* rft: clean merge to PX4
* fix: formatting
* fix: extra line
* fix: moved submarine out of "is_ground_vehicle", added proper check for center-throttle
* feat: updated gazebo models to include bluerov update
* fix: use 'is_uuv_vehicle', remove FW_MM/LLC from uuv build
* fix: added saturation to thrust and torque messages via param
* doc: updated parameters documentation for uuv
* fix: formatting
* feat: matching hardware reference
* fix: thrusters kg
* rft: removed commented lines
* fix: update gz reference given hw setup
* fix: hardware references
* fix: recommendations
* fix: updated settings to match hardware
* rft: check only for fixed and rotary wing for high throttle
Co-authored-by: Daniel Agar <daniel@agar.ca>
* fix: commit oupsie
* fix: format
* rft: remove is_uuv
* fix: hw parameters, uuv build target for v6x
* feat: added support for D-pad attitude changes in stabilized position control
* fix: position setpoint update and parametrized trajectory age and att change
* fix: format
* fix: removed duplicated call to check_validity_setpoint
* fix: setpoint update on arming logic
* fix: setpoint initialization for stabilized mode
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
* rft: initial merging of controllers for spacecraft vehicles
* feat: rate controller nominal
* feat: spacecraft tooling for commander and VehicleStatus
* feat: spacecraft tooling for commander and VehicleStatus
* fix: format
* fix: format
* fix: remove iostream
* fix: remove iostream
* feat: spacecraft attitude control and minor refactoring of params
* feat: add position controller
* fix: format
* fix: moved trajectories to new message, removed derivative filters
* fix: format
* fix: removed extra newline
* fix: spacecraft allocation builds
* feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments
* feat: required changes for allocation
* feat: thruster simulation interface
* fix: update maximum and minimums
* fix: format
* fix: added newline at the end of spacecraft actuator effectiveness
* feat: configurable board pwm freq from Kconfig
* feat: mavlink compliant spacecraft definition
* feat: add orbiter to define
* boards: Increase TELEM2 rx buffer size for DDS over serial use-case (ARK Jetson)
feat: spacecraft tooling for commander and VehicleStatus
fix: format
fix: remove iostream
feat: mavlink compliant spacecraft definition
* feat: add orbiter to define
* feat: add orbiter to define
* fix: change mav_type to new spacecraft orbiter enum value
* fix: build issue
* feat: update mavlink
* feat: update mavlink to latest master with spacecraft
* feat: update mavlink
* feat: update mavlink to latest
* feat: cleanup and synchronization with new mavlink vehicle definition
* fix: get away without specifying spacecraft vehicle
* fix: removed unnecessary definition
* fix: format
* feat: cmake variant for spacecraft
* feat: proper mav_type and rc init
* fix: removed dart from build system
* add: thrusters to actuator type
* rft: reordering actuator type
* rft: initial merging of controllers for spacecraft vehicles
* feat: rate controller nominal
* fix: format
* feat: spacecraft attitude control and minor refactoring of params
* feat: add position controller
* fix: format
* fix: moved trajectories to new message, removed derivative filters
* fix: format
* fix: removed extra newline
* fix: spacecraft allocation builds
* feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments
* feat: required changes for allocation
* feat: thruster simulation interface
* fix: update maximum and minimums
* fix: format
* fix: added newline at the end of spacecraft actuator effectiveness
* feat: configurable board pwm freq from Kconfig
* feat: add orbiter to define
* feat: cleanup and synchronization with new mavlink vehicle definition
* fix: get away without specifying spacecraft vehicle
* fix: conflicts
* fix: format
* fix: remove duplicate entry
* rft: remove Kconfig changes
* rft: revert main Kconfig
* rft: revert main kcoonfig on platforms
* rft: remove changes to board PWm (go on another PR)
* rft: revert changes to commander (main is correct)
* fix: extra char on commander_helper
* rft: removed extra spaces
* rft: moved effectiveness to spacecraft
* fix: spacecraft effectiveness
* fix: extra space
* feat: preliminary version, still using thrusters
* rft: initial pipeline on PX4 side with rotors instead of thrusters
* feat: add atmos model
* feat: spacecraft with rotor pipeline tested, working
* feat: update gz
* rft: removed thruster interfaces
* fix: format
* fix: remove control allocation
* fix: thruster normalization
* fix: format
* fix: nuttx version
* fix: clang tidy error
* feat: updated gz to add atmos model
* fix: update gz
* fix: update mavlink
* fix: remove friend class from allocation lib
* fix: remove actuator_outputs/motors
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com>
* feat: configurable board pwm freq from Kconfig
* feat: add board_pwm_config to submenu
* fix: define sequence correction
* fix: revert Tools/simulation/gz
* fix: track upstream gz
* fix: track upstream mavlink
* feat: adjustable pwm for multiple board types
* feat: add conditional check for CONFIG_ for correct fallback
* add: spacecraft board with correct BOARD_PWM_FREQ supporting 10Hz actuation rate
* fix: set dependencies for submenu arch chips
* fix: keep only upper arch level
* fix: proper checking - still not showing up for board config
* feat: add hidden kconfig for platforms
* Merge Nuttx config into px4board
Allows to expose nuttx into PX4 if needed
* Kconfig: Include nuttx symbols in updateconfig
Only if applicable i.e. defined in the kconfig
* fix: merged config with previously generated boardconfig
* doc: updated code comment
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
* feat: add attitude to trajectory setpoints
* feat: proposed new trajectory message for fully actuated vehicles
* fix: moved to unversioned and changed naming scheme
* feat: added space between translation and attitude control
* fix: change cmakelists
* add: metric allocation
* add: actual files
* rft: moved metric allocation to pseudo-inverse via flag with public method
* del: removed metric allocation test and added test in pseudo-inverse testing
* rft: deleted extra newline at the end of pseudo inverse test file
* feat: removed unnecessary log include
This commit adds Roll Pitch Yawrate Thrust (RPYrT) setpoint control to the
PX4 stack, enabling the UAV to follow specific yawrates sent from
offboard. It also introduces individual body_rate flags, along the
lines of mavros.
Tested on a MoCap enabled flight arena in KTH Royal Institute of
Technology, Stockholm. The MAV receives RPYrT setpoints from an
external PID controller to stabilize around position setpoints.
The UAV is also externally disturbed to assess the stability to
external unmodeled events.
Fixed Kabir comments.
Removed deprecated ignore_bodyrate.
Fixed integration test.
Pedro Roque