ad28c5893b
flight_mode_manager: invalidate dist to bottom/ground on terrain reset
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- this allows the terrain hold to simply reset on the next valid update
rather than trying to adjust the setpoints
2024-10-04 11:28:03 -04:00
34ee097f02
ekf2: tighten terrain validity requirements
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- require valid fusion from a range finder or optical flow before
considering terrain valid again
2024-10-04 10:31:20 +02:00
5b85859bfe
Update submodule libevents to latest Wed Oct 2 12:39:22 UTC 2024
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- libevents in PX4/Firmware (c4ab09d088798a97b80f2cb834b2345e26d485ea): https://github.com/mavlink/libevents/commit/9474657606d13301d426e044450c4f84de2221be
- libevents current upstream: https://github.com/mavlink/libevents/commit/7c1720749dfe555ec2e71d5f9f753e6ac1244e1c
- Changes: https://github.com/mavlink/libevents/compare/9474657606d13301d426e044450c4f84de2221be...7c1720749dfe555ec2e71d5f9f753e6ac1244e1c
7c17207 2024-08-21 Beat Küng - remove nlohmann json submodule and add header directly instead
ce60064 2024-08-16 Jonas Vautherin - Fix cmake_minimum_required
2024-10-02 15:09:53 -04:00
51702efe94
boards: update all NuttX defconfigs
2024-10-02 15:08:38 -04:00
98e2aaf5f0
Update submodule iq-module-communication-cpp to latest Wed Oct 2 12:39:13 UTC 2024
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- iq-module-communication-cpp in PX4/Firmware (6c9c62f70c4c1b8e5b9703efc96919856465e65e): https://github.com/PX4/iq-module-communication-cpp/commit/a9b700d50bdd06a837c74750ac3c4760937333df
- iq-module-communication-cpp current upstream: https://github.com/PX4/iq-module-communication-cpp/commit/c488af4e8807de80739aa48efd2ea51614dd8195
- Changes: https://github.com/PX4/iq-module-communication-cpp/compare/a9b700d50bdd06a837c74750ac3c4760937333df...c488af4e8807de80739aa48efd2ea51614dd8195
c488af4 2024-08-13 Ben Quan - Merged in development (pull request #22 )
0e9f7cd 2024-08-06 Fred Kummer - Merged in feature/add-led-support (pull request #21 )
acf5be0 2024-08-05 Fred Kummer - Fix indent
c5ef8d9 2024-08-05 Fred Kummer - Fix green blue order
64d0654 2024-08-05 Fred Kummer - Fix indentation
833cef7 2024-08-05 Fred Kummer - Add led support headers
2024-10-02 15:08:20 -04:00
6119b08ef4
mpc: reset integrators when controllers are not used
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Starting with a non-zero integrator could appear as a strong disturbance
when engaging position mode.
2024-10-02 10:47:25 -04:00
dbf51da99e
ekf2: rework amsl to ellipsoid altitude conversion
2024-10-01 10:40:18 -04:00
5bfa6b3359
ekf2: remove redundant ned_origin_initialised flag
2024-10-01 10:37:20 -04:00
fe40ccd193
EKF2: publish wind after external wind init ( #23747 )
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* publish wind after external wind init
* move ext-wind-init to estimator-interface
* Update src/modules/ekf2/EKF/estimator_interface.h
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
* Update src/modules/ekf2/EKF/estimator_interface.h
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
---------
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2024-10-01 14:33:30 +02:00
8aec2d7c9f
GPS: add velocity fields to Unicore
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It looks like vertical velocity as well as velocity accuracy are not
available using NMEA, so we extract all velocities from the Unicore
ACRICA message instead.
2024-10-01 13:47:06 +13:00
4e359f9552
set file descriptor to -1 after close() ( #23751 )
2024-09-30 13:22:46 -06:00
602042dd5c
failure detector use per index esc current
2024-09-30 10:11:34 +02:00
332b7bec27
commander: ignore REQUEST_CAMERA_INFORMATION
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- add answer command logging
2024-09-27 10:33:37 -07:00
8fdf0931e5
Commander framework: only warn and do not re-start RTL if already in RTL
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-27 14:25:27 +02:00
224aef142c
Retry logic in uxrce_dds_client startup ( #23723 )
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* Added retries if uxrce_dds_client fails during setup
* Break timesync endless loop in case of agent reset
* ORB unsubscribe, to avoid too many open fails with multiple reconnects & format
* Added review feedback
2024-09-26 17:43:49 +02:00
0e65679c9e
Mecanum rover: add dedicated module for mecanum rovers ( #23708 )
2024-09-25 09:35:41 +02:00
06dfc4b782
drivers/actuators: new vertiq_io driver ( #22892 )
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* brought in the Vertiq Cpp API as a submodule. updated the serial rx handling so that we can parse out IQUART data packets
---------
Co-authored-by: Luca Scheuer <scheuer.luca@gmail.com >
2024-09-24 11:44:35 -04:00
5ffe9c6de4
drivers/gnss/septentrio: disable default assignment of GPS1
2024-09-24 11:24:34 -04:00
35efe44a6b
ekf2: fusion always succeeds, do not return boolean
2024-09-24 10:48:14 -04:00
23f343aa3a
ekf2-rng: consider height covariance for terrain reset to range
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Range does not provide a direct terrain observation but a measurement
relative to the height state. Correlation between height and terrain
must be set properly.
2024-09-24 10:18:25 -04:00
d269ddfb49
sensors/vehicle_air_data: fix air data publication rate ( #23717 )
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Co-authored-by: Nicolas Martin <n.martin@elistair.com >
2024-09-24 09:49:47 -04:00
454ded1b25
EKF2: ev-vel refactoring ( #23577 )
2024-09-24 14:09:11 +02:00
21a2350eca
version: Change this IF statement to a SWITCH statement
2024-09-24 10:27:12 +02:00
f60bb2c6bc
rtl_direct: skip loiter altitude items for multicopter without RTL land delay ( #23689 )
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This was already done before the refactor and was assumed to not be necessary.
The problem is that these mission items result in a strang looking vertical slow down directly followed
by an acceleration during the landing phase.
2024-09-23 18:33:03 +02:00
8afd267509
move more ekf function implementations to cpp
2024-09-23 12:18:41 -04:00
e3f138862a
move implementation of updateAidSrcStatus to cpp file, saves flash
2024-09-23 12:18:41 -04:00
b41811b145
SF45 fixes to restart the state machine if sensor does not init correctly ( #23565 )
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* fixes to restart the state machine if sensor does not init correctly
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
* fixes
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
* increase fail count
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
* remove extra flush, switch from warn to debug, add enum states for sensor bring-up
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
* remove dead code, decrease restart fail count metric, break out of loop with consec errors if over the fail count and not init
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
---------
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
2024-09-23 16:35:35 +02:00
15ddd94349
ekf2: move implementation to ekf_helper to reduce flash usage
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saves about 4.8kB of flash on FMUv5
2024-09-23 10:27:42 -04:00
c20c1f09a6
RTL_DIRECT: explicitely set force heading in loiter hold if needed
2024-09-23 11:02:02 +02:00
02e50bb5dc
rtl_direct: loiter hold should track altitude as best effort but not enforce it
2024-09-23 11:02:02 +02:00
dff775a0a7
Implemented AUAV absolute/differential pressure sensor support ( #23656 )
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* Added AUAV absolute pressure sensing
* Moved func to abstract base class
* Probe and params
* Fixed arg parsing and added auto start
* refactorings
* Added sample perf
* Fixed CI findings
* Simplified rc.sensors condition
2024-09-20 16:40:45 +02:00
2ecffff700
fw_tecs: Support tighter altitude tracking during low-height flight ( #23519 )
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* fw_tecs: Support tighter altitude tracking during low-height flight. Added FW_T_THR_LOW_HGT defining low-height flight threshold
* tecs: Applied smoothed-out altitude TC transition to landings
* fw_tecs: modified tighter altitude control for low-height implementation
* addressed PR comments
* addressed PR comments
---------
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-19 16:24:53 +03:00
4d83badba1
fix files tags on the header comments ( #23564 )
2024-09-19 09:25:18 +03:00
d01a3d8f04
Fix duplicate entry in gz_worlds list ( #23691 )
2024-09-18 16:36:48 -08:00
555b2e6abc
BatteryStatus: Clarify "incompatible voltage" error message
2024-09-18 17:18:02 +02:00
ab41927bbd
SIM: GZ: Added mono_cam_down and aruco world ( #23687 )
2024-09-18 15:16:27 +02:00
5d2e7c8748
Misc: Matrix: Added Addition and Subtraction to Slices ( #23679 )
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* Added Addition and Subtraction to Slices
* MatrixSliceTest: refactor Addition/Substraction checks
* Slice: replace operations returning a Matrix with calling the existing Matrix function
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2024-09-18 11:17:37 +02:00
8aece9bff2
differential: fix CI issue
2024-09-17 09:34:51 -07:00
2fd4150b38
differential: Add stabilized and position mode ( #23669 )
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* differential: add position and stabilized mode
* differential: add hardcoded stick input deadzones
2024-09-16 12:09:51 +02:00
81747f35bb
rover: add descend navigation state to land detection
2024-09-16 09:36:38 +02:00
82a7d0410c
DistanceSensorModeChangeRequest: renaming of variable
2024-09-16 09:11:23 +02:00
aab2390e51
navigator: publish distance sensor mode change request when in RTL landing phase or during mission landing
2024-09-16 09:11:23 +02:00
1755b8304e
RTL direct: Make sure the _rtl_state captures the current status and not the next one
2024-09-16 09:11:23 +02:00
e6f07bde2a
lightware_laser: add option to listen to system to enable/disable distance sensor
2024-09-16 09:11:23 +02:00
878c8bfcce
SIH: fix airspeed for tailsitter
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-09-13 15:53:52 +03:00
4713a6737e
TECS: ramp up fast descend over 2_s to ramp down the throttle command
2024-09-13 14:04:39 +02:00
585c92796d
mission_base: do not make terrain avoidance check when mission is not run anymore
2024-09-13 13:59:24 +02:00
4ba4b340cc
Reduce the orbit jerk by using a slew rate
2024-09-13 10:28:42 +02:00
22c2878cf8
send acknowledgement after receiving vehicle wind cmd
2024-09-12 09:34:08 +02:00
741ea6b707
differential: add individual parameters for speed and yaw rate feedforward
2024-09-11 13:57:27 +02:00
Daniel Agar