e65d48c070
payload_deliverer: Fix Gripper unitialized message spamming
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- When the gripper was uninitialized, the error message popped up
everytime the module had 'any' vehicle command received. But we should
be spamming only when we do actually get 'DO_GRIPPER' command received,
this commit adds that feature
- Also converted error messages for CLI when gripper test functinality
fails, so that user would get a feedback (originally, the PX4_DEBUG was
of course not outputting everything)
2022-09-23 07:41:51 +02:00
38d332a553
ekf2: inhibit accel bias dynamically when fake position/height fusion active
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- inhibit accel bias learning dynamically depending on the angle between an accelerometer and the vertical axis when fake position fusion is active
2022-09-22 20:32:20 -04:00
300288b57e
FW Attitude Controller: fix polling of rate setpoint for tailsitter
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-22 19:13:36 +02:00
0df878bc18
Navigator: use NAV_FW_ALTL_RAD only for FW landings, not VTOL landings
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Also containst a mini refactor by removing the unnecessary function
get_default_altitude_acceptance_radius().
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-22 16:52:51 +02:00
c6c7733587
FW Position control: add option to scale min airspeed wtih wind magnitude
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-22 16:39:27 +02:00
e8ac9b266b
px4events: add @skip-file tag
2022-09-22 09:42:39 -04:00
54c97db8b2
ekf2: fix covariance comment typo
2022-09-21 15:29:07 -04:00
d7fab74727
VTOL: remove _flag_was_in_trans_mode from standard vtol (not used)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-21 14:18:43 -04:00
828f629413
VTOL: remove some pwm hackery leftovers from legacy mixing systems
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-21 14:18:43 -04:00
d948fcd72b
fix control_allocator: check if 2. thrust and torque sp topic is valid
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Otherwise the 2. setpoint is equal to the first one. This is only an issue
if the 2. instance isn't advertised.
2022-09-21 15:11:11 +02:00
e41913a699
vtol_type: removed unused "was_in_trans_mode" function
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-09-20 16:50:07 +02:00
2a6cd4a409
vtol_att_control: avoid using non-recent attitude setpoint during beginning
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of transition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-09-20 16:50:07 +02:00
13fc5918cc
AirspeedValidator: keep data stuck test but only enable in FW mode
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-19 17:44:44 +02:00
1a5d0f4347
AirspeedValidator: add new check (variance after boot) and disable data stuck check by default
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This new check is inteded to trigger if there is no data variation published by
the airspeed driver for the first 10s after the first data is published.
This is to capture malfunctioning sensors/drivers that do publish a value, this
value though does not come from real sensor measurements.
Previously this was captured by the data stuck check, but it has shown that
some drivers can publish a stuck value without being actually malfunctioning
(e.g. when the airspeed is outside of their measurement range). Checking for
any data variation is the more conservative check that still catches the above
described failure case.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-19 17:44:44 +02:00
0a5c9d4951
position_setpoint delete unused landing_gear
2022-09-19 11:16:45 -04:00
11dd924bd4
position_setpoint delete unused SETPOINT_TYPE_FOLLOW_TARGET
2022-09-19 11:16:45 -04:00
87815d8869
simulator_ignition_bridge: add simple esc_status publication
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- ideally we'd get this from the actual joint velocity, but this is
good enough to start
2022-09-19 09:49:12 -04:00
3440f543f1
simulator_ignition_bridge: wait for first clock set before returning successfully
2022-09-16 21:37:09 -04:00
eaa9eae472
simulator_ignition_bridge: fix double promotions
2022-09-16 11:36:35 -04:00
085ec0e8ef
flight_mode_manager: StickAccelerationXY minimize setpoint oscillations around 0
2022-09-16 07:54:12 +02:00
b910c1dcf4
Update mavlink_main.cpp
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Corrected
2022-09-15 19:49:49 -04:00
8f7233b1e2
Tailsitters need ATTITUDE_QUATERNION to display properly the artificial horizon
2022-09-15 19:49:49 -04:00
05850e2fc0
mavlink: eliminate timestamped_list dynamic allocation
2022-09-15 19:27:39 -04:00
585e81fc30
mavlink: fix path for mavlink_types.h include
2022-09-15 19:20:11 -04:00
30e867d4de
navigator_main: use camera_trigger driver for single captures
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2022-09-15 18:15:25 -04:00
fc89705ef8
navigator: stop capturing images on mission exit
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When a mission starts capturing images using the
MAV_CMD_IMAGE_START_CAPTURE command, it should also stop it again, in
case it is stopped early, e.g. with RTL.
2022-09-15 18:15:25 -04:00
5a74f07a74
RTL: always fill loiter_radius field, indpendent on vehicle type
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-15 13:17:36 -04:00
e9f349a2fc
RTL: set WP type to LOITER_TO_ALT for FW in Return stage
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Such that the loiter (orbit) status can be displayed on groundstation
and the WP is accepted once within loiter radius
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-15 13:17:36 -04:00
5f0fc7aaf1
FW Position Controller: fix publishing of negative loiter directions (CCW)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-15 13:17:36 -04:00
7a760c8c6e
RTL: use loiter radius from mission for loiter before enganging mission in RTL
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-15 13:17:36 -04:00
b885c920d8
Breakout header file from sensors.cpp and delete unnecessary #includes.
2022-09-15 13:09:04 -04:00
facf01d69d
ekf2: report combined vertical position test ratio
2022-09-15 08:51:19 -04:00
9245d71397
Fixedwing att control rate loop cleanup
2022-09-14 13:53:58 +02:00
b4f27c9abb
MissionBlock: loiter exit condition based on vector operation instead of atan
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-14 10:47:21 +02:00
27780308c0
MissionBlock: base loiter course exit condition on a constant value instead of MIS_YAW_ERR
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-14 10:47:21 +02:00
5a7f098b8d
Enable multiple simulated imu and magnetometers in gazebo
2022-09-14 10:27:04 +02:00
f9b6edab07
Navigator/FW Position Control: VTOL front towards specified transition heading if available
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If the current yaw setpoint is valid we should use it to make the transition in this direction.
For a VTOL_TAKEOFF the yaw_setpoint is used to specify the transition direction (the
vehicle is aligned towards it and then transition is started). The current yaw can be
a bit off (e.g. because MIS_YAW_ERR is large), and it is better to track the actual setpoint.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-14 08:55:20 +02:00
b8fb5dfa51
merge px4_sitl_ign into px4_sitl_default ( #20188 )
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- for convenience merge px4_sitl_ign into px4_sitl_default, but allow simulator_ignition_bridge to quietly skip inclusion if ignition-transport isn't available
- simulator_ignition_bridge only try setting the system clock in
lockstep builds
- this simplifies usage and CI system dependencies
2022-09-10 16:18:02 -04:00
34d8bd7988
update EKF2 change indicator
2022-09-10 12:29:29 -04:00
6bd81c0eb7
ekf2: do not store delayed baro sample in class
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the sample is popped from the buffer and directly used; there is no
need to keep a local copy of it
2022-09-10 12:29:29 -04:00
ae1e12a6b5
ekf2: remove baro accumulation from initializeFilter
2022-09-10 12:29:29 -04:00
fe4a6ce8de
ekf2: allow initialization without baro data when fusion is disabled
2022-09-10 12:29:29 -04:00
a54fa7b9b1
ekf2: add fake height fusion logic
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When there is no vertical aiding, fake height is started to constrain
the vertical channel of the EKF
2022-09-10 12:29:29 -04:00
aa716936bf
ekf2: move synthetic_position flag to control_status.flags.fake_pos
2022-09-10 12:29:29 -04:00
8f25acd428
sih remove gps and use standalone sensor_gps_sim
2022-09-09 18:00:50 -04:00
bfe0d71a21
sih remove baro and use standalone sensor_baro_sim
2022-09-09 18:00:50 -04:00
c5336abba2
sih remove mag and use standalone sensor_mag_sim
2022-09-09 18:00:50 -04:00
99a20646e2
simulator sih add local position ground truth and cleanup
2022-09-09 18:00:50 -04:00
b45daac0e8
commander: fix angular velocity validity
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- vehicle_angular_velocity timestamp can be newer than saved now
2022-09-09 09:14:09 -04:00
15fece7e14
delete SYS_CTRL_ALLOC
2022-09-09 09:14:09 -04:00
Junwoo Hwang