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Author SHA1 Message Date
Jacob Dahl
1b226ed241 change land setpoint 2023-03-16 13:16:54 -08:00
Jacob Dahl
7bfcbd7865 added back inheritance from FlightTaskAuto, fixed logic in multiple places, use Navigator Land submode for auto_precision_land. Last remaining issues is Pause during precision land will place vehicle back at the XY where the Land was initiated. 2023-03-16 11:56:07 -08:00
Jacob Dahl
93afe5b2e2 removed inheritance from FlightTaskAuto. Added PrecLandMode but have not implemented its use. 2023-03-15 19:04:41 -08:00
Jacob Dahl
2a765ee809 rewrote the precision landing state machine and logic 2023-03-15 14:30:35 -08:00
Alessandro Simovic
abcf122396 unify acceptance radius check 2023-03-13 18:20:07 +01:00
Alessandro Simovic
6c55574cd9 formatting 2023-03-13 18:04:13 +01:00
Alessandro Simovic
929c3cbde9 update copyright year 2023-03-13 18:03:30 +01:00
Alessandro Simovic
924b60df02 rename switch function 
The current name is confusing as it suggest an action,
which is switching to a new state. In reality these
functions first perform a check and then possibly
reject the state switch.
 2023-03-13 17:59:23 +01:00
Alessandro Simovic
5bbf12737b rename variable 2023-03-13 16:17:25 +01:00
Alessandro Simovic
68df294207 comment and renamed states 2023-03-13 14:26:29 +01:00
Alessandro Simovic
a4596401cf camel case for PrecisionLandingStatus.msg 2023-03-13 11:05:07 +01:00
Alessandro Simovic
fa557e79c5 precland estimator stack size 2000 -> 2100 2023-03-13 11:05:07 +01:00
Alessandro Simovic
38c0ff3a09 Revert "ROMFS: use precision landing for irlock model" 
This reverts commit 7df1eca426432efd2172c5e9b41f658c370980c2.
 2023-03-13 11:05:07 +01:00
Alessandro Simovic
72b6eabecd precland: fix spaces in messages 2023-03-13 11:05:07 +01:00
Alessandro Simovic
783937ffc5 autostart precland estimator on v5,v5x,v6x 2023-03-13 11:05:07 +01:00
Alessandro Simovic
2774186078 precland: fix fallback and slewrate init 2023-03-13 11:05:07 +01:00
Alessandro Simovic
02325f38fa precland: also check flight mode 
So far flight mode manager was checking navigator states,
but not if commander switches to precland on its own.

For example "commander mode auto:precland"
or the flight mode menu in QGC
 2023-03-13 11:05:06 +01:00
Alessandro Simovic
d66f7b7b43 mission: publish "work item" as current sub flight mode 2023-03-13 11:05:06 +01:00
Alessandro Simovic
2bf072e5cd mission: publish sub flight mode for flightmode manager 2023-03-13 11:05:06 +01:00
Julian Oes
f08268adbc flight_modes: use precision landing when landing 
This also enables precision landing in landing mode, not just during
RTL.

This required an additional fix during the horizontal approach. It seems
like the z setpoint is not set when landing, so we can't blindly use
that setpoint but rather need to keep the altitude.
 2023-03-13 11:05:06 +01:00
Julian Oes
a214d6de94 ROMFS: use precision landing for irlock model 
With this model we should actually use the precision landing, otherwise
this is just confusing.
 2023-03-13 11:05:06 +01:00
Julian Oes
5878b0c721 Revert "git move landing_target_estimator to lib dir" 
This reverts commit 17ec100fa9ba6a804b36dc0279df080817fbff81.
 2023-03-13 11:05:06 +01:00
Julian Oes
2eda7d1379 Revert "Make LandingTargetEstimator a lib and run on work_queue" 
This reverts commit 37c2d242b159ccf55d6de999b268204fde2eed50.
 2023-03-13 11:05:06 +01:00
Alessandro Simovic
3c0fa76e2f Make LandingTargetEstimator a lib and run on work_queue 
Currently only precision landing is using the
LandingTargetEstimator and it is a waste to have it
running in the background all the time. With this change
the estimator is only started once the precision landing
flight task is activated, and stopped when the flight
task is deactivated.
 2023-03-13 11:05:06 +01:00
Alessandro Simovic
7da69412a8 git move landing_target_estimator to lib dir 
This does not compile yet, but helps keep the
history a bit cleaner
 2023-03-13 11:05:06 +01:00
Alessandro Simovic
ab27954cf7 remove orbit comments from precland message 2023-03-13 11:05:06 +01:00
Alessandro Simovic
facd4f4cfe convert precland to flight task 2023-03-13 11:05:06 +01:00
Alessandro Simovic
6e0dee7f11 moved precland from navigator to flighttasks 
PrecisionLanding flight task is not being compiled yet. See next commit.
 2023-03-13 11:05:06 +01:00
akkawimo
3bae99267b
fix(precland): Improved log messages (#21289) 2023-03-13 08:39:31 +01:00
Daniel Agar
9be8f81d75
flight_mode_manager: StickAccelerationXY protect from NAN velocity reset 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-03-10 08:17:20 -05:00
Daniel Agar
435c799f57 uORB: print more decimal places for float32 and float64 2023-03-10 07:39:34 +01:00
Frederic Taillandier
91f6ab865c
ROMFS: fix shellcheck error in px4-rc.simulator (#21282) 2023-03-10 07:37:45 +01:00
Matthias Grob
bd5838faf0 FlightTask: don't instaniate unused parameters 2023-03-09 17:40:55 +01:00
Tony Samaritano
eb4da990c3 init.d-posix/px4-rc.simulator: adds non-default LAT and LON as optional environment variables 2023-03-09 09:40:35 -05:00
Daniel Agar
b3cc945a5a ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset() 2023-03-09 09:08:27 -05:00
Daniel Agar
c1f244a6fd
ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s (#21264) 2023-03-09 09:07:54 -05:00
Daniel Agar
60b85c2e1a
mavlink: add kconfig option to disable UAVCAN parameter bridge 
- depends on DRIVERS_UAVCAN
 2023-03-08 19:30:06 -05:00
frederictaillandier
eb86cb85b7 removing MOUNT_ORIENTATION on udp_gcs_port_local from typhoon 2023-03-09 12:43:47 +13:00
Daniel Agar
4dda5a97d8
ekf2: mag_3d check mag bias variance before allowed to update all states (orientation) 2023-03-08 15:12:48 -05:00
Julian Oes
ea20217c1b kakuteh7v2/mini: EKF2 is already the default 2023-03-08 10:48:31 -05:00
Julian Oes
593b3d250d kakuteh7mini: remove duplicate param defaults 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-03-08 10:48:31 -05:00
Julian Oes
ed49ed3903 kakuteh7v2/mini: use EKF2 without mag by default 
This switches from attitude_estimator_q to EKF2 which should now work
without mag when the params are set to SYS_HAS_MAG = 0 and
EKF2_IMU_CTRL = 7 to enable gravity fusion.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-03-08 10:48:31 -05:00
Matthias Grob
132e9d2439 modeCheck: add warning when RC enabled but not present 2023-03-08 09:32:56 +01:00
Matthias Grob
898c0ae5a8 mode_requirements: refactor order of setting flags 2023-03-08 09:32:56 +01:00
Matthias Grob
7fa8dfe2d2 rcAndDataLinkCheck: always update manual control availability 
and remove duplicate manual control check
possibly it needs to be readded to give warning
about RC enabled but not present.
 2023-03-08 09:32:56 +01:00
Matthias Grob
f498b90c41 mode_requirements: add manual control for manual modes 2023-03-08 09:32:56 +01:00
Beniamino Pozzan
636dfdec6a VScode: fix tasks.json and launch_sitl.json after ign -> gazebo renaming 
PX4_SIM model need the simulator (gz_) prefix
Fix post debug task
Add x500_depth, rc_cessna, standard_vtol

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-07 21:28:39 -05:00
Daniel Agar
d45aeae1de ekf2: add and share centralized method to clear inhibited state Kalman gains 2023-03-07 13:27:57 -05:00
Konrad
7098970a38 Tools: extend documentation parser: 
- Add the possibility in the parser to replace the defines made in the current file with their argument (includes are not supported)
- Add the possibility for the parser to parse int argument with bitwise shift operators
 2023-03-06 18:34:01 -05:00
PX4 BuildBot
603d4b999b Update submodule sitl_gazebo-classic to latest Mon Mar 6 12:38:18 UTC 2023 
- sitl_gazebo-classic in PX4/Firmware (7edce94b939f98a708b4ce96557120509d2adce1): 9343aaf4e2
    - sitl_gazebo-classic current upstream: e3722bf913
    - Changes: 9343aaf4e2...e3722bf913

    e3722bf 2023-02-24 Frederic Taillandier - Allowing to override sniffer's modules ip (#963)
2221c95 2023-02-24 Frederic Taillandier - removing macos 1015 github actions (#962)
48e9b17 2023-02-24 frederic@auterion.com - removing debug
265198d 2023-02-24 frederic@auterion.com - fixing indentation
de9bf14 2023-02-24 frederic@auterion.com - try fix build by updating the path to the right gazebo
ec8641d 2022-08-24 Konrad - Revert "Enable multi IMU capability in gazebo mavlink interface"
487a789 2023-02-21 Jaeyoung Lim - Revert "Add multi magnetometer capability. Magnetometer plugin now derived from sensorplugin. Magnetometer topic dervied from naming. Updated all models with magnetometer submodel"
 2023-03-06 18:33:00 -05:00