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Author SHA1 Message Date
Mahima YogaandSilvan Fuhrer 5d26d7126a feat(fw-launch-detection): use acceleration magnitude instead of body-forward (#26857) 
* feat(fw-launch-detection): use acceleration magnitude for launch detection

* docs: update takeoff docs

---------

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2026-03-24 16:14:42 +01:00
mahima-yoga 596bb23bb9 docs(commander): add docs around COM_ARM_ON_BOOT functionality 2026-03-24 15:01:15 +00:00
mahima-yoga 873ee61d57 commander: enable arming on boot 2026-03-24 15:01:15 +00:00
mahima-yoga 4e59a060a8 HomePosition: only set home position using GNSS if bit 0 in EKF2_GPS_CTRL is active 
If the vehicle position is not set by GNSS, then the home position should not be either.
 2026-01-30 11:20:34 +01:00
mahima-yoga 25de111a4a FWModeManager: improve fixed-wing landing flare stability 
- Ramp pitch_min and pitch_max from current pitch to flare minimum
- Ramp throttle from current setpoint to idle
 2026-01-19 17:58:20 +01:00
mahima-yoga 9169f9cd44 Revert "FWModeManger: remove throttle spike during flaring by waiting with height rate change" 
This reverts commit 259e7d1d53.
 2026-01-19 17:58:20 +01:00
mahima-yoga 95b8328162 FixedWingLandDetector: force to landed during runway takeoff 2026-01-14 17:01:11 +01:00
mahima-yoga 6de6abfb64 RunwayTakeoff: add the RunwayTakeoffState to the FixedWingRunwayControl.msg 2026-01-14 17:01:11 +01:00
mahima-yoga 7c318a3296 MulticopterPositionControl: prevent velocity integrator filling up from stale acceleration setpoints 
When position control is disabled, clear the setpoint properly to prevent stale values. This fixes a bug where switching to position mode in the same control loop as a hover thrust estimate update could fill up the velocity integrator.
 2026-01-08 11:16:52 +01:00
mahima-yoga c962c6a2c1 docs: update airspeed scale docs to include accelerated learning when ASPD_SCALE_n=1 2025-12-05 16:26:11 +01:00
mahima-yoga 18477554e0 wind-estimator: learn airspeed scale faster at beginning of flight 
Multiply TAS scale process noise by 100 during the first 5 minutes
when ASPD_SCALE_n = 1.0 (default), enabling faster convergence on first flights.
 2025-12-05 16:26:11 +01:00
Mahima Yoga bcd67b7bad ekf: enable constant position fusion during engine warm-up (#26041) 
In cold weather, fuel engines need to be warmed up. Currently, this is done by switching to stabilized mode and throttle up. The issue is that when not using GNSS data, the vehicle is not detected as "at rest" due to vibrations and cannot switch into auto/takeoff modes.

If EKF2_ENGINE_WRM is enabled, and if the vehicle is armed and landed, constant position fusion is enabled.
 2025-12-05 15:08:37 +01:00
mahima-yoga fcddea4410 v6s: remove rover to free up flash 2025-12-05 14:03:10 +01:00
mahima-yoga ca83b8330d autotune: enable autotune in mission mode 
When operating fully autonomously (i.e., without manual control or a guaranteed link to the ground station), tuning a vehicle can be difficult since the current autotune process requires either RC input or a GCS command. For these scenarios, it it useful to be able to start autotune inside a mission.
 2025-12-05 14:03:10 +01:00
mahima-yoga 0985c22701 [fix] autotune: fix indentation on _state_start_time in abort logic 2025-11-28 09:31:37 +01:00
Mahima YogaHamish WilleeSilvan Fuhrer
 		8e8fd485b9 docs: add "first flight" docs for airspeed scale handling (#25987) 
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2025-11-27 10:51:54 +01:00
mahima-yoga 7bb12b15b5 fw_att_ctrl: zero initialize all member variables 2025-11-25 21:19:36 -09:00
Mahima Yoga a8c5df90ce fw-ctrl: advertise attitude_sp_pub in attitude and FwLateralLongitudinal controller (#25983) 2025-11-25 21:25:43 +01:00
mahima-yoga 73ee098a25 fw_autotune: continue to next axis in case of convergence timeout 2025-10-28 13:16:40 +01:00
mahima-yoga 482683d156 fw-autotune: update docs 2025-10-24 17:38:54 +02:00
mahima-yoga 97c16352a5 fw-autotune: increase abort timeout to 30 seconds 
Avoids abort on heavily undertuned systems during amplitude detection state
 2025-10-24 17:38:54 +02:00
mahima-yoga fe35f1a34b fw-autotune: run state machine at 50Hz 2025-10-24 17:38:54 +02:00
mahima-yoga 7323075527 fw-autotune: use 0.75*rate_limit as the target rate. 2025-10-24 17:38:54 +02:00
mahima-yoga 056289892c fw_defaults: bump default EKF2_REQ_PDOP to 4 2025-10-20 08:54:55 +02:00
Mahima Yoga 96904636f3 commander: prevent setting nav_state to takeoff after disarming (#25735) 
* commander: prevent setting nav_state after disarming to takeoff

* wrap in function
 2025-10-10 09:59:26 -08:00
mahima-yoga be29f647cb logging: log sensor_baro with add_topic_multi 
Ensures external barometers (e.g., over UAVCAN) are also logged.
 2025-10-06 10:19:01 +02:00
mahima-yoga 86f2fdfd7d docs: add description to AutotuneAttitudeControlStatus.msg 2025-10-02 15:17:40 +02:00
mahima-yoga 519e3f60af docs: update fixed-wing autotune docs 2025-10-02 15:17:40 +02:00
mahima-yoga 614e15d5f4 fw-autotune: detect and limit amplitude of ID maneuver 
Increases signal ampltiude on a 1Hz sin input until a target rate (R/P/Y = 0.8/0.5/0.5 rad/s) is reached. Identification signal is then scaled with this ampltitude instead of the user-defined parameter.
 2025-10-02 15:17:40 +02:00
mahima-yoga a9720cf1ef FixedWingModeManager: use Sticks library 2025-09-18 15:50:10 +02:00
mahima-yoga a514289a68 Move Stick class into a globally available library 2025-09-18 15:50:10 +02:00
mahima-yoga db3f33760e docs: add instructions for controlling actuators in SIH 2025-08-25 09:28:43 +02:00
mahima-yoga dd09cdf986 Commander: remove HIL_STATE_ON from arming lockdown 
Removing this from the boolean allows users to send pwm values in SIH.
 2025-08-25 09:28:43 +02:00
mahima-yoga 204539015a docs: Shrink images 2025-08-06 11:34:29 +02:00
mahima-yoga a55f3afc14 docs: Clarify difference between Wind.msg and AirspeedWind.msg 2025-08-06 11:34:29 +02:00
mahima-yoga ecceb403a0 docs: Clarify bit 0 handling in ASPD_DO_CHECKS 2025-08-06 11:34:29 +02:00
mahima-yoga 19f22416fd docs: Add documentation & examples around airspeed validation 2025-08-06 11:34:29 +02:00
Mahima YogaandJacob Dahl a7e01b18d8 MC PositionControl: Add timeout for invalid TrajectorySetpoint (#25283) 
* MulticopterPositionControl: Add timeout before triggering emergency setpoint on invalid TrajectorySetpoint

* Apply suggestions from code review

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

* Cleanup & address review comments

* Safegaurd against using old setpoint if states aren't valid anymore

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2025-07-30 17:18:34 +02:00
mahima-yoga e4ffed099c msg: add Wind.msg to versioned messages 
Was added as a default DDS topic recently.
 2025-07-29 11:54:04 +02:00
mahima-yoga f66192326c commander: only clear hold delay when failsafes are being deferred 2025-07-28 09:48:34 +02:00
mahima-yoga a5f92a4615 docs: clarify RC termination switch behavior 2025-07-23 11:13:11 +02:00
mahima-yoga 1e4d7429e1 mavlink_mission: improve mission_state handling with mission_result validity check 2025-07-21 10:18:23 +02:00
mahima-yoga 3c79f25e10 fmu-v6s: disable analog battery monitoring when digital power module is enabled 2025-07-18 16:42:54 +02:00
mahima-yoga db85e12b9f battery-monitoring: allow disabling analog battery monitoring through BAT{i}_V_CHANNEL param 2025-07-18 16:42:54 +02:00
mahima-yoga 5125059b8f fmu-v6s: add ina226/ina228/ina238 support 2025-07-18 16:42:54 +02:00
mahima-yoga 4896099232 dds: rate_limit /fmu/out/wind to 1Hz 2025-07-14 16:12:00 +02:00
mahima-yoga fcbe017221 dds: add Wind topic to dds bridge 2025-07-14 16:12:00 +02:00
mahima-yoga 6daec07bbe fix: RTL during mission after a landing 
For delivery use-case, the mission contains a land item followed by other mission items. For the
section after the land, the current sequence number is greater than the land start index. If an RTL
is triggered, then isLanding returns true and the vehicle continues with the mission instead of
executing the RTL.

The land index marks the actual landing. So, is landing should only be true for the items between
land_start_index and land_index. If there are items after the land index, then they don't belong
to the landing anymore.
 2025-07-11 09:10:43 +02:00
mahima-yoga fbddf9655b (fix) mavlink_mission: keep mission active when vehicle disarms mid-mission. 2025-07-10 15:17:26 +02:00
mahima-yoga 1e84c2de6b (fix) mavlink_mission: avoid double-checking MissionResult by using SubscriptionData 
code was checking for an updated MissionResult twice in a row, leading to _mission_state
not being set correctly when the second check had no new message.

Switched to SubscriptionData to safely retrieve the latest message using .get().
 2025-07-10 15:17:26 +02:00
mahima-yoga ee953640ee MAVSDK: bump version to 3.7.0 2025-07-09 07:43:20 +12:00
mahima-yoga 8c5dcbea12 mission: add RTL to is_mission_item_reached_or_completed() 
This ensures that a mission is marked as completed when RTL is the last item or that the mission can continue if there is an intermediate RTL.
 2025-06-30 09:20:44 -07:00
Mahima Yoga c9658f28e9 commander: use existing class state to track mission progress (#24947) 
Replaced the local variable landed_amid_mission with the class member _mission_in_progress for consistency and to reduce redundancy.
No functional change.
 2025-06-09 18:17:13 -08:00
Mahima Yoga 2110da73ad Commander: don't reset Home position if landed during a (uncompleted) mission. (#24902) 2025-06-02 10:50:03 +02:00
mahima-yoga 029e0a7740 DOCS: add OdometryAirspeed docs 2025-05-28 15:47:50 +02:00
mahima-yoga 255216e471 DOCS: VTOL API documentation in px4-ros2-interface-lib 2025-05-28 15:47:50 +02:00
mahima-yoga 418b653160 DOCS: add FwLateralLongitudinalSetpointType documentation in px4-ros2-interface-lib 2025-05-28 15:47:50 +02:00
Mahima Yoga 4abe2d1dab Navigator: allow executing a disarm command during a mission 2025-05-27 13:26:30 +02:00
mahima-yoga 8a5e5a411a msgs: Clean up message definitions and descriptions 
- Add versioning to interfacing messages
- Add header description
- Add units, frame and range wherever possible
- Add [norm] and @range indentifiers
 2025-05-26 14:47:38 +02:00
mahima-yoga 817b0191e7 NPFG: add unit tests and add back feasible bearing check back 2025-05-26 14:47:38 +02:00
mahima-yoga fa168c4d4f address review comments 2025-05-21 16:08:27 +02:00
mahima-yoga d44991f33a batteryCheck: change log level to 'warning' for low and critical battery. 2025-05-21 16:08:27 +02:00
mahima-yoga 0b3b5d9450 framework: only log "Failsafe activated" when failsafe action =! Warn. 2025-05-21 16:08:27 +02:00