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mr-tropic-flexspi
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Author SHA1 Message Date
RomanBapst 57fdda597b vtol_takeoff: store altitude on takeoff and don't use home position altitude 
as vehicle does not need to be close to home position

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-22 14:03:18 +03:00
PavloZMNMathieu BrescianiSilvan Fuhrer
 		ee150a15b4 Optical Flow: add unit testes for only using downward distance sensor (#23266) 
* Test for Optical Flow checks correct camera position

* Formatting fixed

* Update src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* For test GIVEN/WHEN/THEN added

---------

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-22 11:58:07 +01:00
bresch caaae6ed51 ekf2: allow sideslip fusion to always start with airspeed fusion 
This allow sideslip fusion to start during VTOL front transition or even
on a multirotor with a vertical stabilizer and an airspeed sensor for example.
 2025-01-22 09:33:16 +01:00
Jacob Dahl a3215419d7 gz: remove model spawn offset (#24165) 2025-01-22 12:47:25 +13:00
Jacob Dahl 918eca8de4 gz: increase timeout for service request (#24164) 
* gz: increase timeout for service request

* change error messages to warnings, specify retrying

* fix typo
 2025-01-21 22:14:38 +01:00
RomanBapst f36b45b2ff VehicleOpticalFlow: use 32bit integer for dt 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-21 16:48:33 +03:00
RomanBapst 25e76883b7 Integrator: use 32bit integer to store dt to avoid overflow 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-21 16:48:33 +03:00
Matthias Grob af062c85eb Revert "FLightTaskAuto: limit nudging speed based on distance sensor" 
This reverts commit 97cb933cff.
 2025-01-21 09:59:47 +01:00
Marco Hauswirth 7a9608e54b increase EKF2_RNG_FOG for FW and VTOL 2025-01-20 14:43:30 -05:00
Marco Hauswirth 4a5aa1e947 Fix max-hagl restriction to position/altitude control (#23667) 
* fix max-hagl restriction to position/altitude control

* max hagl vel restriction in ManAcc position mode

* use interpolate func, change naming

* simplyfied vertical vel limitation

* move velocity-constraint adjustment to StickAccelXY
 2025-01-20 15:50:21 +01:00
Mathieu Bresciani 0d22905558 VTOL params: fix param name 2025-01-20 15:50:06 +01:00
Daniel Agar b1ca0495e2 ekf2: yaw estimator additional validity checks 2025-01-20 09:45:41 +01:00
Balduin 1eb9434b8c stream ATTITUDE_QUATERNION in low bandwidth mode 2025-01-17 11:20:12 +01:00
Matthias Grob f693fab7c8 rc_update params: remove comment about default static mixing 
Was added back in 2014:
7441efde47
 2025-01-17 08:18:42 +01:00
bresch c99cb6e94b ekf2: do not auto-generate sideslip measurement jacobian 
This is to trade a bit of CPU load for more flash space.
 2025-01-15 11:05:50 -05:00
Matthias Grob e01fef755a Control allocation: make heli rpm control an optional build flag disabled by default 
to save flash.
The rpm capture dirver is also disabled on default releases
 2025-01-15 14:35:35 +01:00
Mathieu BrescianidanielmellingerEric Katzfey
 		8ecb76aba2 [Multirotor] add yaw torque low pass filter (#24173) 
co-authored-by: danielmellinger <107884356+danielmellinger@users.noreply.github.com>
co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
 2025-01-15 14:02:28 +01:00
Jaeyoung Lim 974446c0e8 Make control allocation and actuator effectiveness a non-module-specific library (#24196) 
* Remove more circular dependencies with ActuatorEffectiveness

* Separate vehicle specific actuator effectiveness

Keep actuator effectivenss in control allocator

* Remove test dependency for now

* Group library directories
Fix

* Change directory names

* Rebase fix
 2025-01-15 10:12:29 +01:00
PX4 BuildBot 9f8325e8e0 Update submodule mavlink to latest Wed Jan 15 00:39:11 UTC 2025 
- mavlink in PX4/Firmware (fd5b52d4c53f35a520646a6c4ec75588f6b87e0f): https://github.com/mavlink/mavlink/commit/5e3a42b8f3f53038f2779f9f69bd64767b913bb8
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/619947d8bc29e80eecff18b0f4fecc42d9e171dd
    - Changes: https://github.com/mavlink/mavlink/compare/5e3a42b8f3f53038f2779f9f69bd64767b913bb8...619947d8bc29e80eecff18b0f4fecc42d9e171dd

    619947d8 2024-12-19 Hamish Willee - common.xml - PING fix (#2197)
2f44ceff 2024-12-18 Julian Oes - common: use camera ID for CAMERA_IMAGE_CAPTURED (#2196)
 2025-01-14 21:45:04 -05:00
bresch 12a9087e92 ekf2: constrain max variance by zero innovation update 
Clipping the variance of the covariance matrix has a destabilizing
effect as it increases the correlation between the states.
 2025-01-14 21:42:33 -05:00
Matthias Grob bc92008885 RpmControl: Better consider the case where there's no rpm measurement (anymore) 2025-01-14 14:55:34 +01:00
Matthias Grob 5e2848312d Commander: start timer for auto disarm after spoolup 2025-01-14 14:55:34 +01:00
Matthias Grob 2506bd3b5d RpmControl: simplify the entire control logic 2025-01-14 14:55:34 +01:00
Matthias Grob 1c4325db6d RpmControl: split into cpp source file fixing includes 2025-01-14 14:55:34 +01:00
Matthias Grob 2772ae7e0e RpmControl: maximum rpm outliers are now caught by RpmCapture 2025-01-14 14:55:34 +01:00
Matthias Grob ddd410e9d8 RpmControl: remove status message because it by now only contains redundant information 2025-01-14 14:55:34 +01:00
Matthias Grob 4050cedfaf RpmControl: call local message instance after message name following the convention 2025-01-14 14:55:34 +01:00
Matthias Grob cd0e04f8b0 RpmControl: name current timestamp now following the convention 2025-01-14 14:55:34 +01:00
oravla5 ee67e4bb28 RpmControl: class clean up 2025-01-14 14:55:34 +01:00
Matthias Grob 940fe45ba7 ControlAllocator: introduce helicopter rotor rpm controller 2025-01-14 14:55:34 +01:00
Silvan Fuhrer e4e975806f Enable CONFIG_EKF2_AUX_GLOBAL_POSITION by default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-14 02:19:49 -05:00
Jacob Dahl 0fb8463b79 logger: always log can_interface_status (#24071) 
* logger: always log can_interface_status

* logger: log topic can_interface_status using CONFIG_BOARD_UAVCAN_INTERFACES
 2025-01-13 10:15:40 -07:00
mahimayoga 879e0ea9b1 MC-hte: use allocated thrust as input for hover thrust estimator. 
Improves estimates on vehicles where thrust is often saturating.
 2025-01-13 11:56:09 +01:00
mahimayoga 28fa044386 MC-stabilized: rescale thrust input to hover thrust at zero stick input 
Use hover thrust estimate in stabilized mode to rescale stick inputs. Prevents vehicle from losing/gaining altitude when switching from position to stabilized mode.
 2025-01-13 11:56:09 +01:00
Jaeyoung-Lim f5c05f6d01 Take 2: Cleanup circular dependencies ActuatorEffectiveness 2025-01-13 09:29:42 +01:00
Jaeyoung Lim 208d37e703 Remove circular dependency if control allocation (#24195) 
... and actuator effectiveness
 2025-01-10 16:58:15 +01:00
Balduin a231fafafa SIH: Add Standard VTOL Airframe (#24175) 
* add standard vtol airframe to SIH.

mostly took changes from 4d930bde and applied to main.

generate_fw_aerodynamics now takes four arguments rather than using the
_u class member, because depending on vehicle type _u is used
differently.
 2025-01-09 15:40:06 +01:00
Jari Nippula cbbbbc9dfa logger: fix file open issue if crypto algorithm is disabled 
move init_logfile_encryption() call after the buffer start_log() call
to have log file already open while storing the header and key data to
the beginning of the file.
 2025-01-09 07:45:09 +01:00
bresch ab70ae3252 ekf2: fix GNSS drift false alarm 
In SIH, the GNSS signal is zero-mean, but apparently not symmetric. The
issue is that saturating such a signal creates an artificial bias. This
made the check fail as the bias was above the threshold.
 2025-01-08 21:40:25 -05:00
mahimayoga c3e370b946 MC land detector: fix parameter description for LNDMC_ROT_MAX 2025-01-08 18:03:35 +01:00
mahimayoga b4273bde25 FW land detector: Introduce max rotational speed condition (new param: LNDFW_ROT_MAX). 
Checks that the filtered norm of the angular velocity is below LNDFW_ROT_MAX.
 2025-01-08 18:03:35 +01:00
mahimayoga 18b4b18a75 FW land detector: do not check for groundspeed if invalid. 
In case the local position speed estimate is not valid, it is assumed to be 0m/s and
thus check always passes.
 2025-01-08 18:03:35 +01:00
Silvan Fuhrer 585e5d1482 MissionBase: remove unused param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer d98a706380 RTL fast reverse: enable precision landing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer 368bbfeb3b RTL params: make clear that RTL_PLD_MD does not apply for mission RTL destinations 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer e29c86c81f rtl_direct: don't check RTL_PLD_MD param twice but use _mission_item.land_precision 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer 0ecc8278b6 Navigator: RTL_direct: onyl start precision land if param is set to enable 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
RomanBapst 1abc27dd1f remove fixed-wing condition from airspeed fusion condition 
- enables airspeed fusion to begin during transition already
- airspeed fusion is started based on airspeed being above defined threshold

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-07 16:19:33 +01:00
bresch b1773df441 ekf2: fix comments about primary height sources 
Having the xxx_hgt flag set only means that the sensor is fused for
altitude/height aiding. It's not necessarily the height reference.
 2025-01-07 10:23:13 +01:00
Silvan 8070a9b362 Commander: remove not used include of blocks.hpp 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-01-06 09:24:29 +01:00