96a81c22e3
GotoControl: simplify configuration wrapping
2023-11-30 17:16:02 +01:00
439d6c61e0
Revise GotoControl
2023-11-30 17:16:02 +01:00
14b8afe972
PositionSmoothingTest: remove duplicate vector comparison
2023-11-30 17:16:02 +01:00
591845bb41
HeadingSmoothing: rename, simplify, add cpp
2023-11-30 17:16:02 +01:00
be05b3e8d7
helper_functions: include defines for M_PI_PRECISE
...
The defintion of the custom symbol M_PI_PRECISE
was not included in one of the only places it's used.
Looks like a mistake that happened in
34c852255e
2023-11-30 17:16:02 +01:00
efb325d25d
motion_planning: remove deprecated separate test
...
It's functionality probably broke already in
befbb6b106c4c04933222ecb205f001fd77fa85f
and the tests are now covered by
VelocitySmoothingTest.cpp
2023-11-30 17:16:02 +01:00
53076b9863
PositionSmoothing: guard division by zero
...
Note that the unit test also passes without
thechange. But the VelocitySmoothing's
local_time would get NAN. This would leads to
wrong trajectory calculations.
2023-11-30 17:16:02 +01:00
11cca72ef1
VelocitySmoothing: fix division by zero cases
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Problem: Zero maximum jerk and/or zero
direction would lead to divisions by zero in
various cases depending on the exact configuration and code path.
Solution: There was already one check for the
direction being zero in one path and I
summarized to check in both
updateDurations...() functions the product
of direction * max_jerk to not be zero
because that's exactly the value calculations
devide by.
2023-11-30 17:16:02 +01:00
6f295d91d1
Revert "motion_planning: sanitize inputs to position and velocity smoothing libs"
...
This reverts commit 2951c846ee07e52c2e3d97ea4629185016f3a011.
2023-11-30 17:16:02 +01:00
4b920a6628
GotoControl: add go-to control interface to mc position controller
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goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
2023-11-30 17:16:02 +01:00
e47aba8bc9
msg: add go-to setpoint interface
2023-11-30 17:16:02 +01:00
72a811a4b3
motion_planning: add heading smoother lib
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wraps the velocity smoother, but is intended for generating smooth heading trajectories
handles angle wrap
2023-11-30 17:16:02 +01:00
80dd7e4806
motion_planning: sanitize inputs to position and velocity smoothing libs
2023-11-30 17:16:02 +01:00
9d465615d1
src/drivers/sw_crypto: Fix buffer lengths for xchacha20 crypto
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The size input argument for monocypher crypto_xchacha20_ctr should be the
plaintext message length.
The promise of the interface is, that the call to encrypt_data updates the
ciphertext message length after the call succeeds.
The crypto should check that the output buffer length (cipher length) is
large enough to contain the encrypted data.
Fix these issues; these have gone unnoticed for a long time since the interface
has been only used by logger, and passing the same size for both in and out.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2023-11-29 20:56:00 -05:00
c2345ac5b3
Update world_magnetic_model to latest Wed Nov 29 11:14:09 UTC 2023
2023-11-29 20:55:05 -05:00
33a3e568bb
boards: update all NuttX defconfigs
2023-11-29 20:54:34 -05:00
e627fe01dc
UXRCE_DDS_SYNCC default 0
2023-11-29 20:53:01 -05:00
42ce9eb692
mavlink_mission: Send MISSION_CURRENT periodically even when no mission is loaded.
2023-11-29 11:10:40 -05:00
36f0c0f0bf
mavlink-mission: Add support for opaque ids and replace update counter with it
2023-11-29 11:10:40 -05:00
120e7fea8b
mavlink: update submodule including opaque ID
2023-11-29 11:10:40 -05:00
f00d97d974
removal of PX4_GZ_MODEL env variable and fix of ground glitching ( #22400 )
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Removal of PX4_GZ_MODEL env variable and fix of ground glitching
Signed-off-by: frederik <frederik@auterion.com >
Co-authored-by: frederik <frederik@auterion.com >
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-29 09:08:04 +00:00
59abab8379
sensors: add parameter to silence imu clipping
2023-11-28 11:57:14 -05:00
a9213e3862
Update world_magnetic_model to latest Tue Nov 28 11:14:14 UTC 2023
...
Co-authored-by: PX4 BuildBot <bot@px4.io >
2023-11-28 11:04:02 -05:00
befbc19a4a
Roboclaw: Updated parameter prefix for roboclaw output module
2023-11-28 16:30:17 +01:00
c84185af96
Roboclaw: Fixed issue where parameters had different prefixes
2023-11-28 16:30:17 +01:00
9ce090f2da
Roboclaw: Fix CI pr issue
2023-11-28 16:30:17 +01:00
7c45093908
Roboclaw: Updated yaml file to support Roboclaw Driver in QGC
2023-11-28 16:30:17 +01:00
de9074558b
Roboclaw: Updated Airframe and fixed left and right mapping error
2023-11-28 16:30:17 +01:00
09d30568ab
Roboclaw: Consistent Left & Right naming convertion with Differential Drive class
2023-11-28 16:30:17 +01:00
f53edfa440
Roboclaw: major cleanup
2023-11-28 16:30:17 +01:00
c27181a154
Rename RoboClaw -> Roboclaw
...
The manufacturer uses both naming schemes, RoboClaw more than Roboclaw
but it's always one word and hence I think it's more consistent to name
it the latter.
2023-11-28 16:30:17 +01:00
87683aa790
Roboclaw: move parameters to module.yaml
2023-11-28 16:30:17 +01:00
8f4ce28e84
RoboClaw: declutter, make it compile again
2023-11-28 16:30:17 +01:00
5b4031356e
RoboClaw: fix style
2023-11-28 16:30:17 +01:00
9409646a89
Update RoverPositionControl.cpp
2023-11-28 16:30:17 +01:00
a40120c332
Roboclaw: Integrated OutputModuleInterface including a large code refactor
2023-11-28 16:30:17 +01:00
86e5561a64
Roboclaw: Fixed issue when power cylcing the roboclaw where the driver would not connect
2023-11-28 16:30:17 +01:00
524fa73ad3
Roboclaw: rough refactor, removed repetitive code, simplified and clarified logic and error handeling
2023-11-28 16:30:17 +01:00
dde7bbb4f6
Roboclaw: Initial cleanup, next commit will be refactor removing the duplicated write and read functions
2023-11-28 16:30:17 +01:00
fe4d319ba9
Roboclaw: Replaced setDutyCycle with setMotorSpeed to allow for encoder data to get through (added support for encoders)
2023-11-28 16:30:17 +01:00
c7e780cb6d
Roboclaw: Working temporary version that drives around
2023-11-28 16:30:17 +01:00
184993daa3
Roboclaw: Added DutyCycle command in Roboclaw destructor to turn off motors
2023-11-28 16:30:17 +01:00
a857df88e4
Driving possible
2023-11-28 16:30:17 +01:00
ab486de430
Roboclaw: Temporary fix, enabling driver to run
2023-11-28 16:30:17 +01:00
549c6b565c
ported roboclaw driver from older commits into newest develop branch
2023-11-28 16:30:17 +01:00
8a68a66203
figureEight: Rename relative position variable
2023-11-28 10:06:01 +01:00
1e06ed2ed5
figureEight: Rework initialization
2023-11-28 10:06:01 +01:00
a73409c015
FigureEight: Refactor initialization
2023-11-28 10:06:01 +01:00
2363c03bfe
[uxrce_dds_client] wait for Timesync to converge
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-27 21:10:26 -05:00
f01400de81
[uxrce_dds_client] Fix debug string format - use PRId64 and llabs
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-27 21:10:26 -05:00
Matthias Grob