9027dc146e
feat: add 6 DoF trajectory setpoints message
...
* feat: add attitude to trajectory setpoints
* feat: proposed new trajectory message for fully actuated vehicles
* fix: moved to unversioned and changed naming scheme
* feat: added space between translation and attitude control
* fix: change cmakelists
2025-04-15 10:24:03 +02:00
ca76d287d4
rover: add rover-specific position setpoint
2025-04-08 12:27:11 +02:00
9fe98b0724
ackermann: seperate velocity control
2025-04-08 12:27:11 +02:00
69b7a21f02
AirspeedValidated: add VERSION ( #24620 )
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-28 12:15:00 +01:00
2aaa54037c
ekf2: split gnss pos/vel flags
...
They can be selected independently in the control parameter, so there is
no reason why they should share the same flag.
2025-03-11 14:14:40 +01:00
d1b0be18b2
pure_pursuit: update library
2025-03-10 11:14:00 +01:00
a127a8293a
VehicleStatus.msg: make clear that vehicle_status should refer to current locomotion method
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-04 12:15:01 +00:00
7cb6464cfb
VehicleStatus.msg: remove VEHICLE_TYPE_UNKNOWN
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-04 12:15:01 +00:00
49a84f38a2
VehicleStatus.msg: remove unused VEHICLE_TYPE_AIRSHIP
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-04 12:15:01 +00:00
b5f37c9fa6
Simplify Battery-related Enum Naming ( #24265 )
...
* Simplify battery-related enum naming
* Fix mistakenly removed string in enum names
* Fix missing renamings
* Update outdated file
* msg: Increase battery_status version since the enum naming was changed
* Revert message version increase
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2025-02-28 11:42:40 -09:00
5fb810a5ea
voxl_esc: Added Mavlink tunnel UART pass-through mechanism
2025-02-26 18:04:34 -05:00
7c63468e8b
mecanum: refactor code architecture
2025-02-25 17:06:17 +01:00
d602b569b1
msg: fix comments in SensorOpticalFlow and VehicleOpticalFlow ( #24337 )
2025-02-25 14:04:52 +01:00
98ceb0ce79
voxl_esc: Added GPIO control feature
...
voxl_esc: Removed obsolete modal_io_data UORB topic
2025-02-19 11:00:15 -05:00
04a3c4af20
Differential Rover: Refactor and clean up, align with Ackermann rover( #24318 )
...
* differential: refactor code architecture
* Offboard fix
* fix accel/decel slew rate
2025-02-18 18:26:38 +01:00
3c129aefa1
Add IC engine control module ( #24055 )
...
Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Pernilla <pernilla@auterion.com >
2025-02-18 17:15:32 +01:00
412d4390a6
MC Slowmode: Yawstick for gimbal control, vehicle yaw follows gimbal ( #24242 )
...
* Yawsticks on gimbal, vehicle follows gimbal in slowmode, once vehicle has taken off
* Increase queue length to avoid automatically unadvertise queued publications with queue length 1
* Improve readability
---------
Co-authored-by: Pernilla <pernilla@auterion.com >
2025-02-18 14:38:11 +01:00
3be8b680f6
msg_translation: Add vehicle_status_v1 translation
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
662c66e546
VehicleStatus: bump VERSION to 1 after removal of avoidance_system_required
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
3119510f25
Remove health_component::avoidance
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
0b370ab5d3
Remove obstacle avoidance MAVLink Heartbeat check
2025-02-18 14:33:16 +01:00
b916a96e00
Remove uorb topics exclusively used for avoidance
...
- TrajectoryBezier.msg
- TrajectoryWaypoint.msg
- VehicleTrajectoryBezier.msg
- VehicleTrajectoryWaypoint.msg
Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream.
Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
b34a5eb6f7
PositionControllerStatus: remove unused fields
...
Remove yaw_acceptance and altitude_acceptance_radius fields as they were only
filled by now removed avoidance controller.
Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
1f2dba68d2
remove avoidance library and logic
...
Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
d2cbe10243
Clean up temperature msg fields ( #24272 )
...
* remove temp field from airspeed.msg, adjust temp selection
* temp-sensor hirarchy: airspeed, ext. baro, default value
* directly use diff-press or baro temp in true-airspeed calc
* improve clarity
* add enum for temperature source in VehicleAirData.msg
2025-02-18 13:23:10 +01:00
f6bfa9812e
msg: add message translation node for ROS
2025-02-11 13:19:25 +01:00
55f51d7e7e
ackermann: refactor code architecture
2025-02-10 15:54:24 +01:00
4df65c133e
add cs_baro_fault to switch to fallback baro if available ( #24260 )
2025-01-28 10:37:16 +01:00
c76e74338b
ekf-replay: fix airspeed replay
...
If available, the EKF uses airspeed_validated, not airspeed
2025-01-26 23:05:39 -05:00
c7e494b8d9
VehicleImu: use 32 bit integer for dt
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-01-21 16:48:33 +03:00
4a5aa1e947
Fix max-hagl restriction to position/altitude control ( #23667 )
...
* fix max-hagl restriction to position/altitude control
* max hagl vel restriction in ManAcc position mode
* use interpolate func, change naming
* simplyfied vertical vel limitation
* move velocity-constraint adjustment to StickAccelXY
2025-01-20 15:50:21 +01:00
bc92008885
RpmControl: Better consider the case where there's no rpm measurement (anymore)
2025-01-14 14:55:34 +01:00
ddd410e9d8
RpmControl: remove status message because it by now only contains redundant information
2025-01-14 14:55:34 +01:00
940fe45ba7
ControlAllocator: introduce helicopter rotor rpm controller
2025-01-14 14:55:34 +01:00
b1773df441
ekf2: fix comments about primary height sources
...
Having the xxx_hgt flag set only means that the sensor is fused for
altitude/height aiding. It's not necessarily the height reference.
2025-01-07 10:23:13 +01:00
267fa06da8
RPMCapture: fix copyright year, improve comments
2024-12-19 07:30:25 +01:00
c463cc42d0
RPM: clean up message
2024-12-19 07:30:25 +01:00
1bcdb3ef8c
RPMCapture: add hardcoded rpm processing
...
Such that we can continue development on this part.
The implementation was already used before porting things into the RPM capture module.
2024-12-19 07:30:25 +01:00
98fde4cbac
gimbal: correctly set gimbal_device_id
...
When we use a gimbal connected via "RC", so PWM via the Aux channels, we
need to set the gimbal_device_id to 1 as per the protocol.
This was missing for GIMBAL_DEVICE_ATTITUDE_STATUS, so I added that, and
fixed the name of that variable while at it.
2024-12-18 07:51:40 +01:00
2e166379c7
docs: split msgs as un/versioned
2024-12-13 16:34:37 +01:00
4d62522942
uxrce_dds_client: remove unused msgdir arg from script
2024-12-13 16:34:37 +01:00
4fe7d713d3
msg: introduce message versioning
2024-12-13 16:34:37 +01:00
5dcccd999c
mecanum: add slew rates to yaw, yaw rate and speed setpoints
2024-12-02 10:54:43 +01:00
6cce443005
mecanum: deprecate RM_MISS_SPD_DEF
2024-12-02 10:54:43 +01:00
b19a6ee3b5
ekf2: store position state as lat/lon/alt
...
The position error state is still defined in a body-fixed NED frame but the
position state itself is latitude-longitude-altitude.
2024-11-22 15:13:47 +01:00
b5d18c6131
Remove unused collision_report message
2024-11-12 21:18:57 -05:00
4f00df60ae
differential: add slew rates for setpoints, deprecate RD_MAN_YAW_SCALE and update airframe tuning
2024-11-11 14:44:10 +01:00
e8f8bc9af7
ackermann: add lateral acceleration setpoint, acro/position mode and updates to auto modes
2024-10-31 16:15:37 +01:00
6a7edac10d
ackermann: restructure module
2024-10-31 16:15:37 +01:00
4d1c65d722
boards: new ARK FPV FC ( #23830 )
...
* add new payload power switch (RC_MAP_PAY_SW)
2024-10-30 11:35:35 -04:00
Pedro Roque