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Daniel Agar e3309b9f87 ekf2: rng don't allow bad measurement in bad_acc_vertical (#25636) 
- if bad vertical acceleration is detected there's an emergency case
   where rejected range finder observations are allowed to be used, but
   this still can't happen if the sample itself is known to be bag
 2025-09-30 11:14:04 -08:00
Daniel AgarandJacob Dahl 900a5ede01 ekf2: range height skip "unhealthy" samples, but respect timeout (#25634) 
* ekf2: range height skip "unhealthy" samples, but respect timeout

 - we should never directly use an "unhealthy" range finder sample for
   state corrections or resets, but we also shouldn't immediately abort
   active rng_hgt until the timeout has passed

* check starting_conditions_passing once

---------

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2025-09-29 11:23:37 -08:00
Daniel Agar 7eec4c9814 ekf2: fix gravity aid src fused flag 2025-09-26 11:45:54 -04:00
Daniel Agar 469fe62166 logger: cleanup crypto defines 2025-09-25 15:10:21 -04:00
Daniel Agar 6f4e873bce logger: only include crypto params if enabled 2025-09-25 15:10:21 -04:00
Daniel Agar a6f8b00a6a ekf2: SensorRangeFinder purge unused Sensor interface 2025-09-25 14:07:43 -04:00
Daniel Agar 2347cb9e50 ekf2: SensorRangeFinder delete unused faulty flag 2025-09-25 11:29:54 -04:00
Daniel Agar e342640698 drivers/gps: warn if gps_inject_data publications have been missed 2025-09-24 22:11:49 -04:00
Daniel AgarJacob DahlJacob Dahl
 		d3f912ad25 platforms: Serial new dedicated writeBlocking method (#25537) 
* platforms: Serial new dedicated writeBlocking method

* finish writeBlocking()

* add back fsync

* updated posix, added string constant for port not open error

* format

* fix build

* remove fsync

* actually remove fsync

* remove fsync from write

* review feedback

---------

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2025-09-15 15:22:49 -08:00
Daniel Agar 41d3403ec7 drivers/gps: prioritize non-blocking reads over injection (#25535) 2025-09-15 15:18:45 -08:00
Daniel Agar f161a32c55 ekf2: revert minor baro ctrl check change from 078e4c9 (ekf: always publish baro and gnss bias even if zero (#25385)) 2025-08-11 21:38:22 -04:00
Daniel Agar fb8c43efc3 gitmodules specificy branch for fuzztest and tflite_micro 2025-08-07 20:40:05 -04:00
Daniel Agar 1b3c6f7fd2 drivers/magnetometer: remove Vtrantech VCM1193L from common magnetometer set 2025-06-18 11:56:13 -04:00
Daniel Agar 38d67f5a93 drivers/ins/vectornav: bump cmake minimum to 3.5 2025-04-30 18:12:33 -04:00
Daniel Agar 00d6bef6a9 cmake/gtest: bump cmake minimum to 3.5 2025-04-30 18:12:33 -04:00
Daniel Agar 45bdf20481 lockstep_scheduler: bump cmake minimum to 3.5 2025-04-30 18:12:33 -04:00
Daniel Agar 90b2290700 Tools: docker_run.sh fix entrypoint as user 
- modern docker can specify the user at runtime (--user)
 2025-02-18 00:26:06 -05:00
Daniel Agar 38de04a53a Tools/setup/ubuntu.sh: add curl for NXP mr-canhubk3 build (#24346) 2025-02-17 20:06:24 -08:00
Daniel Agar e12c3c00a4 control_allocator: param update avoid temporary 
- this is a harmless workaround for a GCC warning (-Wdangling-pointer) false positive
 2025-02-17 14:35:15 -05:00
Daniel Agar bd2a009217 commander: remove MC nav test 2025-02-05 11:58:04 -05:00
Daniel Agar 6322ebc3db rcS: shift sensors + EKF startup earlier 
- we want the drivers, sensors hub, and estimator running as soon as possible to initialize and avoid commander false positives complaining about missing data
 2025-01-22 15:27:56 -05:00
Daniel Agar b1ca0495e2 ekf2: yaw estimator additional validity checks 2025-01-20 09:45:41 +01:00
Daniel Agar 81552fc036 uavcan: relax UAVCAN_RNG_MIN/UAVCAN_RNG_MAX defaults (#24140) 
- this is optional sensor metadata that can be set if actually needed
 2024-12-26 19:10:31 -07:00
Daniel Agar 8a18e5b00c commander: accelerometer calibration respect rotation 
- accel cal use Accelerometer calibration class to fully respect
   rotation (both internal and external sensors)
 2024-12-17 22:26:01 -05:00
Daniel Agar 990b067b25 uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule 2024-11-27 14:09:13 -08:00
Daniel Agar 68cbbaab92 Tools/astyle: check_code_style_all.sh skip pre-commit hook if non-interactive 2024-11-27 13:51:10 -08:00
Daniel Agar e194a52907 ekf2: derivation.py remove sideslip small angle approximation 2024-11-25 08:53:57 +01:00
Daniel Agar 233cf17fa7 Jenkins: delete Jenkinsfile-compile/Jenkinsfile-hardware 
- Jenkinsfile-compile is now redundant with github actions
 - Jenkinsfile-hardware will be migrated to github actions once new test
   rack hardware is available (old test rack server died)
 2024-11-21 12:31:02 -05:00
Daniel Agar cad2de228c .github/workflows/clang-tidy.yml - clang-tidy checks retry if failed 
- this clang tidy runner occasionally fails intermittently
 2024-11-20 18:14:33 -05:00
Daniel Agar 7288d16855 mavsdk_tests set nice levels for px4/gzclient/mavsdk_tests 2024-11-20 14:45:11 -05:00
Daniel Agar ada2bb4c42 uORB_tests: relax latency threshold on non-realtime SITL 2024-11-20 14:10:39 -05:00
Daniel Agar 1d2ed28966 init.d-posix/rcS: relax default COM_RC_LOSS_T/COM_OF_LOSS_T with speed factor (0.5->1.0) 2024-11-20 09:36:06 -08:00
Daniel Agar 635e162a0c test/mavsdk_tests: continue sending manual control between steps in fly_forward_in_posctl()/fly_forward_in_altctl() 2024-11-20 09:36:06 -08:00
Daniel Agar a2156244d3 uxrce_dds_client: CMakeLists.txt cleanup 
- common variable for Micro-XRCE-DDS-Client
 - don't mix tabs and spaces
 - px4 module include all dependencies
 2024-11-12 21:20:54 -05:00
Daniel Agar 371a99c322 drivers/uavcan: subtree merge last working libuavcan (preserving history) (#23819) 
- fully absorb the libuavcan submodule (renamed libdronecan to deconflict) up to our last good working commit and preserve all history (upstream libuavcan was broken and then marked deprecated)
 - fixes https://github.com/PX4/PX4-Autopilot/issues/23727
 - this puts us in a much better position to be able to evolve the library going forward ow that we have full control in tree
 2024-10-17 16:20:19 -04:00
Daniel Agar e59cc9afeb drivers/uavcan: subtree merge last working libuavcan (preserving history) 
- upstream libuavcan was broken and then marked deprecated, this fully absorbs the submodule (renamed libdronecan to deconflict) up to our last good working commit and all commit history is kept
 - fixes https://github.com/PX4/PX4-Autopilot/issues/23727 (regression introduced in #23113)
 - this puts us in a much better position to evolve the library as needed now that we have full control
 2024-10-16 13:31:17 -04:00
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
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
Daniel Agar e08dc400a2 Jenkinsfile-compile remove non-existant zeroone_x6_rover target 2024-10-02 12:38:54 -04:00
Daniel Agar 19441a12da fix Jenkinsfile-compile missing comma and sort list 2024-10-01 13:12:17 -04:00
Daniel Agar 332b7bec27 commander: ignore REQUEST_CAMERA_INFORMATION 
- add answer command logging
 2024-09-27 10:33:37 -07:00
Daniel Agar e4dd3f2871 boards/px4/fmu-v5: stackcheck remove FW modules (flash overflow) 2024-09-18 11:34:48 -04:00
Daniel AgarandMathieu Bresciani 5b0014cb06 ekf2: remove legacy accel z bias checks (#23341) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-08-29 11:51:27 -04:00
Daniel Agar f3d58cdf10 ekf2: resetFlowFusion() pass flowSample by const ref 2024-08-27 10:38:17 -04:00
Daniel Agar 6c24413888 ekf2: filter flow vel (used for flow velocity reset) 
- individual flow samples can be quite erratic
 2024-08-27 10:38:17 -04:00
Daniel Agar ac48b8b51d ekf2: mag declination fusion always if there is no aiding 2024-08-27 16:16:55 +02:00
Daniel Agar 2a9e205442 ekf2: fuseDeclination respect mag update_all_states 
- when both mag_hdg/mag_3d are inactive we should be able to continue
   updating mag without any possible impact on other states
 2024-08-27 16:16:55 +02:00
Daniel Agar 9d57a3c02f ekf2: split resetMagCov() and skip mag reset if negligible change 2024-08-27 16:16:55 +02:00
Daniel Agar bbcf741e9e ekf2: make mag control responsible for WMM 
- this further untangles mag control (which requires the WMM) from GPS
 2024-08-27 16:16:55 +02:00
Daniel Agar a75db1286d logger: automatically limit buffer size to largest available free chunk (NuttX only) 2024-08-26 13:24:39 -04:00
Daniel Agar ebbb880e92 ekf2: always use corrected accel/gyro for filtered metrics 2024-08-23 17:35:59 -04:00
Daniel Agar 56560726d3 ekf2: sensor simulator fix GPS replay scaling 2024-08-23 14:35:05 -04:00
Daniel Agar d7b165991f cmake: relax git tag requirements 
- default to v0.0.0 if tag isn't available
 - src/lib/px_update_git_header.py use same PX4_GIT_TAG as cmake
 - update lingering master branch references to main
 2024-08-23 12:05:34 -04:00
Daniel Agar 7250ee1b32 ekf2: organize gyro_bias/accel_bias param yaml 2024-08-22 10:56:16 -04:00
Daniel Agar ebbd2c1825 ekf2: organize aid source parameters 2024-08-22 10:56:16 -04:00
Daniel Agar f7e6e1354a commander: power check only keep error thresholds 2024-08-15 10:06:56 -04:00
Daniel Agar c9343ca11d sitl_gazebo-classic update submodule to latest 2024-08-12 16:26:56 +02:00
Daniel Agar fd72578e98 ekf2: avoid constraining parameters every iteration 2024-07-25 09:51:35 +02:00
Daniel Agar 9ff6c4bf28 remove newlines 2024-07-19 18:25:43 -04:00
Daniel Agar 85de0ff227 boards: move ARK fmu-v6x/pi6x to dedicated RC drivers 2024-07-19 15:42:05 -04:00
Daniel Agar 3a3f04c0f4 drivers/rc: new standalone ghst_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
Daniel Agar 7a6c4f0bfa drivers/rc: new standalone sbus_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
Daniel Agar 561dceea7b drivers/rc: new standalone dsm_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
Daniel Agar ca9948a84d msgs/EstimatorStatus.msg rename mag_test_ratio -> hdg_test_ratio 
- this is used for more than just mag
 2024-07-18 16:39:18 +02:00
Daniel Agar eac14b7db2 ekf2/commander: simplify navigation filter preflight checks 
- remove commander test ratio "tuning knobs" (COM_ARM_EKF_{HGT,POS,VEL,YAW})
   - these are effectively redundant with the actual tuning (noise & gate)
     in the estimator, plus most users have no idea why they'd be
     adjusting these other than to silence an annoying preflight complaint
 - remove ekf2 "PreFlightChecker" with hard coded innovation limits
 - ekf2 preflight innovation flags are now simply if any active source
   exceeds half the limit preflight
 2024-07-18 16:39:18 +02:00
Daniel Agar f8f8ddc101 ekf2: optical flow update last hor vel timestamp on success 2024-07-17 14:46:48 -04:00
Daniel Agar 691fdf713c ekf2: airspeed update last hor vel timestamp if successfully updating all states 2024-07-17 14:46:48 -04:00
Daniel Agar 57c1ba545f ekf2: fake_hgt don't use fuseVerticalPosition helper 
- fake_hgt shouldn't update _time_last_hgt_fuse
 2024-07-17 14:46:48 -04:00
Daniel Agar 6fe0fa6d63 ekf2: fake_pos don't use fuseHorizontalPosition helper 
- fake_pos shouldn't update _time_last_hor_pos_fuse
 2024-07-17 14:46:48 -04:00
Daniel Agar c5c27a87f1 ekf2: track last terrain fuse time and update logic 2024-07-17 10:16:32 -04:00
Daniel Agar f832ae688d ekf2: require valid filter vz for GPS vspeed check 2024-07-16 10:15:19 -04:00
Daniel Agar 397ff4a102 ekf2: sideslip symforce increase epsilon to avoid 1/e^2 numerical issues 2024-07-16 11:10:58 +02:00
Daniel Agar 13b62a74d6 ekf2: optical flow adjust jacobian epsilon to avoid numerical issues 
- in the generated code there's a 1 / eps^2 term if the height and
   terrain estimates are the same
 2024-07-16 11:10:58 +02:00
Daniel Agar 48f1687d3a ekf2: cleanup legacy EKF solution_status_flags 2024-07-16 10:11:27 +02:00
Daniel AgarandMathieu Bresciani 1cd7d54170 ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GPS->GNSS) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-07-15 12:50:51 -04:00
Daniel Agar 8e5f28f834 ekf2: rng only reset vz as a last resort 2024-07-15 11:39:56 -04:00
Daniel Agar 80ee622f77 ekf2: baro only reset vz as a last resort 2024-07-15 11:39:56 -04:00
Daniel Agar 40349fa3dc ekf2: EV velocity control should own vertical velocity reset if height failing 2024-07-15 11:39:56 -04:00
Daniel Agar 177613eb68 ekf2: GNSS velocity control should own vertical velocity reset if height faiing 
- GNSS height control using the velocity sample directly is ignoring
   potential position offsets
 2024-07-15 11:39:56 -04:00
Daniel Agar e03aef616c ekf2: add terrain/dist_bottom reset deltas (vehicle_local_position/vehicle_global_position) 2024-07-15 10:25:42 -04:00
Daniel Agar a5a67315fd ekf2: optical flow magnitude check compensated 
- additionally don't use flow for reset if magnitude isn't acceptable
 2024-07-15 09:46:59 -04:00
Daniel Agar dc5f8118b0 ekf2: range finder cleanup duplicate logic 2024-07-15 11:37:36 +02:00
Daniel Agar 9124a7b471 ekf2: add IMU delta_ang_dt/delta_vel_dt safety constrain before pushing into buffer 2024-07-10 21:20:47 -04:00
Daniel Agar ac77049c47 ekf2: directly use IMU sample to find corresponding aid source sample 
- I think this helps make it clear we're using a sensor sample
   corresponding with a particular IMU sample
 2024-07-10 21:20:47 -04:00
Daniel Agar f93dc61770 ekf2: use bias corrected angular velocity 
- avoid unnecessarily storing _ang_rate_delayed_raw
 2024-07-10 21:20:47 -04:00
Daniel Agar 75bb339d94 ekf2: remove warning events logging 
- some of these warning flags aren't even being used, and most of the rest we can figure out from other sources
 2024-07-10 10:43:55 -04:00
Daniel Agar c29b4ff87e ekf2: apply astyle formatting and enforce 2024-07-10 10:43:55 -04:00
Daniel Agar 223397c20e ekf2: always add accel/gyro bias process noise 
- continue adding accel/gyro bias process noise even if inhibited
 2024-07-10 11:49:01 +02:00
Daniel Agar 62ff39a669 ekf2: EV vel (body) update last fuse timestamps 
- these are set by the NED fuseVelocity() helper so also need to be set in the body frame velocity case
 2024-07-09 10:16:12 -04:00
Daniel Agar 5d08b97fd7 ekf2: add vehicle_local_position dist_bottom_var 2024-07-09 10:10:01 -04:00
Daniel Agar 3e3b886b5d ekf2: add terrain estimator_status_flags 2024-07-09 10:10:01 -04:00
Daniel Agar 64a6971bdb ekf2: only limit opt flow HAGL if range only terrain 
- increase HALG limit from 75%->90% of sensor max
 2024-07-09 10:10:01 -04:00
Daniel Agar c56f84fe8a ekf2: range, check if terrain valid for reset on fusion timeout 2024-07-09 10:10:01 -04:00
Daniel Agar e52025cc20 ekf2: optical flow fusion timeout only reset if quality is good 2024-07-09 10:10:01 -04:00
Daniel Agar 6be06ecbb3 ekf2: optical flow failing also reset terrain if needed 2024-07-09 10:10:01 -04:00
Daniel Agar ea8f14b883 ekf2: optical flow logic, timeout if bad_tilt, etc 
- previously we could get stuck with optical flow still technically
   active (_control_status.flags.opt_flow=true), but nothing being
updated due to excessive tilt, etc
 2024-07-09 10:10:01 -04:00
Daniel Agar 8bf15b01c4 ekf2: optical flow don't compute innovation variance twice 
- collapse updateOptFlow() and startFlowFusion() to avoid recomputing H
 - this is a relatively expensive call we can easily avoid with the
   right structure
 2024-07-09 10:10:01 -04:00