutoshi 4bb4bc185b commander: level calibration delete unused SENS_BOARD_ROT param access 2023-04-30 21:36:43 -04:00
bresch 521abecbbf ekf2: remove all remaining uses of EKF2_AID_MASK 2023-04-28 22:31:17 -04:00
bresch 98a8d080b6 ekf2 params: fix my bad english 2023-04-28 22:31:17 -04:00
bresch 2a2e43b620 ekf2: move flow fusion activation from AID_MASK to OF_CTRL 2023-04-28 22:31:17 -04:00
bresch 39c2f95669 ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL 2023-04-28 22:31:17 -04:00
Andrew Wilkins cdc717be53 Speed reset when switching flight modes (#21414) 
* speed reset between flight modes

* no whitespace
 2023-04-27 17:32:43 +02:00
Silvan Fuhrer bfc1e36f45 Standard: fill att_sp.thrust[0] with _pusher_thr value during transition to FW (#21520) 
Once passed the transition and in FW mode, it takes some ms unitl the FW att sp is updated
by the FW att controller. During this time the last published attitude sp is kept bein used,
which is the one that was published during transition. So let's fill the thrust[0] of it.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-27 17:30:36 +02:00
Yannick Fuhrer f76399be5e vtol_type: scale VT_TRANS_TIMEOUT with air density (#21509) 2023-04-27 09:22:04 +02:00
Julian Oes 0afd93a9e9 gimbal: add control setter and status 
This adds the ability to manually set who has primary control over a
gimbal and also adds printing it as part of the status.

This is helpful, especially while working on the QGC gimbal v2
implementation.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-04-26 08:20:34 +02:00
Silvan Fuhrer 08782a0837 reset vroi when resetting misson on landing and run set_current_mission_item() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-21 07:47:58 +02:00
Silvan Fuhrer 55faa8cb2d mission: only run update_mission() if mission is updated, not when we want to reset 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-21 07:47:58 +02:00
Hamish Willee 51f71909d4 Update ekf2_params.c - typo EKF2 aid mask 2023-04-19 17:11:47 -07:00
Eric Katzfey 018ca6b49d VOXL2 board support updates (#21426) 2023-04-19 11:21:02 -04:00
Silvan Fuhrer b874eaf5f9 VTOL: remove deprecated VT_B_TRANS_THR 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Silvan Fuhrer cbbd514c1b VTOL: increase default of VT_B_TRANS_DUR to 10s 
A default of 10s makes more sense compared to the old 4s, as this is only the
max time of a back transition and it's also decleared completed if the
speed drops below the hover cruising speed (MPC_XY_CRUISE).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00