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jake/am32_flasher
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28851 Commits
Author SHA1 Message Date
Matthias Grob 44a8c553fb AxisAngle use Vector3<T> instead of Vector<T, 3> 2024-01-30 11:46:33 -05:00
Matthias Grob ea4fdfd637 matrix: fix internal include chain 2024-01-30 11:46:33 -05:00
muramura c5757e0799 gimbal: Change the IF statement to a SWITCH statement 2024-01-30 11:28:20 -05:00
Roman Bapst 380841563f ina238: set shunt calibration to desired value if readback is incorrect (#22237) 
* refactor driver to dynamically check registers and do reset if register does not match desired value
* have seen various times where shunt calibration was reset in air

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-01-30 11:28:05 -05:00
Konrad 169d2dd286 mission_base: fix validity on abort landing 2024-01-30 11:25:37 -05:00
Konrad 0a153efb9d mission_base: make sure to always update state on mission topic update 2024-01-30 11:25:37 -05:00
Konrad 97ce599b1f mavlink_mission: publish mission topic at startup 2024-01-30 11:25:37 -05:00
Konrad 9fd137e88e mavlink_mission: add alternating storage for geofence and safe points on upload 
This way the old points are kept on an upload error.
 2024-01-30 11:25:37 -05:00
Konrad 50f1abaef1 dataman: extend for double storage geofence and safe points 2024-01-30 11:25:37 -05:00
Konrad dfa56d474a mission: renaming dataman_id to mission_dataman_id 2024-01-30 11:25:37 -05:00
Konrad cac858cb24 dataman: use correct size for dataman compat key 2024-01-30 11:25:37 -05:00
bresch 9c02e384e6 ekf2-agp: follow measurement reset 2024-01-30 11:23:55 -05:00
bresch 5d9081b0dd ekf2-agp: ensure logging of AGP aid_src topic 2024-01-30 11:23:55 -05:00
bresch 4268759d4a ekf2-agp: reset to measurement on fusion timeout 2024-01-30 11:23:55 -05:00
muramura 23ae769e46 check: Changing the order of messages and events 2024-01-30 11:20:19 -05:00
muramura 3c444c2f2a dataman: Move before using variable definitions 2024-01-30 11:19:29 -05:00
David Sidrane c4e8faeacb PX4:ver Add base type compare 2024-01-30 11:15:03 -05:00
David Sidrane 136e08652f PX4:comon Support BOARD_HAS_HW_SPLIT_VERSIONING 2024-01-30 11:15:03 -05:00
cuav-liu1 df8a8af34c ICP201: increase startup delay with B2 version 2024-01-30 10:06:28 -05:00
Silvan Fuhrer 24debb5ff2 logged_topics: log all instances of torque/thrust setpoints in high rate 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-01-29 20:44:55 -05:00
Silvan Fuhrer 09b7cffca5 logged_topics: add actuator_servos to high rate logging 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-01-29 20:44:55 -05:00
Igor Mišić 23cebd6cf2 temperature_compensation: use set_sensor_id_mag for Mag 2024-01-29 20:44:12 -05:00
bresch 80f20e619c ekf2: zvup sequential fusion 2024-01-29 12:12:37 -05:00
murata,katsutoshi e8b3778f81 uuv_att_control: Variable definition in processing (#22697) 2024-01-29 17:04:10 +01:00
Roman Bapst 077baeae52 Avoid waypoint following during backtransition which can lead to strong banking (#22642) 
* avoid waypoint following during backtransition
- if vehicle overshoots transition, make controller track the prev/current
waypoint line, this avoids large banking maneuvers that delay the transition further

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* navigator: use SETPOINT_TYPE_LAND as setpoint type for VTOL_LAND waypoints
such that fixed wing position controller can distinguish from other types

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* FixedWingPositionControl: split vtol backtransition logic into separate method

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* review changes

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* prevent loiter when approaching vtol backtransition and invalidate previous waypoint during mission landing

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* removed unused parameter

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* small renaming of transition mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-01-29 09:45:40 +01:00
somebody-once-told-meSilvan FuhrerMaster Chief
 		f40ede6087 Control Allocation Sequential Desaturation unit tests (#22612) 
* [control_allocation] add unit tests for ControlAllocationSequentialDesaturation

* complete first 2 unit tests

* add yaw test

* add more unit tests

* improve comments

* format

* address review comments

* submodule update

* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* remove float suffix for logical integers, add missing float suffixes for logical float zeros, and make YAW_MOTORS an int

---------

Co-authored-by: Master Chief <master-chief@the-void.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-01-26 15:17:54 +01:00
Daniel AgarandPX4 BuildBot 1d70e32551 Update world_magnetic_model to latest Wed Jan 24 11:14:20 UTC 2024 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-01-26 09:08:51 -05:00
enesavcu 74d43c2fee lib/system_identification/signal_generator: change functions to inline functions for optimization 2024-01-26 09:07:49 -05:00
PX4 BuildBot 0edebffcd6 boards: update all NuttX defconfigs 2024-01-24 21:51:05 -05:00
Daniel Agar 4e0967889c ekf2: add verbose print status (moved out of DEBUG_BUILD) 2024-01-24 21:49:26 -05:00
Daniel AgarandPX4 BuildBot bc9ea95359 Update submodule GPSDrivers to latest Thu Jan 25 00:39:33 UTC 2024 
- GPSDrivers in PX4/Firmware (12af7ff9904b2fdde39513c56a3e084eb23bcc7a): https://github.com/PX4/PX4-GPSDrivers/commit/63990d218ec35ea965d634af6a79d3155561b743
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/836b24c10e0ccd0067500f367686acac6d34882d
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/63990d218ec35ea965d634af6a79d3155561b743...836b24c10e0ccd0067500f367686acac6d34882d

    836b24c 2023-12-11 bedaberner - ubx: fixed wrong mapping of ubx-sat-nav used parameter

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-01-24 21:48:40 -05:00
PX4 BuildBot baeef282bc Update submodule mavlink to latest Thu Jan 25 00:39:42 UTC 2024 
- mavlink in PX4/Firmware (99cacc55c6d21c2aa87b695e59941b62c599c70b): https://github.com/mavlink/mavlink/commit/5f85bd7d7d6155d2d349bd04ed67544610e8e65b
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/c4a5c497379ca873f73abe691a033641a6a5a817
    - Changes: https://github.com/mavlink/mavlink/compare/5f85bd7d7d6155d2d349bd04ed67544610e8e65b...c4a5c497379ca873f73abe691a033641a6a5a817

    c4a5c497 2024-01-04 Hamish Willee - Update MAV_TYPE_VTOL_TAILSITTER description to mention existing types (#2068)
9840105a 2023-12-15 Peter Barker - csAirLink: correct enumeration name (#2066)
fac54675 2023-12-13 Dmitriy Afanasev - csAirLink.xml: added messages to support peer to peer connections (#2065)
 2024-01-24 21:47:59 -05:00
Daniel Agarandbresch 51155f7a29 ekf2: treat inhibited states as "consider states" and remove conservative covariance matrix fixes (#22597) 
When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally.

 - removes conservative accel bias variance limiting
 - force symmetry is skipped after fusion of NED vel/pos (a direct measurement)

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-01-24 14:14:09 -05:00
bresch 0bf9ccdcc9 sys-id: implement linear and log sine sweeps 2024-01-24 12:18:23 -05:00
Mathieu Brescianiandbresch cb396a6339 ekf2: fix computation of tilt and yaw variances add them to logging 
Co-authored-by: bresch <bresch@users.noreply.github.com>
 2024-01-24 12:14:15 -05:00
bresch da28d9a7f2 ekf2-grav: rename g-force unit to g0 to avoid confusion with grams 2024-01-24 13:26:25 +01:00
Igor Mišić 8b96cd5372 temperature_compensation: rename TC_A_ENABLE to TC_M_ENABLE for mag.cpp 2024-01-23 21:06:54 +01:00
alexklimaj d075956c4d lib: battery allow for 3 instances 2024-01-22 19:29:38 -05:00
Henry Kotzé 736a730bb1 src/drivers: new FT7 series wind/airflow sensor support (#22471) 
- new uorb topic sensor_airflow
 - log sensor_airflow optionally
 2024-01-22 14:42:38 -05:00
Beat Küng 8be64278be fix navigator: prevent race condition when receiving multiple commands at once 
When handling multiple commands, it could happen that the first command
updates _reposition_triplet. Normally this would then get handled after
getting the mode change from commander through vehicle_status.
But if the next command is handled before an update from commander, it
could overwrite the triplet.
This patch ensures that navigator waits for an update from commander (and
therefore process the _reposition_triplet) before handling the next
command.

This happened specifically when pressing 'Pause' from QGC during a mission.
QGC sends VEHICLE_CMD_DO_REPOSITION twice, first for pausing, then changing
the altitude.
The result was that the vehicle would not stop at the current location but
continue to the next mission waypoint and stop there.
 2024-01-22 12:45:54 -05:00
Daniel Agar bf7da6430d ekf2: consolidate LPOS & GPOS accuracy methods 2024-01-22 12:34:08 -05:00
alexklimaj 3ff1f213a4 uavcan: add RelPosHeading->sensor_gnss_relative 2024-01-22 12:30:24 -05:00
alexklimaj db60bbc46b dronecan: gps add noise, jamming, and spoofing data 2024-01-22 12:30:24 -05:00
bresch 7c7a3c117a ekf2-gravity: nomalize gravity fusion and proper sequential fusion 2024-01-18 20:39:16 -05:00
bresch d624fbba07 ekf2-grav: lower gate to reject real acceleration more effectively 2024-01-18 20:39:16 -05:00
bresch c28972d15e ekf2-grav: only use filtered accel norm to start/stop the fusion 
Using the raw data makes the swith too sensitive to noise
 2024-01-18 20:39:16 -05:00
Eric Katzfey 2b69a3d290 VOXL2 specific drivers, modules, and miscellaneous support files (#22588) 2024-01-18 12:14:17 -05:00
Roman Bapst b60e73c76f bad descend quadchute: take altitude reset into account (#22643) 
- apply delta from reset to reference altitude state to avoid false triggering

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-01-18 08:55:28 +01:00
Daniel Agarandbresch ed0d26de8a ekf2: improve attitude estimation without horizontal aiding 
- fake_pos only if at rest or tilt variances becomes large
 - fake pos: don't run when grav fusion is enabled
 - gravity fusion enabled by default
 - gravity: only fuse when accel norm and lpf norm are consistent

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-01-17 10:27:25 -05:00
bresch 8158a14eff fw: cleanup and make use of Vector3 more intensively 2024-01-17 14:44:11 +01:00