9d9d8aeb4c
bugfix: wrong reset_counter used
2024-07-26 18:01:44 +02:00
5808dac4bc
reset position-mode line following after position reset
2024-07-26 18:01:44 +02:00
97561d7802
Commander: never allow to switch out of Terminate state with user intend
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-07-26 09:53:07 +02:00
ee8030de56
Commander: do not switch out of Terminte after disarm
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-07-26 09:53:07 +02:00
0b1eba948a
ekf2-flow: add param to force using internal gyro
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In some cases the vibration environment of the optical flow sensor is
worse than near the autopilot.
2024-07-25 19:54:19 -04:00
a07c986dbc
Params generated as markdown table ( #23443 )
2024-07-26 07:46:11 +10:00
85b6b0a406
ackermann: added delay comand support ( #23445 )
2024-07-25 17:13:30 +02:00
b76c1c97b3
ekf2: Optical flow enabled by default
2024-07-25 10:01:35 +02:00
fd72578e98
ekf2: avoid constraining parameters every iteration
2024-07-25 09:51:35 +02:00
ebcfb5348c
Navigator: increase stack by 40 bytes
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-07-25 09:22:23 +02:00
ab82c24e3e
systemcmds:Use CONFIG_BOARD_ROOT_PATH instead of string constant
2024-07-24 11:39:44 -04:00
54b20f1ff3
mavlink:Use CONFIG_BOARD_ROOT_PATH instead of string constant
2024-07-24 11:39:44 -04:00
ea92c7ffcc
lib:Use CONFIG_BOARD_ROOT_PATH instead of string constant
2024-07-24 11:39:44 -04:00
d0d9aaa6e9
drivers:Use CONFIG_BOARD_ROOT_PATH instead of string constant
2024-07-24 11:39:44 -04:00
a99cc0a20b
Remove unused kconfig symbol
2024-07-24 11:39:44 -04:00
46e43ec725
Decouple filepaths from rcS/MTD
2024-07-24 11:39:44 -04:00
79e0e00d8c
ekf2: block process noise increment without constraining the variance
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The wind variance can be reset to a value larger than the wind init
variance (e.g.: when the reset occurs when flying close to the N or E
axis). Constraining the variance after a covariance initialization would
artificially increase the correlation and could destabilize the filter.
2024-07-24 17:11:53 +02:00
39abd87949
set best sensor to -1 after last sensor fails ( #23425 )
2024-07-24 11:24:07 +02:00
36d89df0a7
Fix load monitoring inconsistency bug
2024-07-22 10:33:39 +02:00
9ff6c4bf28
remove newlines
2024-07-19 18:25:43 -04:00
85de0ff227
boards: move ARK fmu-v6x/pi6x to dedicated RC drivers
2024-07-19 15:42:05 -04:00
3a3f04c0f4
drivers/rc: new standalone ghst_rc driver
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- extracted from monolithic drivers/rc_input which will eventually be
dropped once all drivers migrated and boards updated
2024-07-19 15:42:05 -04:00
7a6c4f0bfa
drivers/rc: new standalone sbus_rc driver
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- extracted from monolithic drivers/rc_input which will eventually be
dropped once all drivers migrated and boards updated
2024-07-19 15:42:05 -04:00
561dceea7b
drivers/rc: new standalone dsm_rc driver
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- extracted from monolithic drivers/rc_input which will eventually be
dropped once all drivers migrated and boards updated
2024-07-19 15:42:05 -04:00
aa0dda7443
ackermann: fix naming conventions
2024-07-19 14:43:40 +02:00
f8bebd9e41
ackermann: implement pure pursuit lib
2024-07-19 14:43:40 +02:00
f2bca92221
Fix duplicate newlines at the end of files
2024-07-19 14:33:36 +02:00
7f14110bb1
Fix missing newlines at the end of files
2024-07-19 14:33:36 +02:00
1b9f1b78e5
Added support for resetting wind states to external observation ( #23277 )
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* added support for resetting wind states to external observation
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* moved wind related functions into separate file
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* added VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* correctly compute variances
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* ekf2: implement wind reset
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* only allow VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE during wind dead-reckoning
and increase horizontal velocity variance to allow velocity states to move
towards solution that is aligned with the newly set wind
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* only reset wind on ground
* still use wind reset using airspeed when it wasn't initialized
* exclude func for rover, change reset interface
* handle wind reset in drag-fusion
* replace state reset with variance reset in sideslip/drag fusion
* remove resetWind function
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com >
Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com >
2024-07-19 14:33:08 +02:00
ca9948a84d
msgs/EstimatorStatus.msg rename mag_test_ratio -> hdg_test_ratio
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- this is used for more than just mag
2024-07-18 16:39:18 +02:00
eac14b7db2
ekf2/commander: simplify navigation filter preflight checks
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- remove commander test ratio "tuning knobs" (COM_ARM_EKF_{HGT,POS,VEL,YAW})
- these are effectively redundant with the actual tuning (noise & gate)
in the estimator, plus most users have no idea why they'd be
adjusting these other than to silence an annoying preflight complaint
- remove ekf2 "PreFlightChecker" with hard coded innovation limits
- ekf2 preflight innovation flags are now simply if any active source
exceeds half the limit preflight
2024-07-18 16:39:18 +02:00
a42dc2165c
add pure pursuit library
2024-07-18 13:25:05 +02:00
08c790217d
battery: increase max value for battery thresholds
2024-07-18 09:46:58 +02:00
5083ec52ec
battery: migrate parameters in .c file to .yaml file
2024-07-18 09:46:58 +02:00
f8f8ddc101
ekf2: optical flow update last hor vel timestamp on success
2024-07-17 14:46:48 -04:00
691fdf713c
ekf2: airspeed update last hor vel timestamp if successfully updating all states
2024-07-17 14:46:48 -04:00
57c1ba545f
ekf2: fake_hgt don't use fuseVerticalPosition helper
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- fake_hgt shouldn't update _time_last_hgt_fuse
2024-07-17 14:46:48 -04:00
6fe0fa6d63
ekf2: fake_pos don't use fuseHorizontalPosition helper
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- fake_pos shouldn't update _time_last_hor_pos_fuse
2024-07-17 14:46:48 -04:00
c5c27a87f1
ekf2: track last terrain fuse time and update logic
2024-07-17 10:16:32 -04:00
8c4620b77e
battery: simplify battery scale calculation ( #23417 )
2024-07-17 12:22:52 +02:00
81575049df
ekf2: reword EKF2_GPS_CHECK param
2024-07-16 10:15:19 -04:00
f832ae688d
ekf2: require valid filter vz for GPS vspeed check
2024-07-16 10:15:19 -04:00
20c0d3a096
ekf2: enable all GNSS checks by default
2024-07-16 10:15:19 -04:00
b48aca10a0
mc_position_control: avoid calculating arw if not needed
2024-07-16 13:30:40 +02:00
397ff4a102
ekf2: sideslip symforce increase epsilon to avoid 1/e^2 numerical issues
2024-07-16 11:10:58 +02:00
13b62a74d6
ekf2: optical flow adjust jacobian epsilon to avoid numerical issues
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- in the generated code there's a 1 / eps^2 term if the height and
terrain estimates are the same
2024-07-16 11:10:58 +02:00
aa8a9e3a06
laser scan subscription optional
2024-07-16 11:07:03 +02:00
fe5a07a96d
gz: added x500_lidar model for publishing obstacle_distance
2024-07-16 11:07:03 +02:00
48f1687d3a
ekf2: cleanup legacy EKF solution_status_flags
2024-07-16 10:11:27 +02:00
1cd7d54170
ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GPS->GNSS)
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2024-07-15 12:50:51 -04:00
Marco Hauswirth