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Author SHA1 Message Date
Martina Rivizzigno 7f78ae449a update submodule mavlink to latest Thu Jul 6 10:14:36 2023 
* remove MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET because removed from message def Auterion/mavlink@1c9949e
 2023-07-18 11:37:32 -04:00
Martina Rivizzigno 55563eba49 MPC_SPOOLUP_TIME -> COM_SPOOLUP_TIME 2022-06-24 19:44:43 +02:00
Martina RivizzignoandClaudio Micheli 159c87a6fb ll40ls: add support for LidarLite V4 
Co-authored-by: Claudio Micheli <claudio@auterion.com>
 2021-08-12 10:05:19 -04:00
Martina Rivizzigno 48b00ff678 Support for gimbal v2 protocol 
- add command to request a message
- add gimbal attitude message

mavlink_receiver handle GIMBAL_MANAGER_SET_ATTITUDE

first implementation of new vmount input MavlinkGimbalV2
- setup class
- decode gimbal_manager_set_attitude in ControlData

add gimbal information message

add gimbal manager information and vehicle command ack

mavlink messages: add stream for GIMBAL_MANAGER_INFORMATION

mavlink_receiver: handle GIMBAL_DEVICE_INFORMATION

remove mavlink cmd handling from vmount input MavlinkGimbalV2

complete gimbal manager:
- send out fake gimbal_device_information for dummy gimbals
- complete ROI handling with nudging

small fixes

fix typos

cleanup
- gimbal device information
- flags lock
- check sanity of string

add support for CMD_DO_GIMBAL_MANAGER_ATTITUDE

stream GimbalDeviceAttitudeStatus for dummy gimbals
- add uROB gimbal_attitude_status
- fill status in vmount output_rc for dummy gimbals not able to send the
status themselves
- stream mavlink GimbalDeviceAttitudeStatus

better handle the request for gimbal infomation request

clean up

bring gimbal information back on vmount init

add new gimbal message to mavlink normal stream

fix publication of gimbal device information

rename gimbal_attitude_status to gimbal_device_attitude_status

stream gimbal_manager_status at 5Hz

mavlink: send information only on request

Sending the information message once on request should now work and we
don't need to keep publishing it.

mavlink: debug output for now

make sure to copy over control data

mavlink: add missing copyright header, pragma once

mavlink: address review comments

mavlink: handle stream not updated

Our answer does not just depend on whether the stream was found but
whether we actually were able to send out an update.

mavlink: remove outdated comment

vmount: add option for yaw stabilization only

The stabilize flag is used for gimbals which do not have an internal IMU
and need the autopilot's attitude in order to do stabilization. These
gimbals are probably quite rare by now but it makes sense to keep the
functionality given it can e.g. be used by simple servo gimbals for
sensors other than highres cameras.

The stabilize flag can also be re-used for gimbals which are capable of
stabilizing pitch and roll but not absolute yaw (e.g. locked to North).
For such gimbals we can now set the param MNT_DO_STAB to 2.

We still support configuring which axes are stabilized by the
MAVLink command DO_MOUNT_CONFIGURE, however, this is generally not
recommended anymore.

vmount: fix incorrect check for bit flag

mavlink_messages: remove debug message

Signed-off-by: Claudio Micheli <claudio@auterion.com>

use device id

remove debug print

gimbal attitude fix mistake

clang tidy fix

split:
- gimbal_attitude -> gimbal_device_set_attitude, gimbal_manager_set_attitude
- gimbal_information -> gimbal_device_informatio, gimbal_manager_information

add gimbal protocol messages to rtps msg ids

support set attitude for gimbal directly speaking mavlink

clean up gimbal urob messages

vmount: address a few small review comments

vmount: split output into v1 and v2 protocol

This way we can continue to support the MAVLink v1 protocol. Also, we
don't send the old vehicle commands when actually using the new v2
protocol.

vmount: config via ctor instead of duplicate param

vmount: use loop to poll all topics

Otherwise we might give up too soon and miss some data, or run too fast
based on commands that have nothing to do with the gimbal.

typhoon_h480: use gimbal v2 protocol, use yaw stab

Let's by default use the v2 protocol with typhoon_h480 and enable yaw
lock mode by stabilizing yaw.
 2021-02-17 13:54:34 -05:00
Martina Rivizzigno 678e32caf7 CollisionPrevention remove mavlink_log outputs 2020-03-02 16:49:56 +01:00
Martina Rivizzigno a9491dfaf7 run avoidance also in Loiter 2020-03-02 16:49:56 +01:00
Martina Rivizzigno aee1e70642 check avoidance status in commander and set sys status 
remove mavlink log
 2020-03-02 16:49:56 +01:00
Martina Rivizzigno 48b7cd926e mavlink_messages: add frame field to obstacle distance and correct typo 2020-03-02 16:49:56 +01:00
Martina 9d06bd1383 mavlink_main: add osbstacle_distance stream to extvisionmin mode 2020-03-02 16:49:56 +01:00
Martina a4acb6b92a CollisionPrevention: set frame for obstacle_distance_fused topic 2020-03-02 16:49:56 +01:00
Martina Rivizzigno abe33af5b3 map mavlink orientation enum to uorb distance_sensor orientation 2020-02-26 07:27:09 +01:00
Martina Rivizzigno 8162b1095b send obstacle distance data in onboard mode such that they are 
received by the gcs when using mavlink router
 2020-01-22 16:22:32 +01:00
Martina Rivizzigno fcea13eef8 add gtest, temp disable swig 
(cherry picked from commit 4008d163d77f503e6acbd7ddc1d87ac6d479c897)
 2019-10-28 11:04:38 +01:00
Martina Rivizzigno 95dc522b99 update sitl_gazebo submodule 18/10/2019 2019-10-18 11:43:58 +01:00
Martina Rivizzigno 123f769306 enable safe landing test 2019-10-14 10:53:13 -04:00
Martina Rivizzigno 7f4ddde378 enable avoidance test 2019-10-14 10:53:13 -04:00
Martina Rivizzigno 78279f6587 Unit tests for Obstacle Avoidance interface (#12816) 
* FlighTask: remove legacy definition of empty_trajectory_wapoint

* add unit tests for the ObstacleAvoidance interface
 2019-09-12 14:37:31 +02:00
Martina Rivizzigno cc084e0791 matrix: add method to check all values are nan (#82) 2019-08-26 19:27:58 +02:00
Martina 0414d59ee9 mavlink_main: stream OBSTACLE_DISTANCE to GCS 2019-08-14 13:32:15 -04:00
Martina 119e5e3182 Revert "CollisionPrevention only process distance_sensor updates" 
This reverts commit 839787568c.
 2019-08-07 04:01:50 -04:00
Martina Rivizzigno 19ad80385e ObstacleAvoidance: update empty_trajectory_waypoint 2019-08-05 16:05:40 +02:00
Martina Rivizzigno e0893c383d increase mc_pos_control stack from 1300 to 1500 2019-08-05 16:05:40 +02:00
Martina Rivizzigno d29f2ff60c ObstacleAvoidance: use hysteresis on z to check progress towards the goal 2019-08-05 16:05:40 +02:00
Martina Rivizzigno 39e59d6cc4 add point type (mavlink command associated with wp) in Obstacle Avoidance interface 2019-08-05 16:05:40 +02:00
Martina Rivizzigno 959a35b3bd add safe_landing_planner to CI 2019-08-02 09:12:02 -04:00
Martina Rivizzigno 14501dfdf2 update local_planner ci to avoidance stable release 0.3.0 2019-08-02 09:12:02 -04:00
Martina Rivizzigno c2a5fc0520 Jenkinsfile-SITL_tests: bump kinetic container to 2019-07-29 tag 2019-08-02 09:12:02 -04:00
Martina Rivizzigno 1fb80612f3 CollisionPrevention: address https://github.com/PX4/Firmware/pull/12179 
review comments
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno ac67d5603f CollisionPrevention: compute the attitude_sensor_frame outside for loop 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 560c9f972a CollisionPrevention: use the maximum timestamp between offboard and 
distance sensor such that if one of the two fails the vehicle goes into
failsafe, do not switch off CollisionPrevention if it fails
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 8aad105265 mc_pos_control: increase stack size by 100 bytes 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 02bdc2c46b CollisionPrevention: use FlightTasks convention for private/public methods, 
add doxygen on header file
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 8637a9255e CollisionPrevention: add failsafe for stale distance data 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 0ee770e853 logger: log obstacle_distance_fused instead of obstacle_distance 2019-07-15 10:58:00 +02:00
Martina Rivizzigno ff6a4d9e71 stream mavlink message OBSTACLE DISTANCE 2019-07-15 10:58:00 +02:00
Martina Rivizzigno e6e4d846fb add uORB message obstacle_distance_fused with data from offboard 
obstacle_distance and distance sensor
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno a9b1946bea CollisionPrevention: make sure that vehicle tilt compensation is 
correct for all sensor orientation
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 2439dc09ae CollisionPrevention: refactor code to make it more readable 2019-07-15 10:58:00 +02:00
Martina Rivizzigno b6eea508bb CollisionPrevention: make sure that the timestamp is updated for distance 
sensors even if they are out of range
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 09bfb00c88 Obstacle_distance: use only one increment in float directly 
CollisionPrevention: rename a few variables to make the code more readable
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno d216b45202 cm8jl65: use paramter to set sensor orientation 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 6a0ed6af93 cm8jl65: add field of view 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 5b24f28ac7 CollisionPrevention: map distance_sensor data to obstacle distance 2019-07-15 10:58:00 +02:00
Martina Rivizzigno aff131774e simulator mavlink: add horizontal and vertical fov + quaterion orientation 
to distance sensor
 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 02c3765c1b obstacle_distance: add fields from mavlink extension 2019-07-15 10:58:00 +02:00
Martina Rivizzigno d375402b5b distance_sensor: add horiontal and vertical fov, add quaternion for sensor orientation 2019-07-15 10:58:00 +02:00
Martina Rivizzigno 7a586d2b60 ObstacleAvoidance: hysteresis on failsafe 2019-06-12 16:42:02 +02:00
Martina Rivizzigno 119ccc4256 ObstacleAvoidance: fix comment 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 61f69ed139 ObstacleAvoidance: use convention for paramter name 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 1e8582974c do not update desired setpoints and waypoints if the oa is disabled 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 0963dc9af1 ObstacleAvoidance: fix bug in requesting update of the mission item. 
During takeoff you're always in the condition within xy acceptance radius
and more than altitude radius away from the takeoff waypoint
 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 9e8575b71b do not overwrite with obstacle avoidance yaw setpoints if external yaw 
handling is enabled
 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 44b8b4f79f send velocity setpoint to enable proper takeoff/land 2019-05-29 15:16:33 +02:00
Martina Rivizzigno a18f3e5d45 reset the position lock only if current triplet latitude and longitude 
are valid
 2019-05-24 21:40:42 +02:00
Martina Rivizzigno eba0bb389a ObstacleAvoidance: fix comment, update failsafe position if one axis is NAN 2019-04-24 08:54:50 +02:00
Martina Rivizzigno e037edd2cc ObstacleAvoidance: once the commadand loiter has been sent, keep using 
the first position when the oa fails as setpoint to avoid jumps
 2019-04-24 08:54:50 +02:00
Martina Rivizzigno f0ce0646a3 rostest_avoiance_run: bump to avoidance stable release 0.2.0 2019-04-10 16:36:18 -04:00
Martina c4492b17c1 do not reset yaw if vehicle on ground 2019-04-09 20:50:37 +10:00
Martina Rivizzigno 6f5c97f184 ObstacleAvoidance: do not check for loiter nav state twice 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 0dab5d3a11 ObstacleAvoidance: enforce camel case 2019-04-04 16:41:26 +02:00
Martina Rivizzigno c5dfcbc50e cosmetics changes to ObstacleAvoidance library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno e5441a6565 make format 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 34c0bb1723 ObstacleAvoidance: don't inject avoidance setpoint when in 
loiter mode since it's the failsafe mode
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 0e27b5cbfa include libraries without the need for full path, make ObstacleAvoidance 
instance protected
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 4dcc77b822 ObstacleAvoidance: remove printf and remove unnecessary new lines 2019-04-04 16:41:26 +02:00
Martina Rivizzigno c1258931da rename updateAvoidanceWaypoints->updateAvoidanceDesiredWaypoints and 
updateAvoidanceSetpoints->updateAvoidanceDesiredSetpoints
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno b165c41737 ObstacleAvoidance: add comments 2019-04-04 16:41:26 +02:00
Martina Rivizzigno aa1b46f85a ObstacleAvoidance library: save current waypoint in global variable 
to check progress
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 94f73117c7 reintroduce obstacle avoidance failsafe. If OA fails, switch to loiter 2019-04-04 16:41:26 +02:00
Martina Rivizzigno e464502d2d remove empty_trajectory_waypoint and getter method for avoidance 
waypoints in FlightTasks. In obstacle avoidace library reset desired
avoidance waypoints after publication
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 34b0f33098 move all obstacle avoidance interfaces to the ObstacleAvoidance library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 4e806d79fe inject avoidance setpoints into AutoMapper 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 320ed40806 use subscription array in ObstacleAvoidance library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno a9bab81eb8 make format 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 8c24ba9255 move injection of avoidance setpoints to flight task library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 8cdc2d9ae9 update matrix library submodule 2019-03-22 15:41:33 +01:00
Martina Rivizzigno 09b795161e Obstacle Avoidance testing in CI (#10780) 2019-03-15 00:37:23 -04:00
Martina 44aa33be09 obstacle_distance: update distances description according to latest obstacle_distance mavlink message 2018-11-05 15:25:58 +01:00
Martina 280cb34a77 FlightTaskAuto: replace NAV_ACC_RAD with acceptance radius from triplet 2018-10-09 12:01:45 -04:00
Martina 18f4144e5a mission_block: when creating a triplet from a mission item use the default 
acceptance radius from the paramters and overwrite it if the mission item
has set acceptance radius
 2018-10-09 12:01:45 -04:00
Martina e73c50ad9c mc_pos_control_main: enable continuos update of vehicle_trajectory_waypoint 
desired such that it's possible to use it in manual modes
 2018-10-02 09:45:48 -04:00
Martina 5a57e82072 navigator: clarify NaN return for get_yaw_acceptance 2018-09-24 11:23:01 +02:00
Martina b220e74219 navigator_main: add comment to explain yaw_acceptance usage 2018-09-24 11:23:01 +02:00
Martina 5b8ae9fb29 rename position_controller_status field from altitude_acceptance_radius 
to altitude_acceptance
 2018-09-24 11:23:01 +02:00
Martina 40650ee2c7 FlightTaskAuto: check avoidance progress only for multicopter 2018-09-24 11:23:01 +02:00
Martina 07eb0b697e FlightTaskAuto: don't create vectors from pointers 2018-09-24 11:23:01 +02:00
Martina ba4e633bd4 FlightTaskAuto: check avoidance progress only if avoidance is active 2018-09-24 11:23:01 +02:00
Martina cef7673969 FlightTaskAuto: calculate the new altitude acceptance radius if the vehicle 
is inside the xy acceptance radius but not inside the z acceptance radius
 2018-09-24 11:23:01 +02:00
Martina fffb479edf navigator_main: use the altitude acceptance radius from the pos control if 
it is greater than the one in the mission item
 2018-09-24 11:23:01 +02:00
Martina b8e46d3323 position_controller_status: add altitude acceptance radius 2018-09-24 11:23:01 +02:00
Martina 7031bb5a6d navigator: add yaw_acceptance getter to incorporate feedback from position 
controller. The yaw acceptance is defined by the mission item. If the pos
control sets it to NAN, then the yaw at a waypoint is ignored.
 2018-09-24 11:23:01 +02:00
Martina a5a204004b FlightTaskAuto: add check for xy mission progress 2018-09-24 11:23:01 +02:00
Martina Rivizzigno 21f6ca4a1f mc_pos_control: fix desired trajectory waypoint. (#10372) 
- The first waypoint contains the vehicle current position and the desired velocity setpoint
 2018-08-31 17:28:15 -04:00
Martina Rivizzigno 854e4ef3de mc_pos_control_main: fix typo (#10274) 2018-08-20 10:56:43 -04:00
Martina c905a73e2e remove FLightTask Orbit from fmu-v2 target 2018-08-09 16:38:47 -04:00
Martina 2d9bbeb7ed FlightTaskAuto: use the triplets from navigator and not with the internal 
ones for obstacle avoidance. Otherwise the vehicle is continuolsy in the
offtrack state. Use already comnputed yaw and yaw speed setpoints instead
of subscription
 2018-08-09 16:38:47 -04:00
Martina 8096e84133 FlightTask: add padding to empty_trajectory_waypoint definition 2018-08-09 16:38:47 -04:00
Martina 10988f5bf1 FlightTask: add comment for method getAvoidanceWaypoint 2018-08-09 16:38:47 -04:00
Martina aef41a1378 remove empty lines 2018-08-09 16:38:47 -04:00
Martina da2191b721 mc_pos_control: check parameter MPC_OBS_AVOID to enable obstacle avoidance 2018-08-09 16:38:47 -04:00