fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 17:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
48,691 Commits 852 Branches 161 Tags
mrpollo/agents
Commit Graph
28857 Commits
Author SHA1 Message Date
alexklimaj 017f860f44 Add I2C retries in INA226 to prevent publishing 0's on a single read failure 2022-04-09 14:23:52 -04:00
Jacob Dahl 3bffe3087d use new safety_button topic for uavcannode Button publishing 2022-04-09 14:20:18 -04:00
Matthias Grob fe26ee244d modeCheck: allow arming in land mode for MAVSDK compatibility 
ideally we can remove it again when the workflow is changed to
first changing mode then arming.
 2022-04-08 09:56:47 +02:00
Daniel Agar 77a37c26bf rc_update: further tighten timing requirements for valid data 
- any real RC data input will be much faster than 3 Hz, so this is an
easy way to minimize bogus decoded data from propagating
 2022-04-07 14:42:05 -04:00
Daniel Agar 98623f69a3 update mavlink submodule to latest 
- update MAV_TYPE VTOL usage for current mavlink
 2022-04-07 20:35:41 +02:00
Julian Oes a5bd65b923 mavlink: set correct param capability 
PX4 supports int32 parameter types by interpreting the 32 bits in
the float field as an int32 field. To signal this behaviour, it should
set the bit which is described as PARAM_ENCODE_BYTEWISE.

PX4 had always handled parameters this way but never actually sent the
capability (which back then was called PARAM_UNION), however, it should
have. This came up recently in the MAVLink devcall when these flags were
discussed. The takeaway was to remove the flags to make it clearer and
to make sure the projects (like PX4) send them out correctly.
 2022-04-07 20:35:41 +02:00
Matthias Grob 92adc71424 ArmStateMachine: port over unit tests to functional gtests 2022-04-06 10:02:14 +02:00
Matthias Grob f968a5947d ArmStateMachine: port arming_state_names into the class 2022-04-06 10:02:14 +02:00
Matthias Grob 074080c816 Commander: separate out arm state machine to class 
Pure refactoring and just the first step to avoid conflicts on the way.
 2022-04-06 10:02:14 +02:00
Thomas Stastny e4b11c49c3 mathlib: add second order reference model filter with optional rate feedback (#19246) 
mathlib: add second order reference model filter with optional rate feedback (#19246)

Reference models can be used as filters which exhibit a particular, chosen (reference) dynamic behavior. This PR implements a simple second order transfer function which can be used as such a reference model, additionally with rate feedback. The system is parameterized by explicitly set natural frequency and damping ratio. Another nice externality is that the output state and rate are kinematically consistent. Forward-euler and bilinear transform discretizations for the state space integration step are available.
 2022-04-05 10:31:41 +02:00
Igor Misic 80aef942cd safety and safety button: refactoring #19413 2022-04-05 07:57:37 +02:00
Jacob Dahl 1f17a1470a uavcan: update safety button 
updated uavcannode/Publishers/SafetyButton.hpp
tested successfully
make format
revert cannode publishing
 2022-04-05 07:57:37 +02:00
Daniel Agar 8c3ba7adb4 commander: silence GPS no longer validity PX4_WARN 2022-04-04 14:43:11 -04:00
Alessandro Simovic 47b08fd698 precland: save flash space 2022-04-04 17:26:52 +02:00
Hovergames 457130fb69 Support for NXP UWB position sensor 
uwb_sr150 driver for the sensor, and some
modifications in precision landing to allow
landing on a platform using the UWB system.
 2022-04-04 17:26:52 +02:00
Matthias Grob dd28c3e019 battery: update average current also when no capacity is configured 2022-04-04 10:02:55 +02:00
Matthias Grob 13c3eae6d0 battery: use mechanism to keep an up to date armed state 2022-04-04 10:02:55 +02:00
Silvan Fuhrer 3f6ab5ea19 battery: improve flight time remaining improvements 
- introduce BAT_AVRG_CURRENT param that is used for init of average current estimate
- increase filtering of average current estimation
- only update average current filter when armed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-04-04 10:02:55 +02:00
Matthias Grob 3aee2497bb commander_params: add precision land option for mode switch 2022-03-30 18:11:44 +02:00
David Sidrane d6db06faf3 px_update_git_header:Extract latest release tag 2022-03-30 11:19:02 -04:00
Alex Mikhalev 9e57c5d217 tunes: Print warning if there is a tune error 2022-03-30 09:58:33 -04:00
Alex Mikhalev f6cda64f0d tunes: Fixed unspecified behaviour 
This fixes unspecified behaviour due to evaluation order of args.
It's up to the compiler whether next_number() or next_dots() is executed
first which means that the behaviour is not properly specified.
 2022-03-30 09:58:33 -04:00
Kabir MohammedandAlex Mikhalev d3b3de7159 mavlink: Use round instead of ceil on BATTERY_STATUS percentage 
Co-authored-by: Alex Mikhalev <alex@corvus-robotics.com>
 2022-03-30 09:49:11 -04:00
Matthias Grob 7cd57b4415 FlightTaskOrbit: alert user about exceeded radius (mavlink_log) 2022-03-29 18:46:37 +02:00
Matthias Grob 3e8d2fea94 FlightTaskOrbit: alert user about exceeded radius (events) 2022-03-29 18:46:37 +02:00
Matthias Grob 8ad44ee128 FlightModeManager: remove needless space at the end of invalid task error string 2022-03-29 18:46:37 +02:00
Matthias Grob 9bdde98a68 FlightModeManager: refactor flight task switch result condition for vehicle commands 2022-03-29 18:46:37 +02:00
Matthias Grob ffaef906c4 FlightModeManager: don't ack with result failed when parameters are invalid 
Command denied is defined as "supported but has invalid parameters"
which matches the case.
 2022-03-29 18:46:37 +02:00
Matthias Grob fc0be6c4fc FlightModeManager: switch to failsafe task if orbit is rejected 2022-03-29 18:46:37 +02:00
RomanBapst 18074dec5a simulator: fix conversion from hPa to Pa 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-29 17:41:54 +03:00
Daniel Agar 8a552fac78 uavcannode: publish RelPosHeading (from sensor_gnss_relative) 2022-03-29 07:59:41 +02:00
Daniel Agar 84e796c385 drives/gps: add new sensor_gnsss_relative msg 
- for ublox this corresponds to NAV_RELPOSNED
 2022-03-29 07:59:41 +02:00
Matthias Grob c7f114a26a FlightTaskOrbit: increase radius limit 2022-03-28 17:57:56 +02:00
Matthias Grob d0794c1189 FlightTaskOrbit: don't start Orbit if radius is not in range 2022-03-28 17:57:56 +02:00
Daniel Agar 0595efbd9b sensors/vehicle_magnetometer: publish sensors_status_mag and other minor updates to stay in sync with air data 2022-03-26 16:08:41 -04:00
Daniel Agar 0c31f63896 sensors: add baro calibration and cleanup 
- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting
 2022-03-26 16:08:41 -04:00
Daniel Agar bc26b73c07 px4io: only publish valid input_rc 2022-03-25 10:56:24 -04:00
Daniel Agar 3d08e031d2 rc_update: improve manual_switches simple protections 
- require back to back matching switch decode to match within 1 second
 - clear any previous manual switches if RC is unstable
 2022-03-25 10:56:24 -04:00
Daniel Agar 875a2cc423 commander: remove loop counters and update UI LED control to use monotonic time 2022-03-24 22:43:26 -04:00
Daniel Agar 879622547c commander: only process one vehicle_command/action_request per cycle 
- things like arming requests can be dependent on current nav state
that might requested by a previous command, but the state machine
transition will only happen after command processing
 2022-03-24 22:43:26 -04:00
Daniel Agar e528eb5dc4 commander: fix status flags usage (condition_global_position_valid->global_position_valid) 
- broken due to the merge timing of https://github.com/PX4/PX4-Autopilot/pull/19378 and https://github.com/PX4/PX4-Autopilot/pull/19351
 2022-03-24 09:40:15 -04:00
Jaeyoung-Lim 106044be38 Initialize global local projection for rovers 
This commit initializes the global and local projection for rovers
 2022-03-24 08:57:53 -04:00
Jonas PeroliniJonasMatthias Grob
 		e31304d7d5 Quadchute param update (#19351) 
New parameter for actions after a quadchute (COM_QC_ACT)

Co-authored-by: Jonas <jonas.perolini@rigi.tech>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-03-24 10:27:32 +01:00
Daniel Agar 6135bb384b cleanup module callback registration failed errors 2022-03-23 20:44:50 -04:00
Daniel Agar f4c3084c26 init adjustments to ensure used topics are advertised early (primarily for logging) 
- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
 2022-03-23 16:51:16 -04:00
Matthias Grob e6ed595651 Commander: make last_fail_time_us parameter a reference instead of pointer 2022-03-23 15:04:48 -04:00
Matthias Grob eee4aaee4f Commander: remove dynamic position velocity probation period 2022-03-23 15:04:48 -04:00
Thies Lennart Alff f1ec6ea026 make mavlink atttitude setpoints non-exlusive for offboard setpoints 2022-03-23 11:06:40 -04:00
Silvan Fuhrer a7ddaf08c4 vehicle_status_flags.msg: remove condition_ prefix to reduce message size 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-23 10:37:51 -04:00
Jaeyoung-Lim 194a281fae Project local coordinates for all fw landing states 2022-03-23 13:34:13 +01:00