a9f7f00844
batteryCheck: refine low battery reporting sevirity
...
To make sure QGC also shows a box and reads out for "low battery"
and make events and mavlink_log reports consistent.
Low - Critical
Critical - Critical
Emergency - Emergency
2025-05-21 16:08:27 +02:00
fa168c4d4f
address review comments
2025-05-21 16:08:27 +02:00
d44991f33a
batteryCheck: change log level to 'warning' for low and critical battery.
2025-05-21 16:08:27 +02:00
0b3b5d9450
framework: only log "Failsafe activated" when failsafe action =! Warn.
2025-05-21 16:08:27 +02:00
30df381f0e
multicopter_autonomous_params: adjust yaw acceleration and maximum rate for exclusive use with HeadingSmoothing
2025-05-21 13:25:46 +02:00
a8f5b6dc1b
FlightTaskOrbit: also use HeadingSmoothing to avoid steps during the approach
2025-05-21 13:25:46 +02:00
70ad2e6fe5
FlightTaskAuto: Smooth yaw follow-up, bring back necessary previous yaw setpoint and reset smoothing when yaw is not locked
2025-05-21 13:25:46 +02:00
508dc030b8
Smooth yaw by limiting acceleration
2025-05-21 13:25:46 +02:00
0b3fc0a62d
SIH: add Hexacopter X
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to enable easy simulation of a motor failure.
2025-05-20 13:23:08 +02:00
ce9dd237a9
rover: handle invalid bearing setpoint
2025-05-13 10:23:35 +02:00
1857920a5f
rover: clean up velocity setpoint
2025-05-13 10:23:35 +02:00
b727ce86a0
rover: clean up speed terminology
2025-05-13 10:23:35 +02:00
1d5e58b948
mavlink: set system clock from SYSTEM_TIME ( #24807 )
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* mavlink: set system clock from SYSTEM_TIME message if behind by more than 60 seconds
2025-05-12 16:11:16 -08:00
2d23fda77d
rtl_direct: fix function naming
2025-05-07 17:42:07 +02:00
4e436cc64e
rover: update land detector
2025-05-07 17:42:07 +02:00
771d09b968
navigator: reset next WP in mission fast reverse
2025-05-07 17:42:07 +02:00
b78b063fd8
rover: skip to LAND on direct RTL activation
2025-05-07 17:42:07 +02:00
6b8bf80423
ekf2-mag: never skip post-takeoff mag yaw reset
2025-05-06 11:24:31 -04:00
4e17c5496c
mecanum: streamline flow of information
2025-05-05 11:38:17 +02:00
04512ee91f
mecanum: separate velocity control
2025-05-05 11:38:17 +02:00
2fece23c64
gz small improvements ( #24761 )
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* gz: print version number in init, remove gst plugin spam, rename function
* fix 0 timestamp issue by waiting for clock callback before subscribing to other topics. Refactor to cleanup topic subscriptions
* format
* change gzerr to gzwarn
2025-05-04 14:41:19 -08:00
f0fdf0b53b
EKF2: distinguish airspeed source and use synthetic for wind
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Enable wind-dead-reckoning with airspeed source to synthetic airspeed
2025-05-02 13:37:18 +02:00
6d12b04bb0
VTOL: do central handling of airspeed measurement
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- only use data from airspeed_validated topic if source is SENSOR
- add 1s timeout (set to NAN if older)
- use FW_USE_AIRSPD consitently (treat the same as CAS=NAN)
Signed-off-by: Silvan <silvan@auterion.com >
2025-05-02 13:37:18 +02:00
f7bb5d13f7
At every consumation of AirspeedValidated, check for SOURCE
...
Signed-off-by: Silvan <silvan@auterion.com >
2025-05-02 13:37:18 +02:00
5842c991ec
AirspeedSelector: add synthetic airspeed option
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Synthetic airspeed is calculated based on the thrust setpoint
and the thrust<->airpseed model as configured in the parameters.
2025-05-02 13:37:18 +02:00
c3c863ad95
AirspeedSelector: clean up in preparation of synthetic airspeed
2025-05-02 13:37:18 +02:00
e7250bc8d5
ekf2: do not let mag heading and declination update xy gyro biases
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This can destabilize the tilt estimate when the mag field is disturbed
2025-05-02 10:23:43 +02:00
a40377e544
ekf2: always update IMU filters
2025-05-02 10:23:43 +02:00
6a105bcbdb
ekf2-grav: accelerate tilt alignment
2025-05-02 10:23:43 +02:00
c59101e8ed
ekf2-gravity: do not estimate accel bias when gravity fusion is active
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Gravity fusion uses the bias corrected accelerometer data to correct the
tilt estimate. We should not continue to estimate the accel bias when
this is active as it creates an unwanted feedback loop.
2025-05-02 10:23:43 +02:00
ee30b70a3c
ekf2-gravity: start based on accel LPF instead of peak hold
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This prevent rapid switching in presence of noise and the innovation
filter is good at rejecting spikes
2025-05-02 10:23:43 +02:00
6ec6f1b297
ekf2-decl: do not always update tilt
2025-05-02 10:23:43 +02:00
39fa8b5550
differential: migrate state machine to velocity control
2025-04-29 14:49:44 +02:00
16c9c175ae
differential: streamline flow of information
2025-04-29 14:49:44 +02:00
0ab9071606
differential: seperate velocity control
2025-04-29 14:49:44 +02:00
03c7e7aa08
FW Rate Controller: scale static trim offsets with airspeed
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-04-28 13:34:04 +02:00
06d3331d71
mavlink streams: remove unused sub from global pos int
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Signed-off-by: Silvan <silvan@auterion.com >
2025-04-28 13:17:53 +02:00
94bbd2d69a
[fix]reducing length of Geofence vilations to prevent STATUSTEXT message length overrun ( #24719 )
2025-04-25 10:20:17 -08:00
dfed3970d4
navigator: use reference instead of pointer to pass the vehicle command to publish
2025-04-25 15:32:47 +02:00
672d228d79
navigator: fill vehicle_command with float literals and comment what they stand for
2025-04-25 15:32:47 +02:00
da870c4dce
navigator: refactor vcmd -> vehicle_command
2025-04-25 15:32:47 +02:00
176783dbcb
navigator: clarify publish_vehicle_command() comment
2025-04-25 15:32:47 +02:00
f07ddda344
navigator: refactor publish_vehicle_cmd() -> publish_vehicle_command()
2025-04-25 15:32:47 +02:00
5f34474ecb
FlightTaskAuto: clean up parameter description and internal variable naming
2025-04-25 15:32:47 +02:00
2ba5a455ed
FW land detector: increase some max thresholds
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Signed-off-by: Silvan <silvan@auterion.com >
2025-04-25 15:21:19 +02:00
180658c5f9
sensors: display one decimal for params
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Signed-off-by: Silvan <silvan@auterion.com >
2025-04-25 15:21:19 +02:00
f7bde67f9a
VTOL: make VT_FWD_THRUST_EN more concise
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Signed-off-by: Silvan <silvan@auterion.com >
2025-04-25 15:21:19 +02:00
db25101e52
VTOL: increase max for VT_FWD_THRUST_SC
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Signed-off-by: Silvan <silvan@auterion.com >
2025-04-25 15:21:19 +02:00
38922d10a0
fix: fallback to mode set by COM_POSCTL_NAVL upon navigation loss in pos slow mode
2025-04-25 08:16:21 +02:00
9eaec534ab
mc_att_control_main: fix check for hover thrust estimate update ( #24750 )
2025-04-22 15:53:51 -08:00
Matthias Grob