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pr-at-command
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16111 Commits

Author SHA1 Message Date
Thomas Debrunner 2a6d9bc1dd fligh-mode-manager: First implementation of a three-stage-landing for multirotos, in case LIDAR is available 2022-02-04 21:56:20 -05:00
Daniel Agar 893cdf8f38 ekf2: test external vision adjustments after lowering fake position fusion variance 2022-02-04 21:48:32 -05:00
Daniel Agar 6b1750d8be ekf2: lower fake position observation variance when at rest 2022-02-04 21:48:32 -05:00
Daniel Agar cf3db0d313 mavlink: don't send_mission_current if mission invalid 2022-02-04 09:40:25 -05:00
Silvan Fuhrer 26dba1407b Commander: VTOL quadchuate also triggers a RTL in Loiter and VTOL_Takeoff modes, not just in Mission (#19123) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-03 14:18:28 +01:00
JaeyoungLim f82c722653 Publish correct orbit status with goto (#19102) 
For fixedwings, the orbit status was publishing zero radius when a goto waypoint was being passed.

This commit corrects this by passing the default loiter radius as the guidance logic was using
 2022-02-03 10:16:39 +01:00
bresch 917910f3e2 ekf: pass a float by copy instead of a constant ref 2022-02-02 17:43:25 -05:00
bresch 3077f27821 ekf: use float instead of Vector2f for innov gate in pos/vel fusion 
We always use the same innovation gate for X and Y anyway
 2022-02-02 17:43:25 -05:00
Daniel Agar 5fb0084524 ekf2: remove unused shared fields for last velocity observation and variance 2022-02-02 17:43:25 -05:00
Daniel Agar 8a0581516c ekf2: don't store _auxvel_sample_delayed 2022-02-02 17:43:25 -05:00
Daniel Agar 452b5e94b4 ekf2: don't store _drag_sample_delayed 2022-02-02 17:43:25 -05:00
Daniel Agar 138ff7a316 sensors: ensure that best accel/gyro is in bounds 2022-02-02 17:14:46 -05:00
Daniel Agar 07c273fc31 sensors/vehicle_angular_velocity: print full sensor_selection if device id not found 2022-02-02 17:14:46 -05:00
Jaeyoung Lim 2fc95bb369 Rebase fix 
Use getnavspeed_2d for groundspeed
 2022-02-02 17:16:19 +01:00
Jaeyoung Lim 3a9c5c3178 Use acceleration to pass path curvature 2022-02-02 17:16:19 +01:00
Jaeyoung Lim e2741f988a Add interface for passing path tangent and closest point directly 
This commit adds an interface to pass the path tangent and closest point directly to NPFG using the offboard interface
 2022-02-02 17:16:19 +01:00
Daniel Agar 88ffc177f7 ekf2: utils add getEulerYaw() that uses the best rotation sequence 2022-02-02 08:54:03 -05:00
Daniel Agar c3e0b93fc8 ekf2: remove unnecessary inlines 2022-02-02 08:50:49 -05:00
Daniel Agar f3e2a197ad move vehicle at rest detection ekf2 -> land_detector 
- move vehicle at reset detection ekf2 -> land_detector
 - ekf_unit: reduce init period
   - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
 - ekf_unit: reduce minimum vel/pos variance required after init
   - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.

Co-authored-by:: bresch <brescianimathieu@gmail.com>
 2022-02-01 17:50:19 -05:00
Daniel Agar e387f302f9 mavlink: streams/COMMAND_LONG don't send internal vehicle_commands 2022-02-01 09:15:10 -05:00
Beat Küng a4206ba553 logger: log excluded optional topics 
Can be displayed with:
ulog_info <file> -m excluded_optional_topics
 2022-02-01 08:40:02 +01:00
Roman Dvořák 2b1229786e Multi instance SHT3x driver support 2022-01-31 21:38:26 -05:00
Roman Dvořák ed475ca324 SHT3x driver 
SHT3x driver, clean code
changes leading to merge TFHT with CUAV hygrometer
Delete humidity_temperature.msg
Update CMakeLists.txt
rename 'atmosphefir_quantities' to 'hygrometers'
fix logging
removed cmake files
fix PR issues
 2022-01-31 21:38:26 -05:00
mcsauder e554f0174d Format whitespace and group checkall() methods together in geofence class. 2022-01-31 21:01:03 -05:00
Matthias Grob ae0bb8371d Commander: message planned battery action with warning together 2022-01-31 20:27:06 -05:00
Matthias Grob 973116c7a4 commander_params: clarify failsafe delay procedure description 2022-01-31 20:27:06 -05:00
Matthias Grob cd560da57c Commander: correct battery failsafe message severity level 2022-01-31 20:27:06 -05:00
Matthias Grob 405852b5c8 Commander: only disallow RC override during battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob 5ec21835a4 Commander: ensure low battery failsafe flying unatended without GPS 2022-01-31 20:27:06 -05:00
Matthias Grob 1911ec0085 Commander: fix user messageing for low battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob 52a9040c62 BatterySimulator: recharge battery upon disarming 2022-01-31 20:27:06 -05:00
Matthias Grob 955aad0dfb Commander: consistent hysteresis initialization 2022-01-31 20:27:06 -05:00
Matthias Grob d10f9030ad Commander: add delay before executing low battery failsafe action 2022-01-31 20:27:06 -05:00
Matthias Grob 3af315f2c3 Commander: change battery failsafe to return action instead of executing 2022-01-31 20:27:06 -05:00
Matthias Grob 8eed43b515 Commander: put battery warning and failsafe action in separate functions 2022-01-31 20:27:06 -05:00
Matthias Grob 367b6123e1 state_machine_helper: change main state directly also for low battery RTL 2022-01-31 20:27:06 -05:00
Matthias Grob f49bd9956b state_machine_helper: reuse battery action conditions 2022-01-31 20:27:06 -05:00
Matthias Grob 95b5bc0d84 state_machine_helper: separate low battery warning from action 2022-01-31 20:27:06 -05:00
Daniel Agar 999737ddd5 ekf2: refactor mag control 
- remove class _mag_sample_delayed
 - update mag fusion call graph to use mag sample delayed functionally
 - Ekf::resetMagHeading()
   - use low pass mag directly, but check if valid (magnitude)
   - MAG_FUSE_TYPE_INDOOR treat like auto if heading required
 2022-01-31 11:47:10 -05:00
Daniel Agar ad447ab223 commander: respect control mode for prearm requirements 
- preflight tolerate ekf2 warnings if not in an attitude/velocity/position mode (eg manual or acro)
 2022-01-31 09:48:37 -05:00
Daniel Agar 90358f078f add odometry reset counter (ekf2, mavlink, etc) 2022-01-31 09:19:36 -05:00
mcsauder 463ac8e8a1 Standardize method name style in navigator_main.cpp and whitespace formatting in navigator.h 2022-01-29 21:36:11 -05:00
Jukka Laitinen 058302ecdb Link px4iofirmware against nuttx_mm 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:30:13 -05:00
Jukka Laitinen a2dc6e63cf Fix sdcard logging when crypto is used but algorithm is set to NONE 
If the board supports encrypting logfiles, but the parameter SDCARD_ALGORITHM is set to NONE,
the log should be written to the sdcard in plaintext format. This fixes a bug which caused
logger to hang in mutex instead.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-28 17:29:51 -05:00
Daniel Agar 0104b84289 logger: PX4_SITL log all ekf2 publications at full rate for replay 2022-01-28 07:46:54 +01:00
Jukka Laitinen 138f584e70 fw_pos_control_l1: Add a missing dependency to motion_planning 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen 4c3234af38 mavlink: fix linking 
- link to nuttx_apps if CONFIG_NET is defined for "netlib_get_ipv4netmask"
- link to tunes

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen 1326c51a1c esc_battery: Link to battery library 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Daniel Agar 49d9d1c987 ekf2: only set fault status bad_acc_clipping if clipping frequently 2022-01-27 09:59:50 -05:00
Daniel Agar f499749c23 ekf2: mag field strength check respect requirements 
- requires valid mag data (_mag_data_ready)
 - respect mag_fusion_type (including MAG_FUSE_TYPE_INDOOR)
 2022-01-27 09:05:13 -05:00